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Machines.mo
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within ModelicaTest.Electrical;
package Machines
extends Modelica.Icons.ExamplesPackage;
model SMPM_VoltageSourceWithLosses
"Test example: PermanentMagnetSynchronousMachine fed by FOC"
extends Modelica.Icons.Example;
import Modelica.Constants.pi;
constant Integer m=3 "Number of phases";
parameter SI.Current Idq[2]={-53.5, 84.6}
"Desired d- and q-current";
parameter SI.AngularVelocity wNominal=2*pi*smpmData.fsNominal/smpmData.p
"Nominal speed";
parameter SI.Torque TLoad=181.4 "Nominal load torque";
parameter SI.Inertia JLoad=0.29
"Load's moment of inertia";
Modelica.Electrical.Machines.BasicMachines.SynchronousMachines.SM_PermanentMagnet
smpm(
phiMechanical(start=0, fixed=true),
useSupport=false,
useThermalPort=false,
p=smpmData.p,
fsNominal=smpmData.fsNominal,
Rs=smpmData.Rs,
TsRef=smpmData.TsRef,
Lszero=smpmData.Lszero,
Lssigma=smpmData.Lssigma,
Jr=smpmData.Jr,
Js=smpmData.Js,
frictionParameters=smpmData.frictionParameters,
statorCoreParameters=smpmData.statorCoreParameters,
strayLoadParameters=smpmData.strayLoadParameters,
VsOpenCircuit=smpmData.VsOpenCircuit,
Lmd=smpmData.Lmd,
Lmq=smpmData.Lmq,
useDamperCage=smpmData.useDamperCage,
Lrsigmad=smpmData.Lrsigmad,
Lrsigmaq=smpmData.Lrsigmaq,
Rrd=smpmData.Rrd,
Rrq=smpmData.Rrq,
TrRef=smpmData.TrRef,
permanentMagnetLossParameters=smpmData.permanentMagnetLossParameters,
TsOperational=293.15,
alpha20s=smpmData.alpha20s,
wMechanical(
start=-157.07963267949,
fixed=true,
displayUnit="rpm"),
TrOperational=293.15,
alpha20r=smpmData.alpha20r)
annotation (Placement(transformation(extent={{-20,-50},{0,-30}})));
Modelica.Electrical.Polyphase.Sources.SignalVoltage signalVoltage(
final m=m) annotation (Placement(transformation(
origin={-10,50},
extent={{10,10},{-10,-10}},
rotation=270)));
Modelica.Electrical.Polyphase.Basic.Star star(final m=m) annotation (
Placement(transformation(extent={{-50,80},{-70,100}})));
Modelica.Electrical.Analog.Basic.Ground ground annotation (Placement(
transformation(
origin={-90,90},
extent={{-10,-10},{10,10}},
rotation=270)));
Modelica.Blocks.Sources.Constant iq(k=Idq[2])
annotation (Placement(transformation(extent={{-90,20},{-70,40}})));
Modelica.Blocks.Sources.Constant id(k=Idq[1])
annotation (Placement(transformation(extent={{-90,60},{-70,80}})));
Modelica.Electrical.Machines.Utilities.TerminalBox terminalBox(
terminalConnection="Y")
annotation (Placement(transformation(extent={{-20,-34},{0,-14}})));
Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=90,
origin={10,0})));
Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(J=JLoad)
annotation (Placement(transformation(extent={{50,-50},{70,-30}})));
Modelica.Mechanics.Rotational.Sources.QuadraticSpeedDependentTorque
quadraticSpeedDependentTorque( tau_nominal=-TLoad,
w_nominal(displayUnit="rad/s") = wNominal,
TorqueDirection=false)
annotation (Placement(transformation(extent={{100,-50},{80,-30}})));
Modelica.Electrical.Polyphase.Sensors.CurrentSensor currentSensor(m=m)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={-10,0})));
Modelica.Electrical.Machines.Utilities.DQCurrentController dqCurrentController(
p=smpm.p,
Ld=smpm.Lssigma + smpm.Lmd,
Lq=smpm.Lssigma + smpm.Lmq,
Rs=Modelica.Electrical.Machines.Thermal.convertResistance(
smpm.Rs,
smpm.TsRef,
smpm.alpha20s,
smpm.TsOperational),
fsNominal=smpm.fsNominal,
VsOpenCircuit=smpm.VsOpenCircuit)
annotation (Placement(transformation(extent={{-50,40},{-30,60}})));
Modelica.Mechanics.Rotational.Sensors.TorqueSensor torqueSensor
annotation (Placement(transformation(
extent={{10,10},{-10,-10}},
rotation=180,
origin={40,-60})));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=90,
origin={30,0})));
Modelica.Electrical.Machines.Sensors.RotorDisplacementAngle rotorDisplacementAngle(p=smpm.p)
annotation (Placement(transformation(
origin={20,-40},
extent={{-10,10},{10,-10}},
rotation=270)));
Modelica.Electrical.Analog.Basic.Ground groundM annotation (Placement(
transformation(
origin={-80,-28},
extent={{-10,-10},{10,10}},
rotation=270)));
Modelica.Electrical.Polyphase.Basic.Star starM(final m=m) annotation (
Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-60,-10})));
Modelica.Electrical.Machines.Sensors.VoltageQuasiRMSSensor voltageQuasiRMSSensor
annotation (Placement(transformation(
extent={{-10,10},{10,-10}},
rotation=180,
origin={-30,-10})));
parameter
Modelica.Electrical.Machines.Utilities.ParameterRecords.SM_PermanentMagnetData
smpmData(
useDamperCage=false,
frictionParameters(PRef=500, power_w=1.5),
strayLoadParameters(PRef=250, power_w=0.5),
permanentMagnetLossParameters(PRef=250, power_w=0.9),
statorCoreParameters(PRef=500))
annotation (Placement(transformation(extent={{-20,-80},{0,-60}})));
Modelica.Electrical.Machines.Sensors.CurrentQuasiRMSSensor currentQuasiRMSSensor
annotation (Placement(transformation(
origin={-10,20},
extent={{-10,-10},{10,10}},
rotation=270)));
initial equation
smpm.is[1:2] = zeros(2);
equation
connect(star.pin_n, ground.p)
annotation (Line(points={{-70,90},{-80,90}}, color={0,0,255}));
connect(terminalBox.plug_sn, smpm.plug_sn) annotation (Line(
points={{-16,-30},{-16,-30}}, color={0,0,255}));
connect(terminalBox.plug_sp, smpm.plug_sp) annotation (Line(
points={{-4,-30},{-4,-30}}, color={0,0,255}));
connect(quadraticSpeedDependentTorque.flange, inertiaLoad.flange_b)
annotation (Line(
points={{80,-40},{70,-40}}));
connect(smpm.flange, angleSensor.flange) annotation (Line(
points={{0,-40},{10,-40},{10,-10}}));
connect(star.plug_p, signalVoltage.plug_n) annotation (Line(
points={{-50,90},{-10,90},{-10,60}}, color={0,0,255}));
connect(currentSensor.plug_n, terminalBox.plugSupply) annotation (Line(
points={{-10,-10},{-10,-28}}, color={0,0,255}));
connect(id.y, dqCurrentController.id) annotation (Line(
points={{-69,70},{-60,70},{-60,56},{-52,56}}, color={0,0,127}));
connect(iq.y, dqCurrentController.iq) annotation (Line(
points={{-69,30},{-60,30},{-60,44},{-52,44}}, color={0,0,127}));
connect(angleSensor.phi, dqCurrentController.phi) annotation (Line(
points={{10,11},{10,34},{-34,34},{-34,38}}, color={0,0,127}));
connect(dqCurrentController.y, signalVoltage.v) annotation (Line(
points={{-29,50},{-17,50}}, color={0,0,127}));
connect(currentSensor.i, dqCurrentController.iActual) annotation (Line(
points={{-21,1.9984e-015},{-46,1.9984e-015},{-46,38}}, color={0,0,127}));
connect(inertiaLoad.flange_a, torqueSensor.flange_b) annotation (Line(
points={{50,-40},{50,-60}}));
connect(torqueSensor.flange_a, smpm.flange) annotation (Line(
points={{30,-60},{30,-40},{0,-40}}));
connect(speedSensor.flange, smpm.flange) annotation (Line(
points={{30,-10},{30,-40},{0,-40}}));
connect(rotorDisplacementAngle.flange, smpm.flange) annotation (Line(
points={{10,-40},{0,-40}}));
connect(rotorDisplacementAngle.plug_p, smpm.plug_sp) annotation (Line(
points={{14,-30},{-4,-30}}, color={0,0,255}));
connect(rotorDisplacementAngle.plug_n, smpm.plug_sn) annotation (Line(
points={{26,-30},{26,-20},{-16,-20},{-16,-30}}, color={0,0,255}));
connect(voltageQuasiRMSSensor.plug_p, currentSensor.plug_n) annotation (
Line(
points={{-20,-10},{-10,-10}}, color={0,0,255}));
connect(starM.plug_p, voltageQuasiRMSSensor.plug_n) annotation (Line(
points={{-50,-10},{-40,-10}}, color={0,0,255}));
connect(groundM.p, starM.pin_n) annotation (Line(
points={{-70,-28},{-70,-10}}, color={0,0,255}));
connect(currentQuasiRMSSensor.plug_n, currentSensor.plug_p) annotation (
Line(
points={{-10,10},{-10,10}}, color={0,0,255}));
connect(signalVoltage.plug_p, currentQuasiRMSSensor.plug_p) annotation (
Line(
points={{-10,40},{-10,30}}, color={0,0,255}));
annotation (experiment(StopTime=2.0, Interval=0.001), Documentation(
info="<html>
<p>
A synchronous machine with permanent magnets accelerates a quadratic speed dependent load from standstill.
The rms values of d- and q-current in rotor fixed coordinate system are controlled by the dqCurrentController,
and the output voltages fed to the machine. The result shows that the torque is influenced by the q-current,
whereas the stator voltage is influenced by the d-current.</p>
<p>
Default machine parameters of model <a href=\"modelica://Modelica.Electrical.Machines.BasicMachines.SynchronousMachines.SM_PermanentMagnet\">SM_PermanentMagnet</a> are used.
</p>
</html>"));
end SMPM_VoltageSourceWithLosses;
model DCPM_CurrentControlled "Current controlled DCPM drive"
extends Modelica.Icons.Example;
parameter ModelicaTest.Electrical.Machines.DCPM_Utilities.DriveData driveData(
redeclare ModelicaTest.Electrical.Machines.DCPM_Utilities.M48V machineData)
annotation (Placement(transformation(extent={{60,60},{80,80}})));
ModelicaTest.Electrical.Machines.DCPM_Utilities.DCPM dcpm(
machineData=driveData.machineData,
iA(fixed=true),
phi(fixed=true),
w(fixed=true))
annotation (Placement(transformation(extent={{20,-80},{40,-60}})));
Modelica.Electrical.Analog.Basic.Ground ground
annotation (Placement(
transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={10,-50})));
Modelica.Blocks.Sources.Step iRef(
height=driveData.machineData.IANominal,
offset=0,
startTime=0.1)
annotation (Placement(transformation(extent={{-40,30},{-20,50}})));
Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(
J=driveData.JL,
phi(fixed=false),
w(fixed=false))
annotation (Placement(transformation(extent={{50,-80},{70,-60}})));
Modelica.Mechanics.Rotational.Sources.LinearSpeedDependentTorque torqueLoad(
tau_nominal=-driveData.machineData.tauNominal,
TorqueDirection=false,
w_nominal=driveData.machineData.wNominal)
annotation (Placement(transformation(extent={{100,-80},{80,-60}})));
Modelica.Electrical.Analog.Sources.SignalVoltage voltageSource
annotation (Placement(transformation(extent={{40,-20},{20,0}})));
Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor
annotation (Placement(transformation(
extent={{-10,10},{10,-10}},
rotation=90,
origin={20,-30})));
Modelica.Blocks.Continuous.FirstOrder deadTime(
k=1,
T=driveData.Td,
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=0) annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={30,20})));
Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI currentController(
k=driveData.controllerData.kpI,
Ti=driveData.controllerData.TiI,
useFF=true,
KFF=driveData.machineData.kPhi,
yMax=driveData.VBat,
initType=Modelica.Blocks.Types.Init.InitialOutput,
x_start=0,
y_start=0) annotation (Placement(transformation(extent={{-10,30},{10,50}})));
equation
connect(dcpm.shaft, inertiaLoad.flange_a)
annotation (Line(points={{40,-70},{50,-70}}, color={0,0,0}));
connect(torqueLoad.flange, inertiaLoad.flange_b)
annotation (Line(points={{80,-70},{70,-70}}, color={0,0,0}));
connect(ground.p,dcpm. pin_n)
annotation (Line(points={{20,-50},{24,-50},{24,-60}}, color={0,0,255}));
connect(ground.p, currentSensor.p)
annotation (Line(points={{20,-50},{20,-40}}, color={0,0,255}));
connect(currentSensor.n,voltageSource. n)
annotation (Line(points={{20,-20},{20,-10}}, color={0,0,255}));
connect(voltageSource.p,dcpm. pin_p)
annotation (Line(points={{40,-10},{40,-50},{36,-50},{36,-60}}, color={0,0,255}));
connect(deadTime.y, voltageSource.v)
annotation (Line(points={{30,9},{30,2}}, color={0,0,127}));
connect(iRef.y, currentController.u)
annotation (Line(points={{-19,40},{-12,40}}, color={0,0,127}));
connect(currentSensor.i, currentController.u_m)
annotation (Line(points={{9,-30},{-6,-30},{-6,28}}, color={0,0,127}));
connect(dcpm.w, currentController.feedForward)
annotation (Line(points={{19,-70},{0,-70},{0,28}}, color={0,0,127}));
connect(currentController.y, deadTime.u)
annotation (Line(points={{11,40},{30,40},{30,32}}, color={0,0,127}));
annotation (experiment(
StopTime=1,
Interval=0.0001,
Tolerance=1e-06), Documentation(info="<html>
<p>
Simulates a current controlled DCPM machine. The load applies a linearly speed dependent torque, which in the end causes the drive to operate in nominal operation.
</p>
<p>
Additionally, the handling of parameter records can be tested:
By simply redeclaring the machine parameter record instantiated in the drive parameter record, a machine with different parameters can be simulated.
</p>
</html>"));
end DCPM_CurrentControlled;
model DCPM_SpeedControlled "Speed controlled DCPM drive"
extends Modelica.Icons.Example;
parameter ModelicaTest.Electrical.Machines.DCPM_Utilities.DriveData driveData(
redeclare ModelicaTest.Electrical.Machines.DCPM_Utilities.M48V machineData)
annotation (Placement(transformation(extent={{60,60},{80,80}})));
ModelicaTest.Electrical.Machines.DCPM_Utilities.DCPM dcpm(
machineData=driveData.machineData,
iA(fixed=true),
phi(fixed=true),
w(fixed=true))
annotation (Placement(transformation(extent={{20,-80},{40,-60}})));
Modelica.Electrical.Analog.Basic.Ground ground
annotation (Placement(
transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={10,-50})));
Modelica.Blocks.Sources.Step wRef(
height=driveData.machineData.wNominal,
offset=0,
startTime=0.1)
annotation (Placement(transformation(extent={{-100,30},{-80,50}})));
Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(
J=driveData.JL,
phi(fixed=false),
w(fixed=false))
annotation (Placement(transformation(extent={{50,-80},{70,-60}})));
Modelica.Mechanics.Rotational.Sources.TorqueStep torqueLoad(
stepTorque=-driveData.machineData.tauNominal,
offsetTorque=0,
startTime=0.7)
annotation (Placement(transformation(extent={{100,-80},{80,-60}})));
Modelica.Electrical.Analog.Sources.SignalVoltage voltageSource
annotation (Placement(transformation(extent={{40,-20},{20,0}})));
Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor
annotation (Placement(transformation(
extent={{-10,10},{10,-10}},
rotation=90,
origin={20,-30})));
Modelica.Blocks.Continuous.FirstOrder deadTime(
k=1,
T=driveData.Td,
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=0) annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={30,20})));
Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI currentController(
k=driveData.controllerData.kpI,
Ti=driveData.controllerData.TiI,
useFF=true,
KFF=driveData.machineData.kPhi,
yMax=driveData.VBat,
initType=Modelica.Blocks.Types.Init.InitialOutput,
x_start=0,
y_start=0) annotation (Placement(transformation(extent={{-10,30},{10,50}})));
Modelica.Blocks.Continuous.FirstOrder preFilter(
k=1,
T=driveData.controllerData.Tiw,
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=0)
annotation (Placement(transformation(extent={{-70,30},{-50,50}})));
Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI
speedController(
k=driveData.controllerData.kpw/driveData.machineData.kPhi,
Ti=driveData.controllerData.Tiw,
useFF=false,
yMax=driveData.IMax,
initType=Modelica.Blocks.Types.Init.InitialOutput,
x_start=0,
y_start=0)
annotation (Placement(transformation(extent={{-40,30},{-20,50}})));
equation
connect(dcpm.shaft, inertiaLoad.flange_a)
annotation (Line(points={{40,-70},{50,-70}}, color={0,0,0}));
connect(torqueLoad.flange, inertiaLoad.flange_b)
annotation (Line(points={{80,-70},{70,-70}}, color={0,0,0}));
connect(ground.p,dcpm. pin_n)
annotation (Line(points={{20,-50},{24,-50},{24,-60}}, color={0,0,255}));
connect(ground.p, currentSensor.p)
annotation (Line(points={{20,-50},{20,-40}}, color={0,0,255}));
connect(currentSensor.n,voltageSource. n)
annotation (Line(points={{20,-20},{20,-10}}, color={0,0,255}));
connect(voltageSource.p,dcpm. pin_p)
annotation (Line(points={{40,-10},{40,-50},{36,-50},{36,-60}}, color={0,0,255}));
connect(deadTime.y, voltageSource.v)
annotation (Line(points={{30,9},{30,2}}, color={0,0,127}));
connect(currentSensor.i, currentController.u_m)
annotation (Line(points={{9,-30},{-6,-30},{-6,28}}, color={0,0,127}));
connect(dcpm.w, currentController.feedForward)
annotation (Line(points={{19,-70},{0,-70},{0,28}}, color={0,0,127}));
connect(wRef.y, preFilter.u)
annotation (Line(points={{-79,40},{-72,40}}, color={0,0,127}));
connect(currentController.y, deadTime.u)
annotation (Line(points={{11,40},{30,40},{30,32}}, color={0,0,127}));
connect(preFilter.y, speedController.u)
annotation (Line(points={{-49,40},{-42,40}}, color={0,0,127}));
connect(speedController.y, currentController.u)
annotation (Line(points={{-19,40},{-12,40}}, color={0,0,127}));
connect(dcpm.w, speedController.u_m)
annotation (Line(points={{19,-70},{-36,-70},{-36,28}}, color={0,0,127}));
annotation (experiment(
StopTime=1,
Interval=0.0001,
Tolerance=1e-06), Documentation(info="<html>
<p>
Simulates a speed controlled DCPM machine. The load applies a torque step, which in the end causes the drive to operate in nominal operation.
</p>
<p>
Additionally, the handling of parameter records can be tested:
By simply redeclaring the machine parameter record instantiated in the drive parameter record, a machine with different parameters can be simulated.
</p>
</html>"));
end DCPM_SpeedControlled;
package DCPM_Utilities "Utilities for DC_Drives"
extends Modelica.Icons.UtilitiesPackage;
model DCPM "Simple DC PM model"
extends Modelica.Electrical.Machines.Icons.Machine;
parameter MachineData machineData
annotation (Placement(transformation(extent={{60,40},{80,60}})));
output Modelica.Units.SI.Current iA(start=0) = resistor.i
"Armature current";
output Modelica.Units.SI.Angle phi(start=0) = shaft.phi "Shaft angle";
Modelica.Blocks.Interfaces.RealOutput w(start=0, unit="rad/s", displayUnit="1/min")
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-110,0})));
Modelica.Electrical.Analog.Interfaces.PositivePin pin_p "Positive armature pin"
annotation (Placement(transformation(extent={{50,90},{70,110}})));
Modelica.Electrical.Analog.Interfaces.NegativePin pin_n "Negative armature pin"
annotation (Placement(transformation(extent={{-70,90},{-50,110}})));
Modelica.Mechanics.Rotational.Interfaces.Flange_a shaft "Shaft"
annotation (Placement(transformation(extent={{90,-10},{110,10}})));
Modelica.Electrical.Analog.Basic.Resistor resistor(R=machineData.RA,
T_ref=293.15)
annotation (Placement(transformation(extent={{-10,-10},{10,10}},
rotation=270,
origin={0,60})));
Modelica.Electrical.Analog.Basic.Inductor inductor(L=machineData.LA)
annotation (Placement(transformation(extent={{-10,-10},{10,10}},
rotation=270,
origin={0,30})));
Modelica.Electrical.Analog.Basic.RotationalEMF emf(k=machineData.kPhi)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={0,0})));
Modelica.Mechanics.Rotational.Components.Inertia inertia(J=machineData.J)
annotation (Placement(transformation(extent={{40,-10},{60,10}})));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={80,-30})));
equation
connect(resistor.n, inductor.p)
annotation (Line(points={{-1.77636e-15,50},{0,50},{0,40},{0,40}},color={0,0,255}));
connect(inductor.n, emf.p)
annotation (Line(points={{-1.77636e-15,20},{0,20},{0,10}},color={0,0,255}));
connect(emf.flange, inertia.flange_a)
annotation (Line(points={{10,0},{40,0}}, color={0,0,0}));
connect(resistor.p, pin_p)
annotation (Line(points={{0,70},{0,80},{60,80},{60,100}}, color={0,0,255}));
connect(emf.n, pin_n)
annotation (Line(points={{0,-10},{0,-20},{-60,-20},{-60,100}}, color={0,0,255}));
connect(inertia.flange_b, shaft)
annotation (Line(points={{60,0},{100,0}}, color={0,0,0}));
connect(inertia.flange_b, speedSensor.flange)
annotation (Line(points={{60,0},{80,0},{80,-20}}, color={0,0,0}));
connect(speedSensor.w, w)
annotation (Line(points={{80,-41},{80,-60},{-80,-60}, {-80,0},{-110,0}}, color={0,0,127}));
annotation (
Icon(graphics={Text(
extent={{-100,-100},{100,-140}},
textColor={28,108,200},
textString="%name")}), Documentation(info="<html>
<p>
Simple model of a DC PM machine, comprising armature resistance, armature inductance, emf (including torque generation), inertia and speed measurement.
</p>
</html>"));
end DCPM;
record DriveData "Parameters of the whole drive"
extends Modelica.Icons.Record;
import Modelica.Constants.pi;
replaceable parameter
ModelicaTest.Electrical.Machines.DCPM_Utilities.MachineData machineData
annotation (choicesAllMatching=true, Placement(transformation(extent={{
-10,40},{10,60}})));
parameter ControllerData controllerData(
kpI=machineData.LA/(2*Td),
TiI=machineData.LA/machineData.RA,
Tsub=2*Td,
kpw=(machineData.J + JL)/(2*controllerData.Tsub),
Tiw=4*controllerData.Tsub)
annotation (Placement(transformation(extent={{-10,0},{10,20}})));
parameter Modelica.Units.SI.Inertia JL=machineData.J "Load inertia";
parameter Modelica.Units.SI.Voltage VBat=1.2*machineData.VANominal
"Battery voltage";
parameter Modelica.Units.SI.Current IMax=1.5*machineData.IANominal
"Max. armature current";
parameter Modelica.Units.SI.Frequency fSwitch=1e3 "Switching frequency";
parameter Modelica.Units.SI.Time Td=0.5/fSwitch "Dead time of inverter"
annotation (Dialog(enable=false));
annotation(defaultComponentPrefixes="parameter", defaultComponentName="driveData",
Documentation(info="<html>
<p>
The drive parameter record contains the machine parameter record, additional parameters and fills the controller parameter record.
Simulating another machine (with different parameters), the machine parameter record can be redeclared.
</p>
</html>"));
end DriveData;
record ControllerData "Controller parameters"
extends Modelica.Icons.Record;
parameter Real kpI "Proportional gain of current controller";
parameter Modelica.Units.SI.Time TiI
"Integral time constant of current controller";
parameter Modelica.Units.SI.Time Tsub "Substitute time constant";
parameter Real kpw "Proportional gain of speed controller";
parameter Modelica.Units.SI.Time Tiw
"Integral time constant of speed controller";
annotation(defaultComponentPrefixes="parameter", defaultComponentName="controllerData",
Documentation(info="<html>
<p>
The controller parameter record is used in the drive parameters record, and filled in that record (based on the machine parameters).
</p>
</html>"));
end ControllerData;
record MachineData "Standard machine parameters"
extends Modelica.Icons.Record;
import Modelica.Constants.pi;
parameter Modelica.Units.SI.Voltage VANominal=100
"Nominal armature voltage";
parameter Modelica.Units.SI.Current IANominal=100
"Nominal armature current";
parameter Modelica.Units.SI.AngularVelocity wNominal=1425*pi/30
"Nominal speed";
parameter Modelica.Units.SI.Resistance RA=0.05 "Armature resistance";
parameter Modelica.Units.SI.Inductance LA=0.0015 "Armature inductance";
parameter Modelica.Units.SI.Voltage ViNominal=VANominal - RA*IANominal
"Nominal induced voltage" annotation (Dialog(enable=false));
parameter Modelica.Units.SI.ElectricalTorqueConstant kPhi=ViNominal/
wNominal "Flux constant";
parameter Modelica.Units.SI.Inertia J=0.29 "Rotor inertia";
parameter Modelica.Units.SI.Torque tauNominal=kPhi*IANominal
"Nominal torque" annotation (Dialog(enable=false));
annotation(defaultComponentPrefixes="parameter", defaultComponentName="machineData",
Documentation(info="<html>
<p>
The machine parameter record contains all necessary parameters of a DC PM machine.
It is used to parameterize the DCPM model, and it is used in the drive parameter record.
Extending from this record, the parameters of other machines (with different parameters) can be saved.
</p>
</html>"));
end MachineData;
record M48V "Real machine 48 V"
import Modelica.Constants.pi;
extends ModelicaTest.Electrical.Machines.DCPM_Utilities.MachineData(
VANominal=48,
IANominal=25,
wNominal=3500*pi/30,
RA=0.24,
LA=0.004,
J=0.0008);
annotation(defaultComponentPrefixes="parameter", defaultComponentName="machineData",
Documentation(info="<html>
<p>
Machine parameters of a real 48 W / 1 kW DCPM machine.
</p>
</html>"));
end M48V;
end DCPM_Utilities;
end Machines;