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Home > FPGA Technical Tutorials > Design Recipes for FPGAs Using Verilog and VHDL > Mixed Signal Modeling > Multiple Domain Modeling using Verilog-AMS

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Multiple Domain Modeling using Verilog-AMS

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A final significant application area for Verilog-AMS has been the modeling of electromechanical systems, particularly micromachines (or MEMS). Exactly the same principles are used for these devices, with the mechanical domain models defined as required for the mechanical equations. It is worth noting that the mechanical models are divided into rotational (angular velocity and torque) and translational (force and distance) types. A typical simple example of a mixed-domain system is a motor, in this case a simple DC motor. Taking the standard motor equations as shown following, it can be seen that the parameter ke links the rotor speed to the electrical domain (back emf) and the parameter kt links the current to the torque.

This is implemented using the Verilog-AMS model shown here:

1 module motor(p, m, w);

2 inout p,m,w;

3 electrical p,m; / Electrical Connections

4 rotational_omega w; / Motor Rotational Shaft

56 parameter real r = 1.0e−3; / Winding Resistance

7 parameter real l = 10.0e−3; / Winding inductance

8 parameter real d = 0.0; / Motor Friction Loss

9 parameter real j = 10.0e−6; / Motor Shaft Inertia

10 parameter real ke = 1.0; / Motor Electrical Constant

11 parameter real kt = 1.0; / Motor Torque Constant

12

13 analog begin

14 / Electrical Equation

15 V(p,m) <+ ke∗Omega(w) + r∗I(p,m) + l∗ddt(I(p,m));

16 / mechanical Equation

17 Tau(w) <+ kt∗I(p,m) − d∗Omega(w) − j∗ddt(Omega(w));

18 end

19 endmodule


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