ea=applied armature voltage,V电枢控制电压 e,=back emf(electromotive force),V感应反电动势 d=angular displacement of the motor shaft,.rad电机轴上的角位移 T=torque developed by the motor.N-m电机力矩。 J=moment of inertia of the motor and load referred to the motor shaft.Kg-m2电机转子和负载的惯量。 b=viscous-friction coefficient of the motor and load referred to the motor shaft.N-m/rad/s.电机转子和负载的粘性摩擦系数。 Ra L B G =constantea=applied armature voltage, V 电枢控制电压 eb=back emf (electromotive force), V 感应反电动势 =angular displacement of the motor shaft, rad 电机轴上的角位移 T=torque developed by the motor. N-m 电机力矩。 J=moment of inertia of the motor and load referred to the motor shaft. Kg-m2 电机转子和负载的惯量。 b=viscous-friction coefficient of the motor and load referred to the motor shaft. N-m/rad/s. 电机转子和负载的粘性摩擦系数。 ea B La If=constant Ra eb T J  ia