L_q=1.53e-3;
L_d=1.53e-3;
p=3;
m=62.6;
R=0.048;
Psi1=0.001;%{elektrischer fluss]
Psi=[0 0.1];
B=0.005;%[friction [Nms]]
w=0;
mu_dyn=0.1;
mu_stat=1;
Mel=0;
i_q=1;
Ts_vect=5e-5;

%Übersetzungsverhältnisse
i_mot_reel = 1/10;
i_chain_reel = 13/50;
i_mot_auger = 1/7;
i_mot_knife = 1/4;

%Trägheitsmomente ************************************************
J_CMP_112 = 0.0163;      % [kgm^2]
J_CMP_80M = 0.00121;     % [kgm^2]

JTaumelgetr = 0.11;      % [kgm^2] Taumelgetriebe
J_gear_knife = 0.0013;   % [kgm^2] Motorgetriebe  PSF721 i=4

J_reel = 58.32;              % [kgm^2] 
J_gear_reel = 0.00022;   % [kgm^2] Motorgetriebe PSF721 i=10

J_auger = 12.95;             % [kgm^2] 
J_gear_auger = 0.00045;  % [kgm^2] Motorgetriebe PSF721 i=7

J_reel_sum = J_CMP_80M+J_gear_reel+J_reel*(i_mot_reel*i_chain_reel)^2; 
J_auger_sum = J_CMP_112+J_gear_auger+J_auger*(i_mot_auger)^2;
J = J_CMP_112+J_gear_knife+JTaumelgetr*(i_mot_knife)^2;%mit getriebe : +JTaumelgetr*(i_mot_knife)^2

%sample time
SampleTime= 0.001;
Ts=0.001;
br=1;