| 1 | within ;
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| 2 | package DC_Drive "Library of controlled DCPM drives"
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| 3 | extends Modelica.Icons.Package;
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| 4 | package Examples "Application and test examples of DCPM drives"
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| 5 | extends Modelica.Icons.ExamplesPackage;
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| 6 |
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| 7 | model DCPMCurrentControlled "DCPM drive fed by ideal DC/DC inverter"
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| 8 | extends Modelica.Icons.Example;
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| 9 | import Modelica.Constants.pi;
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| 10 | parameter DriveParameters.DriveData driveData(redeclare
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| 11 | DC_Drive.DriveParameters.MachineDataSets.M48V machineData)
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| 12 | annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
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| 13 | Modelica.Electrical.Analog.Basic.Ground ground annotation (Placement(
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| 14 | transformation(
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| 15 | extent={{-10,-10},{10,10}},
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| 16 | rotation=270,
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| 17 | origin={0,-40})));
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| 18 | Modelica.Blocks.Sources.Step iRef(
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| 19 | height=driveData.machineData.IANominal,
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| 20 | offset=0,
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| 21 | startTime=0.1)
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| 22 | annotation (Placement(transformation(extent={{-80,10},{-60,30}})));
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| 23 | Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(
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| 24 | J=driveData.JL,
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| 25 | phi(fixed=false, start=0),
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| 26 | w(fixed=false, start=0))
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| 27 | annotation (Placement(transformation(extent={{40,-70},{60,-50}})));
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| 28 | Modelica.Mechanics.Rotational.Sources.LinearSpeedDependentTorque
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| 29 | linearSpeedDependentTorque(
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| 30 | tau_nominal=-driveData.machineData.tauNominal,
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| 31 | TorqueDirection=false,
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| 32 | w_nominal=driveData.machineData.wNominal)
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| 33 | annotation (Placement(transformation(extent={{90,-70},{70,-50}})));
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| 34 | Components.DCPM dCPM(machineData=driveData.machineData)
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| 35 | annotation (Placement(transformation(extent={{10,-70},{30,-50}})));
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| 36 | Modelica.Electrical.Analog.Sources.SignalVoltage signalVoltage
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| 37 | annotation (Placement(transformation(extent={{30,-10},{10,10}})));
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| 38 | Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor
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| 39 | annotation (Placement(transformation(
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| 40 | extent={{-10,10},{10,-10}},
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| 41 | rotation=90,
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| 42 | origin={10,-20})));
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| 43 | Modelica.Blocks.Continuous.FirstOrder firstOrder(k=1, T=driveData.Td)
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| 44 | annotation (Placement(transformation(extent={{-10,10},{10,30}})));
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| 45 | Modelica.Electrical.Machines.Examples.ControlledDCDrives.Utilities.LimitedPI
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| 46 | limitedPI(
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| 47 | k=driveData.controllerData.kpI,
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| 48 | Ti=driveData.controllerData.TiI,
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| 49 | useFF=true,
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| 50 | KFF=driveData.machineData.kPhi,
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| 51 | yMax=driveData.VBat)
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| 52 | annotation (Placement(transformation(extent={{-40,10},{-20,30}})));
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| 53 | equation
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| 54 | connect(dCPM.shaft, inertiaLoad.flange_a)
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| 55 | annotation (Line(points={{30,-60},{40,-60}},
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| 56 | color={0,0,0}));
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| 57 | connect(linearSpeedDependentTorque.flange, inertiaLoad.flange_b)
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| 58 | annotation (Line(points={{70,-60},{60,-60}}, color={0,0,0}));
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| 59 | connect(ground.p, dCPM.pin_n) annotation (Line(points={{10,-40},{14,-40},
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| 60 | {14,-50}}, color={0,0,255}));
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| 61 | connect(ground.p, currentSensor.p)
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| 62 | annotation (Line(points={{10,-40},{10,-30}}, color={0,0,255}));
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| 63 | connect(currentSensor.n, signalVoltage.n)
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| 64 | annotation (Line(points={{10,-10},{10,0}}, color={0,0,255}));
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| 65 | connect(signalVoltage.p, dCPM.pin_p) annotation (Line(points={{30,0},{30,
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| 66 | -40},{26,-40},{26,-50}}, color={0,0,255}));
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| 67 | connect(firstOrder.y, signalVoltage.v)
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| 68 | annotation (Line(points={{11,20},{20,20},{20,12}}, color={0,0,127}));
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| 69 | connect(limitedPI.y, firstOrder.u)
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| 70 | annotation (Line(points={{-19,20},{-12,20}}, color={0,0,127}));
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| 71 | connect(iRef.y, limitedPI.u)
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| 72 | annotation (Line(points={{-59,20},{-42,20}}, color={0,0,127}));
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| 73 | connect(currentSensor.i, limitedPI.u_m) annotation (Line(points={{-1,-20},
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| 74 | {-36,-20},{-36,8}}, color={0,0,127}));
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| 75 | connect(dCPM.w, limitedPI.feedForward)
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| 76 | annotation (Line(points={{9,-60},{-30,-60},{-30,8}}, color={0,0,127}));
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| 77 | annotation (experiment(
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| 78 | StopTime=1,
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| 79 | Interval=0.0001,
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| 80 | Tolerance=1e-06));
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| 81 | end DCPMCurrentControlled;
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| 82 | end Examples;
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| 83 |
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| 84 | package Components "Components for DCPM drives"
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| 85 | extends Modelica.Icons.Package;
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| 86 | model DCPM
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| 87 | extends Modelica.Electrical.Machines.Icons.Machine;
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| 88 | Modelica.Electrical.Analog.Basic.Resistor resistor(R=machineData.RA,
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| 89 | T_ref=293.15)
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| 90 | annotation (Placement(transformation(extent={{-10,-10},{10,10}},
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| 91 | rotation=270,
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| 92 | origin={0,60})));
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| 93 | Modelica.Electrical.Analog.Basic.Inductor inductor(L=machineData.LA)
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| 94 | annotation (Placement(transformation(extent={{-10,-10},{10,10}},
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| 95 | rotation=270,
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| 96 | origin={0,30})));
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| 97 | Modelica.Electrical.Analog.Basic.EMF emf(k=machineData.kPhi)
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| 98 | annotation (Placement(
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| 99 | transformation(
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| 100 | extent={{-10,-10},{10,10}},
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| 101 | rotation=0,
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| 102 | origin={0,0})));
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| 103 | Modelica.Mechanics.Rotational.Components.Inertia inertia(J=machineData.J)
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| 104 | annotation (Placement(transformation(extent={{40,-10},{60,10}})));
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| 105 | Modelica.Electrical.Analog.Interfaces.PositivePin pin_p "Positive armature pin"
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| 106 | annotation (Placement(transformation(extent={{50,90},{70,110}})));
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| 107 | Modelica.Electrical.Analog.Interfaces.NegativePin pin_n "Negative armature pin"
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| 108 | annotation (Placement(transformation(extent={{-70,90},{-50,110}})));
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| 109 | Modelica.Mechanics.Rotational.Interfaces.Flange_a shaft "Shaft"
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| 110 | annotation (Placement(transformation(extent={{90,-10},{110,10}})));
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| 111 | Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor annotation (
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| 112 | Placement(transformation(
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| 113 | extent={{-10,-10},{10,10}},
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| 114 | rotation=270,
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| 115 | origin={80,-30})));
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| 116 | Modelica.Blocks.Interfaces.RealOutput w annotation (Placement(transformation(
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| 117 | extent={{-10,-10},{10,10}},
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| 118 | rotation=180,
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| 119 | origin={-110,0})));
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| 120 | parameter DriveParameters.MachineDataSets.MachineData machineData
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| 121 | annotation (Placement(transformation(extent={{60,40},{80,60}})));
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| 122 | equation
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| 123 | connect(resistor.n, inductor.p)
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| 124 | annotation (Line(points={{-1.77636e-15,50},{0,50},{0,40},{1.77636e-15,40}},
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| 125 | color={0,0,255}));
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| 126 | connect(inductor.n, emf.p)
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| 127 | annotation (Line(points={{-1.77636e-15,20},{0,20},{0,10}},
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| 128 | color={0,0,255}));
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| 129 | connect(emf.flange, inertia.flange_a)
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| 130 | annotation (Line(points={{10,0},{40,0}}, color={0,0,0}));
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| 131 | connect(resistor.p, pin_p) annotation (Line(points={{0,70},{0,80},{60,80},{60,
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| 132 | 100}}, color={0,0,255}));
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| 133 | connect(emf.n, pin_n) annotation (Line(points={{0,-10},{0,-20},{-60,-20},{-60,
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| 134 | 100}}, color={0,0,255}));
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| 135 | connect(inertia.flange_b, shaft)
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| 136 | annotation (Line(points={{60,0},{100,0}}, color={0,0,0}));
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| 137 | connect(inertia.flange_b, speedSensor.flange)
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| 138 | annotation (Line(points={{60,0},{80,0},{80,-20}}, color={0,0,0}));
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| 139 | connect(speedSensor.w, w) annotation (Line(points={{80,-41},{80,-60},{-80,-60},
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| 140 | {-80,0},{-110,0}}, color={0,0,127}));
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| 141 | annotation (
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| 142 | Icon(graphics={Text(
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| 143 | extent={{-100,-100},{100,-140}},
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| 144 | lineColor={28,108,200},
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| 145 | textString="%name")}));
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| 146 | end DCPM;
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| 147 |
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| 148 | end Components;
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| 149 |
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| 150 | package DriveParameters "Library with drive parameter data sets"
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| 151 | extends Modelica.Icons.RecordsPackage;
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| 152 | record DriveData
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| 153 | extends Modelica.Icons.Record;
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| 154 | import Modelica.Constants.pi;
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| 155 | replaceable parameter DC_Drive.DriveParameters.MachineDataSets.MachineData machineData
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| 156 | annotation (choicesAllMatching=true, Placement(transformation(extent={{-10,40},{10,60}})));
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| 157 | parameter ControllerData controllerData(
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| 158 | kpI=machineData.LA/(2*Td),
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| 159 | TiI=machineData.LA/machineData.RA,
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| 160 | Tsub=2*Td,
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| 161 | kpw=(machineData.J + JL)/(2*controllerData.Tsub),
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| 162 | Tiw=4*controllerData.Tsub)
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| 163 | annotation (Placement(transformation(extent={{-10,0},{10,20}})));
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| 164 | parameter Modelica.SIunits.Inertia JL=machineData.J "Load inertia";
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| 165 | parameter Modelica.SIunits.Voltage VBat=1.2*machineData.VANominal "Battery voltage";
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| 166 | parameter Modelica.SIunits.Frequency fSwitch=1e3 "Switching frequency";
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| 167 | parameter Modelica.SIunits.Time Td=0.5/fSwitch "Dead time of inverter"
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| 168 | annotation(Dialog(enable=false));
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| 169 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="driveData");
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| 170 | end DriveData;
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| 171 |
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| 172 | record ControllerData
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| 173 | extends Modelica.Icons.Record;
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| 174 | parameter Real kpI "Proportional gain of current controller";
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| 175 | parameter Modelica.SIunits.Time TiI "Integral time constant of current controller";
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| 176 | parameter Modelica.SIunits.Time Tsub "Substitute time constant";
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| 177 | parameter Real kpw "Porportional gain of speed controller";
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| 178 | parameter Modelica.SIunits.Time Tiw "Integral time constant of speed controller";
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| 179 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="controllerData");
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| 180 | end ControllerData;
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| 181 |
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| 182 | package MachineDataSets
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| 183 | extends Modelica.Icons.RecordsPackage;
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| 184 | record MachineData
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| 185 | extends Modelica.Icons.Record;
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| 186 | import Modelica.Constants.pi;
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| 187 | parameter Modelica.SIunits.Voltage VANominal=100 "Nominal armature voltage";
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| 188 | parameter Modelica.SIunits.Current IANominal=100 "Nominal armature current";
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| 189 | parameter Modelica.SIunits.AngularVelocity wNominal=1425*pi/30 "Nominal speed";
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| 190 | parameter Modelica.SIunits.Resistance RA=0.05 "Armature resistance";
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| 191 | parameter Modelica.SIunits.Inductance LA=0.0015 "Armature inductance";
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| 192 | parameter Modelica.SIunits.Voltage ViNominal=VANominal - RA*IANominal "Nominal induced voltage"
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| 193 | annotation(Dialog(enable=false));
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| 194 | parameter Modelica.SIunits.ElectricalTorqueConstant kPhi=ViNominal/wNominal "Flux constant";
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| 195 | parameter Modelica.SIunits.Inertia J=0.29 "Rotor inertia";
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| 196 | parameter Modelica.SIunits.Torque tauNominal=kPhi*IANominal "Nominal torque"
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| 197 | annotation(Dialog(enable=false));
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| 198 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="machineData");
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| 199 | end MachineData;
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| 200 |
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| 201 | record M48V
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| 202 | import Modelica.Constants.pi;
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| 203 | extends DC_Drive.DriveParameters.MachineDataSets.MachineData(
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| 204 | VANominal=48,
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| 205 | IANominal=25,
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| 206 | wNominal=3500*pi/30,
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| 207 | RA=0.24,
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| 208 | LA=0.004,
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| 209 | J=0.0008);
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| 210 | annotation(defaultComponentPrefixes="parameter", defaultComponentName="machineData");
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| 211 | end M48V;
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| 212 | end MachineDataSets;
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| 213 | end DriveParameters;
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| 214 | annotation (uses(Modelica(version="3.2.3")));
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| 215 | end DC_Drive;
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