I’m working on modeling motor dynamics and voltage-velocity responses for various FRC applications. Basically the plan is to create a linear model of the motor, compute the transfer function, then use control principles to calculate the speed response curves for various inputs (constant voltage, current limit, etc).

The standard linear DC motor model uses the constants k_T, k_e, R, and L as opposed to the FRC standard \omega_f, \tau_s, i_s and i_f. I know k_T = \frac{\tau_s}{i_s}, k_e = \frac{12 V}{\omega_f}, and R = \frac{12 V}{i_s}. I’m wondering if there is a way to calculate L (inductance) using the FRC constants or if anyone has measured it for the common motors. Also, is there a way to account for free current or is that ignored in the ideal model?