Table 1 ITHACO type-A RW main parameters

G_d

Driver gain

0.19 A/V

K_t

Motor torque constant

0.029 N.m/A

K_e

Motor back-EMF

0.029 V/rad/s

K_s

Over-speed circuit gain

95 V/ rad/s

w_s

Maximum wheel speed

690 rad/s

w_d

Driver bandwidth

2000 rad/s

R_in

Input resistance

2 Ω

K_f

Voltage feedback gain

0.5 V/V

N

Number of motor poles

36

T_c

Torque command range

− 5 to + 5 V

τ_c

Coulomb fiction

0.002 N.m

J

Flywheel inertia

0.0077 N.m.s²