Parameters | Physical meanings | Units |
θv | Valve opening | deg |
θm | Motor rotary angle | deg |
V | Motor voltage | V |
Tsp, Tspl | Spring torque | - |
Ng, Nv | Gear ratio | N∙m |
Jm, Jg, Jv | Moment of inertia | N∙m∙s2 |
Dm, Dg, Dv | Viscous friction | N∙m∙s |
Eg, Ev | Transmission efficiency | - |
R | Motor internal resistance | Ω |