How do I get the DC motor model to match real world

I'm working on a dc motor model, and trying to compare it to the real world. my model can be seen in figure 1. When I use the input given in figure 2, I get the following outputs: Figure 3 angle of the motor (Yellow is simulation, purple is real world); Figure 4 speed of the motor (yellow is simulation, purple is real world). They match pretty well, but when i look at my current, it is way too high. What parameter do I need to adjust to get the current down, and keep the outputs as they are?

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Answer 1

[Arkadiy Turevskiy]

You can try using Simulink Design Optimization to automatically estimate model parameters to match both measured voltage and current.

See this video. You would follow the same approach, but add experiments for both current and speed.