-
Notifications
You must be signed in to change notification settings - Fork 169
/
IMC_Conveyor.mo
221 lines (221 loc) · 12 KB
/
IMC_Conveyor.mo
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
within Modelica.Magnetic.QuasiStatic.FundamentalWave.Examples.BasicMachines.InductionMachines;
model IMC_Conveyor "Induction machine with squirrel cage and inverter driving a conveyor"
extends Modelica.Icons.Example;
import Modelica.Constants.pi;
parameter Integer m=3 "Number of phases" annotation(Evaluate=true);
constant SI.Frequency unitFrequency=1 annotation(HideResult=true);
parameter SI.Voltage VNominal=100
"Nominal RMS voltage per phase";
parameter SI.Frequency fNominal=imcData.fsNominal
"Nominal frequency";
parameter SI.AngularVelocity wNominal=2*pi*fNominal/imcData.p
"Nominal speed";
parameter SI.Torque TLoad=161.4 "Nominal load torque";
parameter SI.Inertia JLoad=0.29
"Load's moment of inertia";
parameter SI.Length r=0.05 "Transmission radius";
Magnetic.QuasiStatic.FundamentalWave.BasicMachines.InductionMachines.IM_SquirrelCage
imcQS(
p=imcData.p,
fsNominal=imcData.fsNominal,
TsRef=imcData.TsRef,
alpha20s(displayUnit="1/K") = imcData.alpha20s,
Jr=imcData.Jr,
Js=imcData.Js,
frictionParameters=imcData.frictionParameters,
wMechanical(fixed=true),
gammar(fixed=true, start=pi/2),
gamma(fixed=true, start=-pi/2),
statorCoreParameters=imcData.statorCoreParameters,
strayLoadParameters=imcData.strayLoadParameters,
TrRef=imcData.TrRef,
Rs=imcData.Rs*m/3,
Lssigma=imcData.Lssigma*m/3,
Lm=imcData.Lm*m/3,
Lrsigma=imcData.Lrsigma*m/3,
Rr=imcData.Rr*m/3,
m=m,
TsOperational=293.15,
effectiveStatorTurns=imcData.effectiveStatorTurns,
alpha20r=imcData.alpha20r,
TrOperational=293.15)
annotation (Placement(transformation(extent={{60,10},{40,30}})));
Modelica.Electrical.QuasiStatic.Polyphase.Sensors.CurrentQuasiRMSSensor currentQuasiRMSSensorQS(m=m)
annotation (Placement(transformation(extent={{20,100},{40,80}})));
Modelica.Blocks.Sources.CombiTimeTable dutyCycle(
table=[0,0; 1,1; 4,1; 5,0; 10,0; 11,-1; 14,-1; 15,0; 20,0],
extrapolation=Modelica.Blocks.Types.Extrapolation.Periodic)
annotation (Placement(transformation(extent={{-100,40},{-80,60}})));
Utilities.VfController vfControllerQS(
final m=m,
VNominal=VNominal,
fNominal=fNominal) annotation (Placement(transformation(extent={{-20,40},{0,60}})));
Modelica.Electrical.QuasiStatic.Polyphase.Sources.VariableVoltageSource signalVoltageQS(final m=m)
annotation (Placement(transformation(origin={0,90}, extent={{10,10},{-10,-10}})));
Modelica.Electrical.QuasiStatic.Polyphase.Basic.Star starQS(final m=m) annotation (Placement(transformation(extent={{-40,80},{-60,100}})));
Modelica.Electrical.QuasiStatic.SinglePhase.Basic.Ground groundQS annotation (Placement(transformation(
origin={-70,70},
extent={{-10,-10},{10,10}})));
Utilities.MultiTerminalBox terminalBoxQS(terminalConnection="Y", m=m) annotation (Placement(transformation(extent={{60,26},{40,46}})));
parameter
Modelica.Electrical.Machines.Utilities.ParameterRecords.IM_SquirrelCageData
imcData "Induction machine data"
annotation (Placement(transformation(extent={{70,72},{90,92}})));
Modelica.Blocks.Math.Gain gainQS(k=fNominal)
annotation (Placement(transformation(extent={{-60,40},{-40,60}})));
Modelica.Mechanics.Translational.Components.IdealGearR2T idealGearR2TQS(ratio=1/r)
annotation (Placement(transformation(extent={{32,10},{12,30}})));
Modelica.Mechanics.Translational.Components.Mass massQS(m=JLoad/r^2)
annotation (Placement(transformation(extent={{0,10},{-20,30}})));
Modelica.Mechanics.Translational.Sources.SignForce signForceQS(v0(displayUnit
="m/s") = 0.01*wNominal*r, f_nominal=-TLoad/r)
annotation (Placement(transformation(extent={{-50,10},{-30,30}})));
Modelica.Electrical.QuasiStatic.SinglePhase.Basic.Ground groundMachineQS
annotation (Placement(transformation(extent={{-10,-10},{10,10}}, origin={90,
10})));
Modelica.Electrical.QuasiStatic.Polyphase.Basic.Star starMachineQS(m=
Modelica.Electrical.Polyphase.Functions.numberOfSymmetricBaseSystems(m))
annotation (Placement(transformation(
extent={{10,10},{-10,-10}},
rotation=180,
origin={80,32})));
Magnetic.FundamentalWave.BasicMachines.InductionMachines.IM_SquirrelCage imc(
p=imcData.p,
fsNominal=imcData.fsNominal,
TsRef=imcData.TsRef,
alpha20s(displayUnit="1/K") = imcData.alpha20s,
Jr=imcData.Jr,
Js=imcData.Js,
frictionParameters=imcData.frictionParameters,
phiMechanical(fixed=true),
wMechanical(fixed=true),
statorCoreParameters=imcData.statorCoreParameters,
strayLoadParameters=imcData.strayLoadParameters,
TrRef=imcData.TrRef,
Rs=imcData.Rs*m/3,
Lssigma=imcData.Lssigma*m/3,
Lszero=imcData.Lszero*m/3,
Lm=imcData.Lm*m/3,
Lrsigma=imcData.Lrsigma*m/3,
Rr=imcData.Rr*m/3,
m=m,
TsOperational=293.15,
effectiveStatorTurns=imcData.effectiveStatorTurns,
alpha20r=imcData.alpha20r,
TrOperational=293.15)
annotation (Placement(transformation(extent={{60,-90},{40,-70}})));
Modelica.Electrical.Polyphase.Sensors.CurrentQuasiRMSSensor currentQuasiRMSSensor(m=m)
annotation (Placement(transformation(extent={{20,0},{40,-20}})));
Modelica.Electrical.Machines.Utilities.VfController
vfController(
final m=m,
VNominal=VNominal,
fNominal=fNominal) annotation (Placement(transformation(extent={{-30,-60},{-10,-40}})));
Modelica.Electrical.Polyphase.Sources.SignalVoltage signalVoltage(
final m=m) annotation (Placement(transformation(
origin={0,-10},
extent={{10,10},{-10,-10}})));
Modelica.Electrical.Polyphase.Basic.Star star(final m=m) annotation (
Placement(transformation(extent={{-40,-20},{-60,0}})));
Modelica.Electrical.Analog.Basic.Ground ground annotation (Placement(
transformation(
origin={-70,-30},
extent={{-10,-10},{10,10}})));
Modelica.Electrical.Machines.Utilities.MultiTerminalBox terminalBox(
terminalConnection="Y", m=m)
annotation (Placement(transformation(extent={{60,-74},{40,-54}})));
Modelica.Blocks.Math.Gain
gain(k=fNominal)
annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
Modelica.Mechanics.Translational.Components.IdealGearR2T
idealGearR2T(ratio=1/r)
annotation (Placement(transformation(extent={{32,-90},{12,-70}})));
Modelica.Mechanics.Translational.Components.Mass
mass(m=JLoad/r^2)
annotation (Placement(transformation(extent={{0,-90},{-20,-70}})));
Modelica.Mechanics.Translational.Sources.SignForce
signForce( v0(
displayUnit="m/s") = 0.01*wNominal*r, f_nominal=-TLoad/r)
annotation (Placement(transformation(extent={{-50,-90},{-30,-70}})));
Modelica.Electrical.Polyphase.Basic.Star starMachine(final m=
Modelica.Electrical.Polyphase.Functions.numberOfSymmetricBaseSystems(m))
annotation (Placement(transformation(
extent={{10,-10},{-10,10}},
rotation=180,
origin={80,-68})));
Modelica.Electrical.Analog.Basic.Ground groundMachine annotation (Placement(
transformation(origin={90,-90}, extent={{-10,-10},{10,10}})));
initial equation
sum(imc.is) = 0;
imc.is[1:2] = zeros(2);
imc.rotorCage.electroMagneticConverter.V_m = Complex(0, 0);
equation
connect(signalVoltageQS.plug_n, starQS.plug_p) annotation (Line(points={{-10,90},{-40,90}}, color={85,170,255}));
connect(starQS.pin_n, groundQS.pin) annotation (Line(points={{-60,90},{-70,90},{-70,80}}, color={85,170,255}));
connect(signalVoltageQS.plug_p, currentQuasiRMSSensorQS.plug_p) annotation (Line(points={{10,90},{20,90}}, color={85,170,255}));
connect(terminalBoxQS.plugSupply, currentQuasiRMSSensorQS.plug_n) annotation (Line(points={{50,32},{50,90},{40,90}}, color={85,170,255}));
connect(terminalBoxQS.plug_sn, imcQS.plug_sn) annotation (Line(points={{56,30},{56,30}}, color={85,170,255}));
connect(terminalBoxQS.plug_sp, imcQS.plug_sp) annotation (Line(points={{44,30},{44,30}}, color={85,170,255}));
connect(imcQS.flange, idealGearR2TQS.flangeR) annotation (Line(points={{40,20},{32,20}}));
connect(idealGearR2TQS.flangeT, massQS.flange_a) annotation (Line(points={{12,20},{0,20}}, color={0,127,0}));
connect(massQS.flange_b, signForceQS.flange) annotation (Line(points={{-20,20},{-30,20}}, color={0,127,0}));
connect(vfControllerQS.y, signalVoltageQS.V) annotation (Line(points={{1,50},{6,50},{6,78}}, color={85,170,255}));
connect(groundMachineQS.pin,starMachineQS. pin_n) annotation (Line(
points={{90,20},{90,32}}, color={85,170,255}));
connect(starMachineQS.plug_p, terminalBoxQS.starpoint) annotation (Line(points={{70,32},{60,32}}, color={85,170,255}));
connect(dutyCycle.y[1], gainQS.u) annotation (Line(points={{-79,50},{-72,50},{-72,50},{-62,50}}, color={0,0,127}));
connect(gainQS.y, signalVoltageQS.f) annotation (Line(points={{-39,50},{-30,50},{-30,70},{-6,70},{-6,78}}, color={0,0,127}));
connect(gainQS.y, vfControllerQS.u) annotation (Line(points={{-39,50},{-22,50}}, color={0,0,127}));
connect(signalVoltage.plug_n,star. plug_p)
annotation (Line(points={{-10,-10},{-40,-10}}, color={0,0,255}));
connect(star.pin_n,ground. p)
annotation (Line(points={{-60,-10},{-70,-10},{-70,-20}},
color={0,0,255}));
connect(vfController.y,signalVoltage. v)
annotation (Line(points={{-9,-50},{0,-50},{0,-22}},
color={0,0,255}));
connect(signalVoltage.plug_p,currentQuasiRMSSensor. plug_p)
annotation (Line(points={{10,-10},{20,-10}}, color={0,0,255}));
connect(terminalBox.plugSupply,currentQuasiRMSSensor. plug_n)
annotation (Line(
points={{50,-68},{50,-10},{40,-10}}, color={0,0,255}));
connect(terminalBox.plug_sn, imc.plug_sn) annotation (Line(points={{56,-70},{56,-70}}, color={0,0,255}));
connect(terminalBox.plug_sp, imc.plug_sp) annotation (Line(points={{44,-70},{44,-70}}, color={0,0,255}));
connect(vfController.u,gain. y)
annotation (Line(points={{-32,-50},{-39,-50}},
color={0,0,127}));
connect(imc.flange, idealGearR2T.flangeR) annotation (Line(points={{40,-80},{32,-80}}));
connect(idealGearR2T.flangeT,mass. flange_a)
annotation (Line(points={{12,-80},{0,-80}}, color={0,127,0}));
connect(mass.flange_b,signForce. flange)
annotation (Line(points={{-20,-80},{-30,-80}}, color={0,127,0}));
connect(dutyCycle.y[1], gain.u) annotation (Line(points={{-79,50},{-70,50},{-70,20},{-90,20},{-90,-50},{-62,-50}}, color={0,0,127}));
connect(groundMachine.p,starMachine. pin_n) annotation (Line(points={{90,-80},{90,-68}}, color={0,0,255}));
connect(terminalBox.starpoint, starMachine.plug_p) annotation (Line(points={{60,-68},{70,-68}}, color={0,0,255}));
annotation (experiment(StopTime=20, Interval=0.0001, Tolerance=1e-06), Documentation(
info="<html>
<p>
An ideal frequency inverter is modeled by using a VfController and a three-phase SignalVoltage.
Frequency is driven by a load cycle of acceleration, constant speed, deceleration and standstill.
The mechanical load is a constant torque like a conveyor (with regularization around zero speed).
</p>
<p>Simulate for 20 seconds and plot (versus time):</p>
<ul>
<li><code>currentQuasiRMSSensor|currentQuasiRMSSensorQS.I</code>: (equivalent) stator current RMS</li>
<li><code>imc|imcQS.wMechanical</code>: machine speed</li>
<li><code>imc|imcQS.tauElectrical</code>: machine torque</li>
</ul>
<p>Default machine parameters are used.</p>
</html>"),
Diagram(graphics={
Text(
extent={{20,60},{100,52}},
textStyle={TextStyle.Bold},
textString="%m phase quasi-static"),
Text(
extent={{20,-40},{100,-48}},
fillColor={255,255,170},
fillPattern=FillPattern.Solid,
textStyle={TextStyle.Bold},
textString="%m phase transient")}));
end IMC_Conveyor;