Двигатель постоянного тока в Engee

@engeemodel DCMotorComposite begin
    
    @components begin
        p = EngeePhysicalFoundation.Electrical.Pin(), [view = ("+", "left")]
        n = EngeePhysicalFoundation.Electrical.Pin(), [view = ("-", "left")]
        r = EngeePhysicalFoundation.Mechanical.Rotational.Flange(), [view = ("R", "right")]
        c = EngeePhysicalFoundation.Mechanical.Rotational.Flange(), [view = ("C", "right")]
    end

    @parameters begin
        rotor_resistance    = 3.9, 		[unit="Ohm"]
        rotor_inductance    = 12e-6, 	[unit="H"]
        motor_inertia       = 0.01, 	[unit="g*cm^2"]
        breakaway_torque    = 0.02e-3, 	[unit="N*m"]
        coulomb_torque      = 0.02e-3, 	[unit="N*m"]
        breakaway_velocity  = 0.03347, 	[unit="rad/s"]
        back_emf_constant   = 0.072e-3*60/(2*pi), [unit="V/(rad/s)"]
        viscous_coefficient = 0.0, [unit="N*m/(rad/s)"]
    end

    @components [gui = None] begin
        rotorResistor = EngeePhysicalFoundation.Electrical.Elements.Resistor(R=default(rotor_resistance))
        rotorInductor = EngeePhysicalFoundation.Electrical.Elements.Inductor(L=default(rotor_inductance))
        motorInertia = EngeePhysicalFoundation.Mechanical.Rotational.Elements.Inertia(I=default(motor_inertia))
        friction = EngeePhysicalFoundation.Mechanical.Rotational.Elements.Friction(w_breakaway=default(breakaway_velocity),T_breakaway=default(breakaway_torque),T_coulomb=default(coulomb_torque), viscous_coefficient=default(viscous_coefficient))
        rotEMechConverter = EngeePhysicalFoundation.Electrical.Elements.RotationalConverter(k=default(back_emf_constant))
    end

    @equations begin
        connect(p, rotorResistor.p)
        connect(rotorResistor.n, rotorInductor.p)
        connect(rotorInductor.n, rotEMechConverter.p)
        connect(rotEMechConverter.n, n)
        connect(rotEMechConverter.rod_flange, friction.rod_flange, motorInertia.flange, r)
        connect(rotEMechConverter.case_flange, friction.case_flange, c)
    end

end