I want to know how to modeling the practical DC motor.

Hi

I have a small DC motor. and I want to modeling this DC motor for the PID control design.

and using the PID tuner, I want to find optimized PID constant. Then, I apply that my RC car.

As I know, To modeling a dc motor, I have to decide parameter of the motor.

So I am trying to decide the motor parameter using Parameter Estimation in simulink.

and I made a DC motor model(not determine motor parameter) in simulink using DC motor equation.

but I have some questions.

First, How many input(Voltage) & outpu(angular velocity)t dataes I need?

Second, Do I need to synchronize those dataes? If I have to ,then How to?

Third, I will use this motor for my RC car. then my dataes are measured in the assembled state? (I mean, If RC car is getting weighed then I have to measure motor dataes again?)