| 1 | within ;
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| 2 | package DC_Drive "Test library of controlled DCPM drives"
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| 3 | extends Modelica.Icons.Package;
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| 4 |
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| 5 | model DCPM_CurrentControlled "Current controlled DCPM drive"
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| 6 | extends Modelica.Icons.Example;
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| 7 | import Modelica.Constants.pi;
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| 8 | parameter DCPM_Utilities.DriveData driveData(redeclare
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| 9 | DC_Drive.DCPM_Utilities.M48V machineData)
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| 10 | annotation (Placement(transformation(extent={{60,60},{80,80}})));
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| 11 | DCPM_Utilities.DCPM dcpm(
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| 12 | machineData=driveData.machineData,
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| 13 | iA(fixed=true),
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| 14 | phi(fixed=true),
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| 15 | w(fixed=true))
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| 16 | annotation (Placement(transformation(extent={{20,-80},{40,-60}})));
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| 17 | Modelica.Electrical.Analog.Basic.Ground ground
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| 18 | annotation (Placement(
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| 19 | transformation(
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| 20 | extent={{-10,-10},{10,10}},
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| 21 | rotation=270,
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| 22 | origin={10,-50})));
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| 23 | Modelica.Blocks.Sources.Step iRef(
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| 24 | height=driveData.machineData.IANominal,
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| 25 | offset=0,
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| 26 | startTime=0.1)
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| 27 | annotation (Placement(transformation(extent={{-40,30},{-20,50}})));
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| 28 | Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(
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| 29 | J=driveData.JL,
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| 30 | phi(fixed=false),
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| 31 | w(fixed=false))
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| 32 | annotation (Placement(transformation(extent={{50,-80},{70,-60}})));
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| 33 | Modelica.Mechanics.Rotational.Sources.LinearSpeedDependentTorque torqueLoad(
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| 34 | tau_nominal=-driveData.machineData.tauNominal,
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| 35 | TorqueDirection=false,
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| 36 | w_nominal=driveData.machineData.wNominal)
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| 37 | annotation (Placement(transformation(extent={{100,-80},{80,-60}})));
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| 38 | Modelica.Electrical.Analog.Sources.SignalVoltage voltageSource
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| 39 | annotation (Placement(transformation(extent={{40,-20},{20,0}})));
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| 40 | Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor
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| 41 | annotation (Placement(transformation(
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| 42 | extent={{-10,10},{10,-10}},
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| 43 | rotation=90,
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| 44 | origin={20,-30})));
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| 45 | Modelica.Blocks.Continuous.FirstOrder deadTime(
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| 46 | k=1,
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| 47 | T=driveData.Td,
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| 48 | initType=Modelica.Blocks.Types.Init.InitialOutput,
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| 49 | y_start=0) annotation (Placement(transformation(
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| 50 | extent={{-10,-10},{10,10}},
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| 51 | rotation=270,
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| 52 | origin={30,20})));
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| 53 | Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI currentController(
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| 54 | k=driveData.controllerData.kpI,
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| 55 | Ti=driveData.controllerData.TiI,
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| 56 | useFF=true,
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| 57 | KFF=driveData.machineData.kPhi,
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| 58 | yMax=driveData.VBat,
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| 59 | initType=Modelica.Blocks.Types.Init.InitialOutput,
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| 60 | x_start=0,
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| 61 | y_start=0) annotation (Placement(transformation(extent={{-10,30},{10,50}})));
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| 62 | equation
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| 63 | connect(dcpm.shaft, inertiaLoad.flange_a)
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| 64 | annotation (Line(points={{40,-70},{50,-70}}, color={0,0,0}));
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| 65 | connect(torqueLoad.flange, inertiaLoad.flange_b)
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| 66 | annotation (Line(points={{80,-70},{70,-70}}, color={0,0,0}));
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| 67 | connect(ground.p,dcpm. pin_n)
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| 68 | annotation (Line(points={{20,-50},{24,-50},{24,-60}}, color={0,0,255}));
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| 69 | connect(ground.p, currentSensor.p)
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| 70 | annotation (Line(points={{20,-50},{20,-40}}, color={0,0,255}));
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| 71 | connect(currentSensor.n,voltageSource. n)
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| 72 | annotation (Line(points={{20,-20},{20,-10}},
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| 73 | color={0,0,255}));
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| 74 | connect(voltageSource.p,dcpm. pin_p)
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| 75 | annotation (Line(points={{40,-10},{40,-50},{36,-50},{36,-60}},
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| 76 | color={0,0,255}));
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| 77 | connect(deadTime.y, voltageSource.v)
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| 78 | annotation (Line(points={{30,9},{30,2}}, color={0,0,127}));
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| 79 | connect(iRef.y, currentController.u)
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| 80 | annotation (Line(points={{-19,40},{-12,40}}, color={0,0,127}));
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| 81 | connect(currentSensor.i, currentController.u_m)
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| 82 | annotation (Line(points={{9,-30},{-6,-30},{-6,28}}, color={0,0,127}));
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| 83 | connect(dcpm.w, currentController.feedForward)
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| 84 | annotation (Line(points={{19,-70},{0,-70},{0,28}}, color={0,0,127}));
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| 85 | connect(currentController.y, deadTime.u)
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| 86 | annotation (Line(points={{11,40},{30,40},{30,32}}, color={0,0,127}));
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| 87 | annotation (experiment(
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| 88 | StopTime=1,
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| 89 | Interval=0.0001,
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| 90 | Tolerance=1e-06), Documentation(info="<html>
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| 91 | <p>
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| 92 | 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.
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| 93 | </p>
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| 94 | <p>
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| 95 | Additionally, the handling of parameter records can be tested:
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| 96 | By simply redeclaring the machine parameter record instantiated in the drive parameter record, a machine with different parameters can be simulated.
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| 97 | </p>
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| 98 | </html>"));
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| 99 | end DCPM_CurrentControlled;
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| 100 |
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| 101 | model DCPM_SpeedControlled "Current controlled DCPM drive"
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| 102 | extends Modelica.Icons.Example;
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| 103 | import Modelica.Constants.pi;
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| 104 | parameter DCPM_Utilities.DriveData driveData(redeclare
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| 105 | DC_Drive.DCPM_Utilities.M48V machineData)
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| 106 | annotation (Placement(transformation(extent={{60,60},{80,80}})));
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| 107 | DCPM_Utilities.DCPM dcpm(
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| 108 | machineData=driveData.machineData,
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| 109 | iA(fixed=true),
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| 110 | phi(fixed=true),
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| 111 | w(fixed=true))
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| 112 | annotation (Placement(transformation(extent={{20,-80},{40,-60}})));
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| 113 | Modelica.Electrical.Analog.Basic.Ground ground
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| 114 | annotation (Placement(
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| 115 | transformation(
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| 116 | extent={{-10,-10},{10,10}},
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| 117 | rotation=270,
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| 118 | origin={10,-50})));
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| 119 | Modelica.Blocks.Sources.Step wRef(
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| 120 | height=driveData.machineData.wNominal,
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| 121 | offset=0,
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| 122 | startTime=0.1)
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| 123 | annotation (Placement(transformation(extent={{-100,30},{-80,50}})));
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| 124 | Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(
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| 125 | J=driveData.JL,
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| 126 | phi(fixed=false),
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| 127 | w(fixed=false))
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| 128 | annotation (Placement(transformation(extent={{50,-80},{70,-60}})));
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| 129 | Modelica.Mechanics.Rotational.Sources.TorqueStep torqueLoad(
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| 130 | stepTorque=-driveData.machineData.tauNominal,
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| 131 | offsetTorque=0,
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| 132 | startTime=0.7)
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| 133 | annotation (Placement(transformation(extent={{100,-80},{80,-60}})));
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| 134 | Modelica.Electrical.Analog.Sources.SignalVoltage voltageSource
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| 135 | annotation (Placement(transformation(extent={{40,-20},{20,0}})));
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| 136 | Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor
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| 137 | annotation (Placement(transformation(
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| 138 | extent={{-10,10},{10,-10}},
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| 139 | rotation=90,
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| 140 | origin={20,-30})));
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| 141 | Modelica.Blocks.Continuous.FirstOrder deadTime(
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| 142 | k=1,
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| 143 | T=driveData.Td,
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| 144 | initType=Modelica.Blocks.Types.Init.InitialOutput,
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| 145 | y_start=0) annotation (Placement(transformation(
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| 146 | extent={{-10,-10},{10,10}},
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| 147 | rotation=270,
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| 148 | origin={30,20})));
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| 149 | Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI currentController(
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| 150 | k=driveData.controllerData.kpI,
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| 151 | Ti=driveData.controllerData.TiI,
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| 152 | useFF=true,
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| 153 | KFF=driveData.machineData.kPhi,
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| 154 | yMax=driveData.VBat,
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| 155 | initType=Modelica.Blocks.Types.Init.InitialOutput,
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| 156 | x_start=0,
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| 157 | y_start=0) annotation (Placement(transformation(extent={{-10,30},{10,50}})));
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| 158 | Modelica.Blocks.Continuous.FirstOrder preFilter(
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| 159 | k=1,
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| 160 | T=driveData.controllerData.Tiw,
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| 161 | initType=Modelica.Blocks.Types.Init.InitialOutput,
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| 162 | y_start=0)
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| 163 | annotation (Placement(transformation(extent={{-70,30},{-50,50}})));
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| 164 | Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI
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| 165 | speedController(
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| 166 | k=driveData.controllerData.kpw/driveData.machineData.kPhi,
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| 167 | Ti=driveData.controllerData.Tiw,
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| 168 | useFF=false,
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| 169 | yMax=driveData.IMax,
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| 170 | initType=Modelica.Blocks.Types.Init.InitialOutput,
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| 171 | x_start=0,
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| 172 | y_start=0)
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| 173 | annotation (Placement(transformation(extent={{-40,30},{-20,50}})));
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| 174 | equation
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| 175 | connect(dcpm.shaft, inertiaLoad.flange_a)
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| 176 | annotation (Line(points={{40,-70},{50,-70}}, color={0,0,0}));
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| 177 | connect(torqueLoad.flange, inertiaLoad.flange_b)
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| 178 | annotation (Line(points={{80,-70},{70,-70}}, color={0,0,0}));
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| 179 | connect(ground.p,dcpm. pin_n)
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| 180 | annotation (Line(points={{20,-50},{24,-50},{24,-60}}, color={0,0,255}));
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| 181 | connect(ground.p, currentSensor.p)
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| 182 | annotation (Line(points={{20,-50},{20,-40}}, color={0,0,255}));
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| 183 | connect(currentSensor.n,voltageSource. n)
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| 184 | annotation (Line(points={{20,-20},{20,-10}},
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| 185 | color={0,0,255}));
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| 186 | connect(voltageSource.p,dcpm. pin_p)
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| 187 | annotation (Line(points={{40,-10},{40,-50},{36,-50},{36,-60}},
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| 188 | color={0,0,255}));
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| 189 | connect(deadTime.y, voltageSource.v)
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| 190 | annotation (Line(points={{30,9},{30,2}}, color={0,0,127}));
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| 191 | connect(currentSensor.i, currentController.u_m)
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| 192 | annotation (Line(points={{9,-30},{-6,-30},{-6,28}}, color={0,0,127}));
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| 193 | connect(dcpm.w, currentController.feedForward)
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| 194 | annotation (Line(points={{19,-70},{0,-70},{0,28}}, color={0,0,127}));
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| 195 | connect(wRef.y, preFilter.u)
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| 196 | annotation (Line(points={{-79,40},{-72,40}}, color={0,0,127}));
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| 197 | connect(currentController.y, deadTime.u)
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| 198 | annotation (Line(points={{11,40},{30,40},{30,32}}, color={0,0,127}));
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| 199 | connect(preFilter.y, speedController.u)
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| 200 | annotation (Line(points={{-49,40},{-42,40}}, color={0,0,127}));
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| 201 | connect(speedController.y, currentController.u)
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| 202 | annotation (Line(points={{-19,40},{-12,40}}, color={0,0,127}));
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| 203 | connect(dcpm.w, speedController.u_m) annotation (Line(points={{19,-70},{
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| 204 | -36,-70},{-36,28}}, color={0,0,127}));
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| 205 | annotation (experiment(
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| 206 | StopTime=1,
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| 207 | Interval=0.0001,
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| 208 | Tolerance=1e-06), Documentation(info="<html>
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| 209 | <p>
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| 210 | Simulates a speed controlled DCPM machine. The load applies a torque step, which in the end causes the drive to operate in nominal operation.
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| 211 | </p>
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| 212 | <p>
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| 213 | Additionally, the handling of parameter records can be tested:
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| 214 | By simply redeclaring the machine parameter record instantiated in the drive parameter record, a machine with different parameters can be simulated.
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| 215 | </p>
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| 216 | </html>"));
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| 217 | end DCPM_SpeedControlled;
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| 218 |
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| 219 | package DCPM_Utilities "Utilities for DC_Drives"
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| 220 | extends Modelica.Icons.UtilitiesPackage;
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| 221 | model DCPM "Simple DC PM model"
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| 222 | extends Modelica.Electrical.Machines.Icons.Machine;
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| 223 | parameter MachineData machineData
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| 224 | annotation (Placement(transformation(extent={{60,40},{80,60}})));
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| 225 | output Modelica.SIunits.Current iA(start=0)=resistor.i "Armature current";
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| 226 | output Modelica.SIunits.Angle phi(start=0)=shaft.phi "Shaft angle";
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| 227 | Modelica.Blocks.Interfaces.RealOutput w(start=0, unit="rad/s", displayUnit="1/min")
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| 228 | annotation (Placement(transformation(
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| 229 | extent={{-10,-10},{10,10}},
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| 230 | rotation=180,
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| 231 | origin={-110,0})));
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| 232 | Modelica.Electrical.Analog.Interfaces.PositivePin pin_p "Positive armature pin"
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| 233 | annotation (Placement(transformation(extent={{50,90},{70,110}})));
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| 234 | Modelica.Electrical.Analog.Interfaces.NegativePin pin_n "Negative armature pin"
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| 235 | annotation (Placement(transformation(extent={{-70,90},{-50,110}})));
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| 236 | Modelica.Mechanics.Rotational.Interfaces.Flange_a shaft "Shaft"
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| 237 | annotation (Placement(transformation(extent={{90,-10},{110,10}})));
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| 238 | Modelica.Electrical.Analog.Basic.Resistor resistor(R=machineData.RA,
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| 239 | T_ref=293.15)
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| 240 | annotation (Placement(transformation(extent={{-10,-10},{10,10}},
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| 241 | rotation=270,
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| 242 | origin={0,60})));
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| 243 | Modelica.Electrical.Analog.Basic.Inductor inductor(L=machineData.LA)
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| 244 | annotation (Placement(transformation(extent={{-10,-10},{10,10}},
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| 245 | rotation=270,
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| 246 | origin={0,30})));
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| 247 | Modelica.Electrical.Analog.Basic.EMF emf(k=machineData.kPhi)
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| 248 | annotation (Placement(
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| 249 | transformation(
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| 250 | extent={{-10,-10},{10,10}},
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| 251 | rotation=0,
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| 252 | origin={0,0})));
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| 253 | Modelica.Mechanics.Rotational.Components.Inertia inertia(J=machineData.J)
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| 254 | annotation (Placement(transformation(extent={{40,-10},{60,10}})));
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| 255 | Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor
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| 256 | annotation (Placement(transformation(
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| 257 | extent={{-10,-10},{10,10}},
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| 258 | rotation=270,
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| 259 | origin={80,-30})));
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| 260 | equation
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| 261 | connect(resistor.n, inductor.p)
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| 262 | annotation (Line(points={{-1.77636e-15,50},{0,50},{0,40},{0,40}},color={0,0,255}));
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| 263 | connect(inductor.n, emf.p)
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| 264 | annotation (Line(points={{-1.77636e-15,20},{0,20},{0,10}},color={0,0,255}));
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| 265 | connect(emf.flange, inertia.flange_a)
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| 266 | annotation (Line(points={{10,0},{40,0}}, color={0,0,0}));
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| 267 | connect(resistor.p, pin_p)
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| 268 | annotation (Line(points={{0,70},{0,80},{60,80},{60,100}}, color={0,0,255}));
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| 269 | connect(emf.n, pin_n)
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| 270 | annotation (Line(points={{0,-10},{0,-20},{-60,-20},{-60,100}}, color={0,0,255}));
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| 271 | connect(inertia.flange_b, shaft)
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| 272 | annotation (Line(points={{60,0},{100,0}}, color={0,0,0}));
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| 273 | connect(inertia.flange_b, speedSensor.flange)
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| 274 | annotation (Line(points={{60,0},{80,0},{80,-20}}, color={0,0,0}));
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| 275 | connect(speedSensor.w, w)
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| 276 | annotation (Line(points={{80,-41},{80,-60},{-80,-60}, {-80,0},{-110,0}}, color={0,0,127}));
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| 277 | annotation (
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| 278 | Icon(graphics={Text(
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| 279 | extent={{-100,-100},{100,-140}},
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| 280 | lineColor={28,108,200},
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| 281 | textString="%name")}), Documentation(info="<html>
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| 282 | <p>
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| 283 | Simple model of a DC PM machine, comprising armature resistance, armature inductance, emf (including torque generation), inertia and pseed measurement.
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| 284 | </p>
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| 285 | </html>"));
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| 286 | end DCPM;
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| 287 |
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| 288 | record DriveData "Parameters of the whole drive"
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| 289 | extends Modelica.Icons.Record;
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| 290 | import Modelica.Constants.pi;
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| 291 | replaceable parameter DC_Drive.DCPM_Utilities.MachineData machineData
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| 292 | annotation (choicesAllMatching=true, Placement(transformation(extent={{-10,40},
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| 293 | {10,60}})));
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| 294 |
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| 295 | parameter ControllerData controllerData(
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| 296 | kpI=machineData.LA/(2*Td),
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| 297 | TiI=machineData.LA/machineData.RA,
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| 298 | Tsub=2*Td,
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| 299 | kpw=(machineData.J + JL)/(2*controllerData.Tsub),
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| 300 | Tiw=4*controllerData.Tsub)
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| 301 | annotation (Placement(transformation(extent={{-10,0},{10,20}})));
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| 302 | parameter Modelica.SIunits.Inertia JL=machineData.J "Load inertia";
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| 303 | parameter Modelica.SIunits.Voltage VBat=1.2*machineData.VANominal "Battery voltage";
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| 304 | parameter Modelica.SIunits.Current IMax=1.5*machineData.IANominal "Max. armature current";
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| 305 | parameter Modelica.SIunits.Frequency fSwitch=1e3 "Switching frequency";
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| 306 | parameter Modelica.SIunits.Time Td=0.5/fSwitch "Dead time of inverter"
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| 307 | annotation(Dialog(enable=false));
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| 308 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="driveData",
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| 309 | Documentation(info="<html>
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| 310 | <p>
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| 311 | The drive parameter record contains the machine parameter record, additional parameters and fills the controller parameter record.
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| 312 | Simulating another machine (with different parameters), the machine parameter record can be redeclared.
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| 313 | </p>
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| 314 | </html>"));
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| 315 | end DriveData;
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| 316 |
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| 317 | record ControllerData "Controller parameters"
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| 318 | extends Modelica.Icons.Record;
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| 319 | parameter Real kpI "Proportional gain of current controller";
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| 320 | parameter Modelica.SIunits.Time TiI "Integral time constant of current controller";
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| 321 | parameter Modelica.SIunits.Time Tsub "Substitute time constant";
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| 322 | parameter Real kpw "Porportional gain of speed controller";
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| 323 | parameter Modelica.SIunits.Time Tiw "Integral time constant of speed controller";
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| 324 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="controllerData",
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| 325 | Documentation(info="<html>
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| 326 | <p>
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| 327 | The controller parameter record is used in the drive parameters record, and filled in that record (based on the machine parameters).
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| 328 | </p>
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| 329 | </html>"));
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| 330 | end ControllerData;
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| 331 |
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| 332 | record MachineData "Standard machine parameters"
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| 333 | extends Modelica.Icons.Record;
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| 334 | import Modelica.Constants.pi;
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| 335 | parameter Modelica.SIunits.Voltage VANominal=100 "Nominal armature voltage";
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| 336 | parameter Modelica.SIunits.Current IANominal=100 "Nominal armature current";
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| 337 | parameter Modelica.SIunits.AngularVelocity wNominal=1425*pi/30 "Nominal speed";
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| 338 | parameter Modelica.SIunits.Resistance RA=0.05 "Armature resistance";
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| 339 | parameter Modelica.SIunits.Inductance LA=0.0015 "Armature inductance";
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| 340 | parameter Modelica.SIunits.Voltage ViNominal=VANominal - RA*IANominal "Nominal induced voltage"
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| 341 | annotation(Dialog(enable=false));
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| 342 | parameter Modelica.SIunits.ElectricalTorqueConstant kPhi=ViNominal/wNominal "Flux constant";
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| 343 | parameter Modelica.SIunits.Inertia J=0.29 "Rotor inertia";
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| 344 | parameter Modelica.SIunits.Torque tauNominal=kPhi*IANominal "Nominal torque"
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| 345 | annotation(Dialog(enable=false));
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| 346 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="machineData",
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| 347 | Documentation(info="<html>
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| 348 | <p>
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| 349 | The machine parameter record contains all necessary parameters of a DC PM machine.
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| 350 | It is used to parameterize the DCPM model, and it is used in the drive parameter record.
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| 351 | Extending from this record, the parameters of other machines (with different parameters) can be saved.
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| 352 | </p>
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| 353 | </html>"));
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| 354 | end MachineData;
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| 355 |
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| 356 | record M48V "Real machine 48 V"
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| 357 | import Modelica.Constants.pi;
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|---|
| 358 | extends DC_Drive.DCPM_Utilities.MachineData(
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| 359 | VANominal=48,
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| 360 | IANominal=25,
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| 361 | wNominal=3500*pi/30,
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| 362 | RA=0.24,
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| 363 | LA=0.004,
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| 364 | J=0.0008);
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|---|
| 365 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="machineData",
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| 366 | Documentation(info="<html>
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|---|
| 367 | <p>
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|---|
| 368 | Machine parameters of a real 48 W / 1 kW DCPM machine.
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|---|
| 369 | </p>
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|---|
| 370 | </html>"));
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|---|
| 371 | end M48V;
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|---|
| 372 | end DCPM_Utilities;
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| 373 | annotation (uses(Modelica(version="3.2.3")));
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| 374 | end DC_Drive;
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