Gym DCMotor

A simple DC Motor simulator in Python that uses the RK45 numerical ODE solver.

Kinematic Equations

The dynamics of the DC motor are governed by the following equations:

Armature Current ($I_a$):

$$ \frac{dI_a}{dt} = \frac{V_a - K_b \cdot \omega - R_a \cdot I_a}{L_a} $$

Angular Velocity ($\omega$):

$$ \frac{d\omega}{dt} = \frac{K_t \cdot I_a - B \cdot \omega - T_l}{J} $$

Parameters:

• $I_a$ : Armature current
• $\omega$ : Angular velocity
• $V_a$ : Applied voltage
• $K_b$ : Back EMF constant
• $R_a$ : Armature resistance
• $L_a$ : Armature inductance
• $K_t$ : Torque constant
• $B$ : Viscous damping coefficient
• $T_l$ : Load torque
• $J$ : Moment of inertia