[GramNegative]

Earlier, Rickertsen2 posted a formula for motor output torque using these calculated values:

torque = Kt*(Vin-Kv*rpm)/r

Does anyone know if there is there an advantage to using this formula over:

Torque = (-T0/Wf)*W+T0, Where T0 is torque at stall and Wf is free speed

If so, is there more documentation somewhere that explains how/why this works better?

Thank you,
Chris