How do I know experimentally that the motor velocity has reached saturation?
The tachogenerator attached to the motor shaft is a velocity sensor, i.e. its output voltage is proportional to the velocity of the shaft. If you look at the plate data of the tachogenerator you will notice a value of 1.9 V/krpm 10%, i.e. the tach outputs 1.9V 10% for each 1000 rotations per minute. Hence, by measuring the output of the tach (or the voltage after the gain Kf) you get a voltage proportional to the velocity of the motor. When the tach output stops increasing, although the user keeps increasing the voltage applied to the motor (REF), we know that the motor velocity has saturated.
