* SPICE netlist
M1 N007 V_G1 HB+ HB+ IXTH88N30P
M3 N007 V_G3 HB- HB- IXTH88N30P
V2 NC_01 NC_02 PULSE(0 10 0.02866m 1p 1p 0.02134m 0.05m 400)
V1 NC_03 NC_04 PULSE(0 10 0 1p 1p 0.02866m 0.05m)
V_GS3 V_G3 HB- 0
VSense_Ia N016 HB- 0
VSense_wm N012 Speed_couple- 0
LMotor_inductance HB+ N003 {L_motor}
LInertia_constant N001 N005 {L_inertia}
RMotor_resistance N003 N009 {R_motor}
RFriction N005 N012 {R_loss}
BV_torque N001 Speed_couple+ V=I(Sense_Ia)*K_t
V_DC_CONST NC_05 NC_06 PWL(0 0 10m 320 40m 320 40.000001m 320 50m 320)
M2 HB+ V_G2 V_S4 V_S4 IXTH88N30P
M4 HB- V_G4 V_S4 V_S4 IXTH88N30P
M5 N015 V_G5 V_S4 V_S4 IXTH88N30P
R_chop N007 N015 26
Back_emf1 NC_07 NC_08 V=200*K_emf
V_triangle tri 0 PULSE(0 10 0 0.025m 0.025m 1n 0.05m)
V_ref_1 ref1 0 PULSE(9.5 9.5 50m 1n 1n 1000)
BV_drive_1 out1 0 V{if(V(tri)<V(ref1),10,0)}
BV_drive_2 out2 0 V{if(V(tri)<V(ref2),0,10)}
V_ref_2 ref2 0 PULSE(10 10 50m 1n 1n 1000)
V_GS4 V_G4 V_S4 0
BV_GS5 V_G5 V_S4 V=0
V_ref_5 ref5 0 PULSE(0 10 24m 10m 80m 1000)
BV_GS2 V_G2 V_S4 V=V{out2}
BV_GS1 V_G1 HB+ V=V{out1}
R_GND1 Speed_couple- 0 100Meg
Back_emf_gen N009 N016 V=I(Sense_wm)*K_emf
VSense_Ia1 N017 Va_Motor- 0
VSense_wm1 N013 Speed_couple+ 0
LMotor_inductance1 Va_Motor+ N004 {L_motor}
LInertia_constant1 N002 N006 {L_inertia}
RMotor_resistance1 N004 N010 {R_motor}
RFriction1 N006 N013 {R_loss}
BV_torque1 N002 Speed_couple- V=I(Sense_Ia1)*K_t
R_GND2 Speed_couple+ 0 100Meg
Back_emf_mot N010 N017 V=I(Sense_wm1)*K_emf
Va_Motor NC_09 NC_10 PULSE(0 320 10m 20m 0 1000)
BV_drive_5 out5 0 V{if(V(tri)<V(ref5),10,0)}
V_AC_a N008 0 SINE(0 110 50)
D1 N008 N007 RFUH20TJ6S
D2 N011 N007 RFUH20TJ6S
D3 V_S4 N011 RFUH20TJ6S
D4 V_S4 N008 RFUH20TJ6S
D5 N014 N007 RFUH20TJ6S
D6 V_S4 N014 RFUH20TJ6S
V_AC_b N011 0 SINE(0 110 50 0 0 120)
V_AC_c N014 0 SINE(0 110 50 0 0 240)
R1 Va_Motor+ Va_Motor- 26
C_Rect N007 V_S4 470m
.tran 0 200m 30m 0.005m
.PARAM K_t=0.2
.PARAM K_emf = 0.25
.PARAM L_motor = 1000u
.PARAM R_motor =1.2
.PARAM R_loss = 0.0001
.PARAM L_inertia =20u

* LTspice schematic (.asc)
Version 4
SHEET 1 5888 1552
WIRE -1104 -424 -1136 -424
WIRE -992 -424 -1024 -424
WIRE -640 -424 -672 -424
WIRE -528 -424 -560 -424
WIRE -1104 -264 -1136 -264
WIRE -992 -264 -1024 -264
WIRE -640 -264 -672 -264
WIRE -528 -264 -560 -264
WIRE -736 -88 -768 -88
WIRE -624 -88 -656 -88
WIRE 1088 56 672 56
WIRE 2320 56 1904 56
WIRE 304 88 304 40
WIRE 672 88 672 56
WIRE 1536 88 1536 40
WIRE 1904 88 1904 56
WIRE 1088 104 1088 56
WIRE 2320 104 2320 56
WIRE 304 216 304 168
WIRE 1536 216 1536 168
WIRE 672 248 672 168
WIRE 704 248 672 248
WIRE 1904 264 1904 168
WIRE 1936 264 1904 264
WIRE 1088 280 1088 184
WIRE 2320 280 2320 184
WIRE 2688 296 2688 248
WIRE -944 328 -1184 328
WIRE -720 328 -944 328
WIRE -304 328 -720 328
WIRE -1984 360 -2080 360
WIRE -1696 360 -1904 360
WIRE -720 360 -720 328
WIRE -304 360 -304 328
WIRE 304 376 304 296
WIRE 1536 376 1536 296
WIRE -944 392 -944 328
WIRE -1504 408 -1616 408
WIRE -1392 408 -1504 408
WIRE -1312 408 -1392 408
WIRE -1184 408 -1184 328
WIRE -1184 408 -1312 408
WIRE 2688 408 2688 376
WIRE -1616 424 -1616 408
WIRE -1504 424 -1504 408
WIRE -1392 424 -1392 408
WIRE 1936 424 1904 424
WIRE -2048 472 -2144 472
WIRE -1808 472 -1968 472
WIRE 1088 488 1088 360
WIRE 2320 488 2320 360
WIRE -1696 504 -1696 360
WIRE -1616 504 -1616 488
WIRE -1616 504 -1696 504
WIRE -1312 504 -1312 408
WIRE -720 504 -720 456
WIRE -720 504 -736 504
WIRE -304 504 -304 456
WIRE -304 504 -320 504
WIRE -1808 520 -1808 472
WIRE -1504 520 -1504 488
WIRE -1504 520 -1808 520
WIRE -1392 536 -1392 488
WIRE -1392 536 -1696 536
WIRE -944 536 -944 472
WIRE -944 552 -944 536
WIRE -720 552 -720 504
WIRE -592 552 -720 552
WIRE -304 552 -304 504
WIRE -304 552 -432 552
WIRE 704 552 672 552
WIRE 304 568 304 456
WIRE 1536 568 1536 456
WIRE -2112 584 -2208 584
WIRE -1696 584 -1696 536
WIRE -1696 584 -2032 584
WIRE -1616 600 -1616 504
WIRE -1504 600 -1504 520
WIRE -1392 600 -1392 536
WIRE -720 648 -720 552
WIRE -304 648 -304 552
WIRE 304 664 304 648
WIRE 672 664 672 552
WIRE 816 664 672 664
WIRE 1088 664 1088 568
WIRE 1088 664 816 664
WIRE 1536 664 1536 648
WIRE 1904 664 1904 424
WIRE 2048 664 1904 664
WIRE 2320 664 2320 568
WIRE 2320 664 2048 664
WIRE -1616 680 -1616 664
WIRE -1504 680 -1504 664
WIRE -1504 680 -1616 680
WIRE -1392 680 -1392 664
WIRE -1392 680 -1504 680
WIRE -1312 680 -1312 568
WIRE -1312 680 -1392 680
WIRE -1184 680 -1312 680
WIRE -944 680 -944 632
WIRE -944 680 -960 680
WIRE -720 760 -720 744
WIRE -720 760 -736 760
WIRE -304 760 -304 744
WIRE -304 760 -320 760
WIRE -1184 776 -1184 680
WIRE -944 776 -944 680
WIRE -944 776 -1184 776
WIRE -720 776 -720 760
WIRE -720 776 -944 776
WIRE -304 776 -304 760
WIRE -304 776 -720 776
FLAG -768 440 V_G1
IOPIN 640 -16 In
FLAG -768 728 V_G2
IOPIN 640 272 In
FLAG -352 440 V_G3
IOPIN 1056 -16 In
FLAG -352 728 V_G4
IOPIN 1056 272 In
FLAG -320 504 V_S3
IOPIN 1088 48 In
FLAG -736 504 V_S1
IOPIN 672 48 In
FLAG -736 760 V_S2
IOPIN 672 304 In
FLAG -320 760 V_S4
IOPIN 1088 304 In
FLAG -992 -424 V_G1
IOPIN 416 -880 Out
FLAG -1136 -424 V_S1
IOPIN 272 -880 Out
FLAG -992 -264 V_G2
IOPIN 416 -720 Out
FLAG -1136 -264 V_S2
IOPIN 272 -720 Out
FLAG -528 -424 V_G3
IOPIN 880 -880 Out
FLAG -672 -424 V_S3
IOPIN 736 -880 Out
FLAG -528 -264 V_G4
IOPIN 880 -720 Out
FLAG -672 -264 V_S4
IOPIN 736 -720 Out
FLAG 304 40 HB+
IOPIN 1712 -416 In
FLAG -592 552 HB+
IOPIN 816 96 Out
FLAG -432 552 HB-
IOPIN 976 96 Out
FLAG 304 664 HB-
IOPIN 1712 208 In
FLAG -992 616 V_G5
IOPIN 416 160 In
FLAG -960 680 V_S5
IOPIN 448 224 In
FLAG -624 -88 V_G5
IOPIN 784 -544 Out
FLAG -768 -88 V_S5
IOPIN 640 -544 Out
FLAG -2544 -472 0
FLAG -2944 -472 0
FLAG -2544 -552 tri
FLAG -2944 -552 ref1
FLAG -1648 -440 0
FLAG -1648 -520 out1
FLAG -1648 -248 0
FLAG -1648 -328 out2
FLAG -2944 -232 0
FLAG -2944 -312 ref2
FLAG -2544 -248 0
FLAG -2544 -328 ref5
FLAG 816 744 0
FLAG 1536 40 Va_Motor+
IOPIN 2944 -416 In
FLAG 1536 664 Va_Motor-
IOPIN 2944 208 In
FLAG 2048 744 0
FLAG 2688 248 Va_Motor+
IOPIN 4096 -208 Out
FLAG 2688 408 Va_Motor-
IOPIN 4096 -48 Out
FLAG -1648 -24 0
FLAG -1648 -104 out5
FLAG 1936 264 Speed_couple-
FLAG 1936 424 Speed_couple+
FLAG 704 248 Speed_couple+
FLAG 704 552 Speed_couple-
FLAG -2080 360 0
FLAG -2144 472 0
FLAG -2208 584 0
SYMBOL nmos -768 360 R0
SYMATTR InstName M1
SYMATTR Value IXTH88N30P
SYMBOL nmos -352 360 R0
SYMATTR InstName M3
SYMATTR Value IXTH88N30P
SYMBOL voltage 1872 -600 R90
SYMATTR InstName V2
SYMATTR Value PULSE(0 10 0.02866m 1p 1p 0.02134m 0.05m 400)
SYMBOL voltage 1872 -744 R90
SYMATTR InstName V1
SYMATTR Value PULSE(0 10 0 1p 1p 0.02866m 0.05m)
SYMBOL voltage -544 -424 R90
SYMATTR InstName V_GS3
SYMATTR Value 0
SYMBOL voltage 304 552 R0
SYMATTR InstName Sense_Ia
SYMATTR Value 0
SYMBOL voltage 1088 472 R0
SYMATTR InstName Sense_wm
SYMATTR Value 0
SYMBOL ind 288 72 R0
SYMATTR InstName Motor_inductance
SYMATTR Value {L_motor}
SYMBOL ind 1072 88 R0
SYMATTR InstName Inertia_constant
SYMATTR Value {L_inertia}
SYMBOL res 288 200 R0
SYMATTR InstName Motor_resistance
SYMATTR Value {R_motor}
SYMBOL res 1072 264 R0
SYMATTR InstName Friction
SYMATTR Value {R_loss}
SYMBOL bv 672 72 R0
SYMATTR InstName V_torque
SYMATTR Value V=I(Sense_Ia)*K_t
SYMBOL voltage 1280 -744 R0
SYMATTR InstName V_DC_CONST
SYMATTR Value PWL(0 0 10m 320 40m 320 40.000001m 320 50m 320)
SYMBOL nmos -768 648 R0
SYMATTR InstName M2
SYMATTR Value IXTH88N30P
SYMBOL nmos -352 648 R0
SYMATTR InstName M4
SYMATTR Value IXTH88N30P
SYMBOL nmos -992 536 R0
SYMATTR InstName M5
SYMATTR Value IXTH88N30P
SYMBOL res -960 376 R0
SYMATTR InstName R_chop
SYMATTR Value 26
SYMBOL bv 704 -776 R0
SYMATTR InstName Back_emf1
SYMATTR Value V=200*K_emf
SYMBOL voltage -2544 -568 R0
SYMATTR Value PULSE(0 10 0 0.025m 0.025m 1n 0.05m)
SYMATTR InstName V_triangle
SYMBOL voltage -2944 -568 R0
SYMATTR Value PULSE(9.5 9.5 50m 1n 1n 1000)
SYMATTR InstName V_ref_1
SYMBOL bv -1648 -536 R0
SYMATTR Value V{if(V(tri)<V(ref1),10,0)}
SYMATTR InstName V_drive_1
SYMBOL bv -1648 -344 R0
SYMATTR Value V{if(V(tri)<V(ref2),0,10)}
SYMATTR InstName V_drive_2
SYMBOL voltage -2944 -328 R0
SYMATTR Value PULSE(10 10 50m 1n 1n 1000)
SYMATTR InstName V_ref_2
SYMBOL voltage -544 -264 R90
SYMATTR InstName V_GS4
SYMATTR Value 0
SYMBOL bv -640 -88 R90
SYMATTR InstName V_GS5
SYMATTR Value V=0
SYMBOL voltage -2544 -344 R0
SYMATTR Value PULSE(0 10 24m 10m 80m 1000)
SYMATTR InstName V_ref_5
SYMBOL bv -1008 -264 R90
SYMATTR InstName V_GS2
SYMATTR Value V=V{out2}
SYMBOL bv -1008 -424 R90
SYMATTR InstName V_GS1
SYMATTR Value V=V{out1}
SYMBOL res 800 648 R0
SYMATTR InstName R_GND1
SYMATTR Value 100Meg
SYMBOL bv 304 360 R0
SYMATTR InstName Back_emf_gen
SYMATTR Value V=I(Sense_wm)*K_emf
SYMBOL voltage 1536 552 R0
SYMATTR InstName Sense_Ia1
SYMATTR Value 0
SYMBOL voltage 2320 472 R0
SYMATTR InstName Sense_wm1
SYMATTR Value 0
SYMBOL ind 1520 72 R0
SYMATTR InstName Motor_inductance1
SYMATTR Value {L_motor}
SYMBOL ind 2304 88 R0
SYMATTR InstName Inertia_constant1
SYMATTR Value {L_inertia}
SYMBOL res 1520 200 R0
SYMATTR InstName Motor_resistance1
SYMATTR Value {R_motor}
SYMBOL res 2304 264 R0
SYMATTR InstName Friction1
SYMATTR Value {R_loss}
SYMBOL bv 1904 72 R0
SYMATTR InstName V_torque1
SYMATTR Value V=I(Sense_Ia1)*K_t
SYMBOL res 2032 648 R0
SYMATTR InstName R_GND2
SYMATTR Value 100Meg
SYMBOL bv 1536 360 R0
SYMATTR InstName Back_emf_mot
SYMATTR Value V=I(Sense_wm1)*K_emf
SYMBOL voltage 2944 280 R0
SYMATTR InstName Va_Motor
SYMATTR Value PULSE(0 320 10m 20m 0 1000)
SYMBOL bv -1648 -120 R0
SYMATTR Value V{if(V(tri)<V(ref5),10,0)}
SYMATTR InstName V_drive_5
SYMBOL voltage -1888 360 R90
SYMATTR InstName V_AC_a
SYMATTR Value SINE(0 110 50)
SYMBOL diode -1600 488 R180
SYMATTR InstName D1
SYMATTR Value RFUH20TJ6S
SYMBOL diode -1488 488 R180
SYMATTR InstName D2
SYMATTR Value RFUH20TJ6S
SYMBOL diode -1488 664 R180
SYMATTR InstName D3
SYMATTR Value RFUH20TJ6S
SYMBOL diode -1600 664 R180
SYMATTR InstName D4
SYMATTR Value RFUH20TJ6S
SYMBOL diode -1376 488 R180
SYMATTR InstName D5
SYMATTR Value RFUH20TJ6S
SYMBOL diode -1376 664 R180
SYMATTR InstName D6
SYMATTR Value RFUH20TJ6S
SYMBOL voltage -1952 472 R90
SYMATTR InstName V_AC_b
SYMATTR Value SINE(0 110 50 0 0 120)
SYMBOL voltage -2016 584 R90
SYMATTR InstName V_AC_c
SYMATTR Value SINE(0 110 50 0 0 240)
SYMBOL res 2672 280 R0
SYMATTR InstName R1
SYMATTR Value 26
SYMBOL cap -1328 504 R0
SYMATTR InstName C_Rect
SYMATTR Value 470m