This typical permanent magnet DC machine control circuit shows the basics of a chopper fed machine. Cascaded control of speed and current is applied here, where the current through the machine and mosfet is measured and used as feedback for the current controller. Using a tacho, the angular motor speed is measured, samples using the A/D converter and compared to a reference speed of 1[rad/s]. The resulting error e is fed into a PI controller, whose output is the reference value for the current controller.
The permanent manet DC machine is connected to a linear mechancial load consisting of an inertia component and friction component. The block between the DC machine and the inertia is used to measure angular speed[rad/s], rpm, torque[N] and power [kW]
If the animation is enabled, the intertia block will rotate.