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FeedDriveLibrary.mo
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within ;
package FeedDriveLibrary
import SI = Modelica.SIunits;
import Modelica.Constants;
class Information
extends Modelica.Icons.Information;
annotation (preferredView="info", Documentation(info="<html>
<p>
The objective of the Feed Drive Library to model linear axes in machine tools and production machines. Therefore the library contains key elements such as converter, motor, gear, clutch etc.
The models are designed in a way so that they can easily be parameterized
</p>
The objective of the Feed Drive Library is to model linear axes in machine tools and production machines. Therefore, the library contains key elements such as converter, motor, gear, clutch etc.
The models are designed in a way so that they can easily be parameterized with typical vendor datasheets. Thus, we defined a simpler motor model in comparison to the models in electric machine models in the Modelica Standard Library. Further, the models do not only contain the behavior equations, but also comprise the metrics and requirements that are important to choose adequate components for designing feed drive axes. These requirements can also be used for system optimization.
The library is based on basic elements from the Standard Library and from the Optimization Library from Dymola. Regarding the Standard Library these are icons and different adapted models. Regarding the Optimization Library we had a look at the Criteria models (mean, max, etc) and changed these models for our specific purposes.
<br \><br \>
<h4>
Disclaimer
</h4>
No liability can be accepted for any errors or omissions.
<h4>
Reference
</h4>
When using the library please cite
Ö–zdemir, D.; Motschke, T.; Herfs, W.; Brecher, C.: Modelica Library for Feed Drive Systems. In: 11th International Modelica Conference, Paris, 2015, pp. 117-125
<h4>
License
</h4>
This libary is licensed under the MIT license.
<h4>
Contact
</h4>
Laboratory for Machine Tools and Production Systems<br \>
RWTH Aachen University<br \>
<a href='http://www.wzl.rwth-aachen.de' >Website of WZL Aachen</a>
<h4>
Acknowledgement
</h4>
We gratefully acknowledge funding from the German Research Foundation (DFG) in the project “Optimierung des Systementwurfs von Maschinen und Anlagen auf Basis komponentenorientierter Verhaltensmodelle”
</html>
"));
end Information;
package Examples
model S1_Operation_Siemens
Modelica.Mechanics.Rotational.Sources.Torque torque annotation(Placement(transformation(extent={{40,-50},
{60,-30}})));
Modelica.Thermal.HeatTransfer.Sources.FixedTemperature fixedTemperature(T = 313.15) annotation(Placement(transformation(extent={{-60,-50},
{-40,-30}})));
FeedDriveMotor.Motors.PMSM Siemens_1FT7086_AC7(n_n = 2000, n_polePairs = 5, M_n = 22.5, I_n = 9.2, M_0_100 = 28, I_0_100 = 10.6, M_0_60 = 23, I_0_60 = 8.6, J = 0.00636, n_max = 8000, M_max = 120, I_max = 54, R_ph_20 = 0.46, L_D = 0.0085,
T_max=413.15,
U_eff_max=380,
T_th=3600,
T_start=313.15) annotation(Placement(transformation(extent={{-62,-12},
{-8,14}})));
Modelica.Blocks.Sources.Constant const(k=93)
annotation (Placement(transformation(extent={{-92,-30},{-72,-10}})));
Modelica.Blocks.Sources.Constant const1(k=10)
annotation (Placement(transformation(extent={{10,-50},{30,-30}})));
equation
connect(fixedTemperature.port, Siemens_1FT7086_AC7.heatPort) annotation (Line(
points={{-40,-40},{-21.5,-40},{-21.5,-10.7}},
color={191,0,0}));
connect(torque.flange, Siemens_1FT7086_AC7.flange) annotation (Line(
points={{60,-40},{80,-40},{80,1},{-9.35,1}}));
connect(torque.tau, const1.y) annotation (Line(
points={{38,-40},{31,-40}},
color={0,0,127}));
connect(const.y, Siemens_1FT7086_AC7.u_q) annotation (Line(
points={{-71,-20},{-48.5,-20},{-48.5,-12.26}},
color={0,0,127}));
end S1_Operation_Siemens;
model SimpleApplicationScenario_LM_dyn
FeedDriveMotor.Motors.LM_cooling S_1FN3450_3WE(F_N = 2895, I_n = 50.7, m = 22.6, F_max = 7760, I_max = 149.6, U_eff_max = 425, k_F_0_20 = 57, R_ph_20 = 0.2, L_D = 0.0024, tau_p = 0.023, T_th = 120, T_start = 393.15, Q_N = 7.5e-05, Delta_p_N = 65000) annotation(Placement(transformation(extent = {{-50, -2}, {-10, 18}})));
Modelica.Mechanics.Translational.Components.Mass mass(m = 47.4) annotation(Placement(transformation(extent = {{8, -2}, {28, 18}})));
TranslationalComponents.Force_PT1 force_PT1_1(T = 0.00001) annotation(Placement(transformation(extent = {{58, -2}, {38, 18}})));
Cooling.DisplacementPump_Constant displacementPump(Q = 7.5e-05, T = 293.15) annotation(Placement(transformation(extent = {{-10, 10}, {10, -10}}, rotation = 270, origin = {-20, 48})));
Cooling.Tank tank_Simple annotation(Placement(transformation(extent = {{-10, 32}, {10, 52}})));
Modelica.Mechanics.Translational.Sensors.SpeedSensor meas annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {8, 28})));
Modelica.Blocks.Continuous.PI PI_I(T = 0.012, k = 50) annotation(Placement(transformation(extent = {{-92, -22}, {-72, -2}})));
HelpBlocks.Feedback_mirror I_feedback annotation(Placement(transformation(extent = {{10, -10}, {-10, 10}}, rotation = 180, origin = {-110, -12})));
Modelica.Blocks.Sources.Constant const1(k = 0) annotation(Placement(transformation(extent = {{-180, -22}, {-160, -2}})));
Modelica.Blocks.Sources.Step step(startTime = 0.005, height = -100) annotation(Placement(transformation(extent = {{38, 26}, {58, 46}})));
Modelica.Blocks.Nonlinear.FixedDelay fixedDelay1(delayTime = 62.5e-6) annotation(Placement(transformation(extent = {{-70, 18}, {-90, 38}})));
FeedDriveMotor.Components.v_p_controller v_p_controller(T_nn = 0.003, delay = 62.5e-6, K_V = 40, K_pn = 1400) annotation(Placement(transformation(extent = {{-146, -22}, {-126, -2}})));
equation
connect(force_PT1_1.flange, mass.flange_b) annotation(Line(points = {{38, 8}, {28, 8}}, color = {0, 127, 0}));
connect(S_1FN3450_3WE.coolingPort_a, displacementPump.port_b) annotation(Line(points = {{-25.8, 13.8}, {-30, 13.8}, {-30, 48}, {-28, 48}}, color = {0, 0, 0}, thickness = 0.25));
connect(displacementPump.port_a, tank_Simple.port_a) annotation(Line(points = {{-12, 48}, {0, 48}}, color = {0, 0, 0}, thickness = 0.25));
connect(mass.flange_a, S_1FN3450_3WE.f) annotation(Line(points = {{8, 8}, {-11, 8}}, color = {0, 127, 0}));
connect(S_1FN3450_3WE.coolingPort_b, tank_Simple.port_a) annotation(Line(points = {{-14.2, 13.8}, {-10, 13.8}, {-10, 48}, {0, 48}}, color = {0, 0, 0}));
connect(meas.flange, mass.flange_a) annotation(Line(points = {{8, 18}, {8, 8}}, color = {0, 127, 0}));
connect(PI_I.y, S_1FN3450_3WE.u_q) annotation(Line(points = {{-71, -12}, {-40, -12}, {-40, -2.2}}, color = {0, 0, 127}));
connect(I_feedback.y, PI_I.u) annotation(Line(points = {{-101, -12}, {-94, -12}}, color = {0, 0, 127}));
connect(S_1FN3450_3WE.i_q, fixedDelay1.u) annotation(Line(points = {{-40, 17}, {-40, 28}, {-68, 28}}, color = {0, 0, 127}));
connect(fixedDelay1.y, I_feedback.u2) annotation(Line(points = {{-91, 28}, {-110, 28}, {-110, -4}}, color = {0, 0, 127}));
connect(const1.y, v_p_controller.x_s) annotation(Line(points = {{-159, -12}, {-148, -12}}, color = {0, 0, 127}));
connect(v_p_controller.i_s, I_feedback.u1) annotation(Line(points = {{-125, -12}, {-118, -12}}, color = {0, 0, 127}));
connect(meas.v, v_p_controller.v_a) annotation(Line(points = {{8, 39}, {8, 58}, {-136, 58}, {-136, 0}}, color = {0, 0, 127}));
connect(step.y, force_PT1_1.f) annotation(Line(points = {{59, 36}, {72, 36}, {72, 8}, {60, 8}}, color = {0, 0, 127}));
annotation(Diagram(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}}), graphics), Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}})));
end SimpleApplicationScenario_LM_dyn;
model h_i_opt
FeedDriveMotor.Motors.PMSM PSM(n_n = 2000, n_polePairs = 5, M_n = 22.5, I_n = 9.2, M_0_100 = 28, I_0_100 = 10.6, M_0_60 = 23, I_0_60 = 8.6, J = 0.00636, n_max = 8000, M_max = 120, I_max = 54, U_eff_max = 425, L_D = 0.0085, C_F = 0, R_ph_20 = 0.001, T_max = 413.15, T_th = 3600, T_start = 393.15) annotation(Placement(transformation(extent = {{-84, -10}, {-44, 10}})));
Modelica.Thermal.HeatTransfer.Sources.FixedTemperature T_U(T = 313.15) annotation(Placement(transformation(extent={{-80,-60},
{-60,-40}})));
Modelica.Mechanics.Translational.Components.Mass table(m = 2500) annotation(Placement(transformation(extent = {{30, -10}, {50, 10}})));
Modelica.Blocks.Sources.Ramp ramp(height=55, duration=0.3) annotation(Placement(transformation(extent={{-116,
-30},{-96,-10}})));
LinearActuators.BallScrew.BallScrewDrive BSD(mu = 0, J = 0.003946 / 2, rho = 0, bearingConfiguration = LinearActuators.BallScrew.BearingConfiguration.fixed_free, l_S = 1.4, C_am = 1.5e5, d = 0.063, P = 0.03) annotation(Placement(transformation(extent = {{4, -10}, {24, 10}})));
Modelica.Mechanics.Translational.Components.Fixed machineBed annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-10, -30})));
RotationalComponents.TimingBelt.PulleyConstraints TBD_small(d_eff = 0.08149, z = 32, J = 0.000655, eta = 1, exponent = 0.827963, factor = 19.47) annotation(Placement(transformation(extent = {{-40, -10}, {-20, 10}})));
RotationalComponents.TimingBelt.BeltPulley TBD_large(d_eff = 0.08149, z = 32, J = 0.000655) annotation(Placement(transformation(extent = {{0, -10}, {-20, 10}})));
equation
connect(T_U.port, PSM.heatPort) annotation(Line(points={{-60,-50},{-54,
-50},{-54,-9}}, color = {191, 0, 0}));
connect(BSD.flangeT, table.flange_a) annotation(Line(points = {{24.2, 0}, {30, 0}}, color = {0, 127, 0}));
connect(machineBed.flange, BSD.supportT1) annotation(Line(points = {{-10, -30}, {3.8, -30}, {3.8, -7}}, color = {0, 127, 0}));
connect(TBD_small.flangeR, PSM.flange) annotation(Line(points = {{-40, 0}, {-45, 0}}, color = {0, 0, 0}));
connect(TBD_small.flangeT, TBD_large.flangeT) annotation(Line(points = {{-20, 0}, {-20, 0}}, color = {0, 127, 0}));
connect(TBD_large.flangeR, BSD.flangeR) annotation(Line(points = {{0, 0}, {5, 0}}, color = {0, 0, 0}));
connect(ramp.y, PSM.u_q) annotation (Line(
points={{-95,-20},{-74,-20},{-74,-10.2}},
color={0,0,127}));
end h_i_opt;
model FrequencyAnalysis
Modelica.Thermal.HeatTransfer.Sources.FixedTemperature T_U(T = 298.15) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin={82,-58})));
Modelica.Blocks.Continuous.PI PI_w(k=8.264672852, T=0.03)
annotation(Placement(transformation(extent={{4,-68},
{24,-48}})));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor annotation(Placement(transformation(extent = {{-10, 10}, {10, -10}}, rotation = 180, origin={-4,12})));
Modelica.Mechanics.Rotational.Components.SpringDamper encoderMounting(c = 3000, d = 0.02) annotation(Placement(transformation(extent={{44,2},{
64,22}})));
Modelica.Mechanics.Rotational.Components.Inertia encoder(a(start = 0), w(start = 0), J = 3e-6) annotation(Placement(transformation(extent={{14,2},{
34,22}})));
Modelica.Mechanics.Rotational.Components.SpringDamper screwShaft(c=2000, d=
1)
annotation (Placement(transformation(extent={{92,-30},{112,-10}})));
LinearActuators.BallScrew.BallScrewDrive ballscrew(C_am = 6.20E+04, C_0am = 1.04E+05, l_S = 0.85, R_nu = 2e9, R_S = 0.6e9, rho = 0, mu = 0,
d=0.063,
P=0.02,
J=0.01) annotation(Placement(transformation(extent={{122,-30},
{142,-10}})));
Modelica.Mechanics.Translational.Components.Fixed machineBed annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin={112,-58})));
HelpBlocks.to_mm to_mm annotation(Placement(transformation(extent={{18,50},
{-2,70}})));
Modelica.Mechanics.Translational.Sensors.PositionSensor positionSensor annotation(Placement(transformation(extent={{124,50},
{104,70}})));
Modelica.Mechanics.Translational.Sources.Force force
annotation (Placement(transformation(extent={{200,10},{220,30}})));
Modelica.Mechanics.Translational.Components.SpringDamper screwShaft1(c=1.38E8,
d=200e3) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin={164,-20})));
Modelica.Mechanics.Translational.Components.Mass machineBase(
s(start=0),
v(start=0),
a(start=0),
m=4000) annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={208,-20})));
Modelica.Blocks.Sources.Step step1( startTime=0.5, height=6e3
/(1.59/0.5))
annotation (Placement(transformation(extent={{166,10},{186,30}})));
FeedDriveMotor.Motors_withAutoTunedCurrentController.PMSM pMSM(U_eff_max = 425, n_n = 1500, n_polePairs = 4, M_n = 61, I_n = 20.5, M_0_100 = 70, I_0_100 = 22.3, M_0_60 = 58, I_0_60 = 18.1, n_max = 5600, M_max = 220, I_max = 107, R_ph_20 = 0.22, L_D = 0.0052,
J=0.260,
T_max=413.15,
T_th=3300,
T_start=413.15) "1FT6108-8AB71" annotation(Placement(transformation(extent={{34,-30},
{74,-10}})));
Modelica.Blocks.Interfaces.RealInput u1 "Connector of Real input signal"
annotation (Placement(transformation(extent={{-96,-78},{-56,-38}})));
Modelica.Blocks.Interfaces.RealOutput w1
"Absolute angular velocity of flange as output signal" annotation (
Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-60,12})));
Modelica.Blocks.Interfaces.RealOutput y1
"Connector of Real output signal containing input signal u in another unit"
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-54,60})));
equation
connect(speedSensor.flange, encoder.flange_a) annotation(Line(points={{6,12},{
14,12}}, color = {0, 0, 0}));
connect(encoder.flange_b, encoderMounting.flange_a) annotation(Line(points={{34,12},
{44,12}}, color = {0, 0, 0}));
connect(screwShaft.flange_b, ballscrew.flangeR) annotation (Line(
points={{112,-20},{123,-20}}));
connect(machineBed.flange, ballscrew.supportT1) annotation (Line(
points={{112,-58},{121.8,-58},{121.8,-27}},
color={0,127,0}));
connect(to_mm.u,positionSensor. s) annotation (Line(
points={{20,60},{103,60}},
color={0,0,127}));
connect(ballscrew.flangeT, screwShaft1.flange_a) annotation (Line(
points={{142.2,-20},{154,-20}},
color={0,127,0}));
connect(screwShaft1.flange_b, machineBase.flange_a) annotation (Line(
points={{174,-20},{198,-20}},
color={0,127,0}));
connect(positionSensor.flange, screwShaft1.flange_a) annotation (Line(
points={{124,60},{148,60},{148,-20},{154,-20}},
color={0,127,0}));
connect(force.flange, machineBase.flange_b) annotation (Line(
points={{220,20},{238,20},{238,-20},{218,-20}},
color={0,127,0}));
connect(force.f, step1.y) annotation (Line(
points={{198,20},{187,20}},
color={0,0,127}));
connect(PI_w.y, pMSM.i_set) annotation (Line(
points={{25,-58},{44,-58},{44,-30}},
color={0,0,127}));
connect(pMSM.heatPort, T_U.port) annotation (Line(
points={{64,-29},{66,-29},{66,-58},{72,-58}},
color={191,0,0}));
connect(pMSM.flange, screwShaft.flange_a) annotation (Line(
points={{73,-20},{92,-20}}));
connect(encoderMounting.flange_b, screwShaft.flange_a) annotation (Line(
points={{64,12},{82,12},{82,-20},{92,-20}}));
connect(PI_w.u, u1) annotation (Line(
points={{2,-58},{-76,-58}},
color={0,0,127}));
connect(speedSensor.w, w1) annotation (Line(
points={{-15,12},{-60,12}},
color={0,0,127}));
connect(to_mm.y, y1) annotation (Line(
points={{-3,60},{-54,60}},
color={0,0,127}));
annotation(Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-250,
-100},{250,100}}), graphics), Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-250, -100}, {250, 100}})));
end FrequencyAnalysis;
end Examples;
package FeedDriveMotor
package Motors
model PMSM
"Model of a synchronous servo motor that can be parametrized with typical supplier data such as from Siemens 1FT6. Field weakening current is set to zero."
parameter SI.Conversions.NonSIunits.AngularVelocity_rpm n_n
"Rated speed" annotation(Dialog(group = "Engineering data"));
parameter Integer n_polePairs "Number of pole pairs" annotation(Dialog(group = "Engineering data"));
parameter SI.Torque M_n "Rated torque (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_n "Rated current (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Torque M_0_100 "Stall torque (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_0_100 "Stall current (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Torque M_0_60 "Stall torque (60 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_0_60 "Stall current (60 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Inertia J "Motor inertia" annotation(Dialog(group = "Engineering data"));
parameter SI.Conversions.NonSIunits.AngularVelocity_rpm n_max
"Max. permissible speed (mech.)" annotation(Dialog(group = "Limiting data"));
parameter SI.Torque M_max "Maximum torque" annotation(Dialog(group = "Limiting data"));
parameter SI.Current I_max "Maximum current" annotation(Dialog(group = "Limiting data"));
parameter SI.Temperature T_max(displayUnit = "degC") = 413.15
"Permissible temperature" annotation(Dialog(group = "Limiting data"));
parameter SI.Voltage U_eff_max = 380 "Voltage limit of motor module" annotation(Dialog(group = "Limiting data"));
parameter SI.ElectricalTorqueConstant k_T_0_100 = M_0_100 / I_0_100
"Rated torque constant" annotation(Dialog(group = "Physical constants"));
parameter SI.Resistance R_ph_20 "Winding resistance at 20degC" annotation(Dialog(group = "Physical constants"));
parameter SI.Inductance L_D "Rotating field inductance" annotation(Dialog(group = "Physical constants"));
parameter SI.Time T_th(displayUnit = "min") "Thermal time constant" annotation(Dialog(group = "Physical constants"));
parameter Real C_F = (T_ref_100 / R_heat - Q_R_N) / SI.Conversions.from_rpm(n_n) ^ 1.5
"Constant relating friction torque and square root of angular velocity"
annotation(Dialog(group = "Physical constants"));
parameter SI.Temperature T_start "Start temperature" annotation(Dialog(group = "Start conditions"));
parameter Real S_n = 1
"Safety factor (>=1) for rotation speed (S_n * n <= n_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_M = 1
"Safety factor (>=1) for torque (S_n * M <= M_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_U = 1
"Safety factor (>=1) for voltage (S_n * u <= u_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_T = 1
"Safety factor (>=1) for temperature (S_n * T <= T_max)" annotation(Dialog(tab = "Safety factors"));
Real con_n_max;
Real con_M_max;
Real con_T_max "End of period value, for simulation of one period";
Real con_U_max;
Real util_n_max;
Real util_M_max;
Real util_T_max;
Real util_U_max;
Real obj_rms_current;
Real obj_absMax_current;
Real obj_power_average;
Modelica.Mechanics.Rotational.Interfaces.Flange_b flange
"Flange of shaft" annotation(Placement(transformation(extent = {{180, -10}, {200, 10}}), iconTransformation(extent = {{180, -10}, {200, 10}})));
protected
parameter SI.HeatCapacity C = T_th / R_heat "Heat Capacity";
parameter SI.HeatFlowRate Q_el_100 = 3 * I_0_100 ^ 2 * (1 + 100 * 0.0039) * R_ph_20
"Electrical heat at M = M_0_100";
parameter SI.HeatFlowRate Q_R_N = 3 * (M_n / k_T_0_100) ^ 2 * (1 + 100 * 0.0039) * R_ph_20
"Electrical heat at nominal point";
parameter SI.ThermalResistance R_heat = T_ref_100 / Q_el_100
"Resistance to heat flow";
constant SI.Temperature T_ref_100 = 100;
public
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_b heatPort annotation(Placement(transformation(extent = {{54, 52}, {66, 64}}), iconTransformation(extent = {{90, -100}, {110, -80}})));
Modelica.Blocks.Interfaces.RealInput u_q annotation(Placement(transformation(extent = {{-198, -48}, {-182, -32}}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 90, origin = {-100, -102})));
Components.Converter converter annotation(Placement(transformation(extent = {{-176, -30}, {-156, -10}})));
Components.MotorInductance inductance(L_D = L_D) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-90, -40})));
Components.MotorResistor resistance(R_ref = R_ph_20, alpha = 0.0039, T_ref = 293.15) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {-90, 40})));
Components.EMF airgap(n_polePairs = n_polePairs, k_T_0_100 = k_T_0_100, M_0_100 = M_0_100, I_0_100 = I_0_100, M_0_60 = M_0_60, I_0_60 = I_0_60, M_max = M_max, I_max = I_max) annotation(Placement(transformation(extent = {{-70, -30}, {-50, -10}})));
Components.Friction friction(C_F = C_F) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-34, 10})));
Modelica.Mechanics.Rotational.Components.Fixed fixed annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-34, 36})));
RotationalComponents.Sensors.TorqueSensor torqueSensor annotation(Placement(transformation(extent = {{-4, -30}, {16, -10}})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor(C = C, T(start = T_start, fixed = true)) annotation(Placement(transformation(extent = {{-30, 70}, {-10, 90}})));
Modelica.Thermal.HeatTransfer.Components.ThermalConductor thermConductor(G = 1 / R_heat) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {36, 58})));
HelpBlocks.TemperatureSensor tempSensor annotation(Placement(transformation(extent = {{-6, 60}, {14, 80}})));
Modelica.Mechanics.Rotational.Components.Inertia motorInertia(J = J) annotation(Placement(transformation(extent = {{26, -30}, {46, -10}})));
RotationalComponents.Sensors.SpeedSensor_rpm wSensor_rpm annotation(Placement(transformation(extent = {{-4, 0}, {16, 20}})));
Components.MotorCurrentSensor currentSensor annotation(Placement(transformation(extent = {{-130, 30}, {-110, 50}})));
Components.MotorVoltageSensor voltageSensor annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-110, -20})));
Modelica.Blocks.Interfaces.RealOutput i_q
"current in the branch from p to n as output signal" annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-124, 16}), iconTransformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-100, 90})));
Components.MotorGround motorGround annotation(Placement(transformation(extent = {{-156, -60}, {-136, -40}})));
initial equation
util_n_max = 0;
util_M_max = 0;
util_T_max = 0;
util_U_max = 0;
equation
//Optimization problem
con_n_max = S_n * wSensor_rpm.max - n_max;
con_M_max = S_M * torqueSensor.max - M_max;
con_T_max = S_T * tempSensor.actual - T_max;
con_U_max = S_U * voltageSensor.u_link_max - U_eff_max;
obj_rms_current = currentSensor.i_rms;
obj_absMax_current = currentSensor.i_max;
obj_power_average = converter.power_average;
connect(airgap.flange, torqueSensor.flange_a) annotation(Line(points = {{-50, -20}, {-4, -20}}, color = {0, 0, 0}));
connect(torqueSensor.flange_b, motorInertia.flange_a) annotation(Line(points = {{16, -20}, {26, -20}}, color = {0, 0, 0}));
connect(motorInertia.flange_b, flange) annotation(Line(points = {{46, -20}, {148, -20}, {148, 0}, {190, 0}}, color = {0, 0, 0}));
connect(currentSensor.n, resistance.p) annotation(Line(points = {{-110, 40}, {-100, 40}}, color = {0, 0, 255}));
connect(friction.support, fixed.flange) annotation(Line(points = {{-34, 20}, {-34, 36}}, color = {0, 0, 0}));
connect(friction.flange, torqueSensor.flange_a) annotation(Line(points = {{-34, 0}, {-34, -20}, {-4, -20}}, color = {0, 0, 0}));
connect(voltageSensor.n, currentSensor.n) annotation(Line(points = {{-110, -10}, {-110, 40}}, color = {0, 0, 255}));
connect(resistance.heatPort, thermConductor.port_b) annotation(Line(points = {{-90, 44}, {-90, 58}, {26, 58}}, color = {191, 0, 0}));
connect(heatCapacitor.port, thermConductor.port_b) annotation(Line(points = {{-20, 70}, {-20, 58}, {26, 58}}, color = {191, 0, 0}));
connect(heatCapacitor.port, tempSensor.port) annotation(Line(points = {{-20, 70}, {-5.4, 70}}, color = {191, 0, 0}));
connect(friction.heatPort, thermConductor.port_b) annotation(Line(points = {{-24, 10}, {-20, 10}, {-20, 58}, {26, 58}}, color = {191, 0, 0}));
connect(wSensor_rpm.flange, torqueSensor.flange_a) annotation(Line(points = {{-4, 10}, {-12, 10}, {-12, -20}, {-4, -20}}, color = {0, 0, 0}));
connect(inductance.p, airgap.n) annotation(Line(points = {{-80, -40}, {-60, -40}, {-60, -30}}, color = {0, 0, 255}));
connect(airgap.p, resistance.n) annotation(Line(points = {{-60, -10}, {-60, 40}, {-80, 40}}, color = {0, 0, 255}));
connect(airgap.heatport, thermConductor.port_b) annotation(Line(points = {{-54, -18}, {-54, 58}, {26, 58}}, color = {191, 0, 0}));
connect(converter.u_q, u_q) annotation(Line(points = {{-170, -31}, {-170, -40}, {-190, -40}}, color = {0, 0, 127}));
connect(heatPort, thermConductor.port_a) annotation(Line(points = {{60, 58}, {46, 58}}, color = {191, 0, 0}));
connect(voltageSensor.p, inductance.n) annotation(Line(points = {{-110, -30}, {-110, -40}, {-100, -40}}, color = {0, 0, 255}));
connect(currentSensor.i_q, i_q) annotation(Line(points = {{-122, 30.1}, {-124, 30.1}, {-124, 16}}, color = {0, 0, 127}));
connect(motorGround.p, converter.n) annotation(Line(points = {{-146, -40}, {-146, -24.1}, {-156, -24.1}}, color = {0, 0, 255}));
connect(motorGround.p, inductance.n) annotation(Line(points = {{-146, -40}, {-100, -40}}, color = {0, 0, 255}));
connect(converter.p, currentSensor.p) annotation(Line(points = {{-156, -16.1}, {-152, -16.1}, {-152, -16}, {-146, -16}, {-146, 39.9}, {-130, 39.9}}, color = {0, 0, 255}));
when terminal() then
util_n_max = S_n * wSensor_rpm.max / n_max;
util_M_max = S_M * torqueSensor.max / M_max;
util_T_max = 1 + con_T_max;
//this not physically rigerous. Rigerous values require many cylces. This assumes that if temperature decreases in one cycle by 1 K, we have 0 % utilization. But of course this way also negative values are possible
util_U_max = S_U * voltageSensor.u_link_max / U_eff_max;
end when;
annotation(Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-200,
-100},{200,100}}), graphics), Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}}), graphics={ Text(extent= {{-40, 140}, {240, 100}}, lineColor= {0, 0, 255}, textString= "%name"), Ellipse(extent= {{20, 80}, {180, -80}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid), Ellipse(extent= {{60, 40}, {140, -40}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid), Rectangle(extent= {{80, 28}, {120, 8}}, lineColor= {0, 0, 0}, fillColor= {0, 0, 0},
fillPattern= FillPattern.Solid), Rectangle(extent= {{80, 28}, {100, 8}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid), Text(extent= {{60, 0}, {140, -40}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "M"), Text(extent= {{60, -40}, {140, -80}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "3~"), Rectangle(extent= {{-180, 80}, {-20, -80}}, lineColor= {0, 0, 0}), Text(extent= {{-166, 40}, {-34, -40}}, lineColor= {0, 0, 0}, textString= "Converter"), Line(points= {{-20, 40}, {30, 40}}, color= {0, 0, 0}), Line(points= {{-20, 0}, {20, 0}}, color= {0, 0, 0}), Line(points= {{-20, -40}, {30, -40}}, color= {0, 0, 0}), Line(points= {{-218, 0}, {-180, 0}}, color= {0, 0, 0}), Line(points= {{-218, 40}, {-180, 40}}, color= {0, 0, 0}), Line(points= {{-218, -40}, {-180, -40}}, color= {0, 0, 0}), Text(extent= {{-340, 44}, {-224, -44}}, lineColor= {0, 0, 0}, textString= "Power
Supply"), Text(extent= {{-250, -80}, {-50, -118}}, lineColor= {0, 0, 0}, textString= "Uq"), Text(extent= {{-242, 124}, {-42, 86}}, lineColor= {0, 0, 0}, textString= "Iq")}));
end PMSM;
model LM
"Model of a linear motor that can be parametrized with typical supplier data such as from Siemens 1FN3"
parameter SI.Force F_N "Rated force" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_n "Rated current" annotation(Dialog(group = "Engineering data"));
parameter SI.Mass m "Mass of primary motor part" annotation(Dialog(group = "Engineering data"));
parameter SI.Force F_max "Maximum torque" annotation(Dialog(group = "Limiting data"));
parameter SI.Current I_max "Maximum current" annotation(Dialog(group = "Limiting data"));
parameter SI.Voltage U_eff_max = 380 "Voltage limit of motor module" annotation(Dialog(group = "Limiting data"));
parameter SI.ElectricalForceConstant k_F_0_20
"Rated force constant at 20degC" annotation(Dialog(group = "Physical constants"));
parameter SI.Resistance R_ph_20 "Winding resistance at 20degC" annotation(Dialog(group = "Physical constants"));
parameter SI.Inductance L_D "Rotating field inductance" annotation(Dialog(group = "Physical constants"));
parameter SI.Time T_th(displayUnit = "min") "Thermal time constant" annotation(Dialog(group = "Physical constants"));
parameter SI.Length tau_p "Pole width" annotation(Dialog(group = "Physical constants"));
parameter SI.Temperature T_start "Start temperature" annotation(Dialog(group = "Start conditions"));
parameter Real S_F = 1
"Safety factor (>=1) for torque (S_n * M <= M_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_U = 1
"Safety factor (>=1) for voltage (S_n * v <= v_max)" annotation(Dialog(tab = "Safety factors"));
Real con_F_max;
Real con_U_max;
Real obj_rms_current;
Real obj_absMax_current;
protected
parameter SI.HeatCapacity C = T_th / R_heat "Heat Capacity";
parameter SI.HeatFlowRate Q_el_N = 3 * I_n ^ 2 * (1 + 100 * 0.0039) * R_ph_20
"Electrical heat at M = M_0_100";
parameter SI.ThermalResistance R_heat = T_ref_100 / Q_el_N
"Resistance to heat flow";
constant SI.Temperature T_ref_100 = 100;
public
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_b heatPort annotation(Placement(transformation(extent = {{54, 52}, {66, 64}}), iconTransformation(extent = {{90, -100}, {110, -80}})));
Modelica.Blocks.Interfaces.RealInput u_q annotation(Placement(transformation(extent = {{-198, -48}, {-182, -32}}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 90, origin = {-100, -102})));
Components.Converter converter annotation(Placement(transformation(extent = {{-176, -30}, {-156, -10}})));
Components.MotorInductance inductance(L_D = L_D) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-90, -40})));
Components.MotorResistor resistance(R_ref = R_ph_20, alpha = 0.0039, T_ref = 293.15) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {-90, 40})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor(C = C, T(start=
T_start, fixed=true)) annotation(Placement(transformation(extent = {{-30, 70}, {-10, 90}})));
Modelica.Thermal.HeatTransfer.Components.ThermalConductor thermConductor(G = 1 / R_heat) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {36, 58})));
HelpBlocks.TemperatureSensor tempSensor annotation(Placement(transformation(extent = {{-6, 60}, {14, 80}})));
Components.MotorCurrentSensor currentSensor annotation(Placement(transformation(extent = {{-130, 30}, {-110, 50}})));
Components.MotorVoltageSensor voltageSensor annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-110, -20})));
Modelica.Blocks.Interfaces.RealOutput i_q
"current in the branch from p to n as output signal" annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-124, 16}), iconTransformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-100, 90})));
Components.MotorGround motorGround annotation(Placement(transformation(extent = {{-156, -60}, {-136, -40}})));
Components.EMF_linear emf(k_F_0_20 = k_F_0_20, F_N = F_N, I_N = I_n, F_max = F_max, I_max = I_max, tau_p = tau_p) annotation(Placement(transformation(extent = {{-70, -30}, {-50, -10}})));
TranslationalComponents.Sensors.TranslationalSensor transSensor annotation(Placement(transformation(extent = {{-28, -30}, {-8, -10}})));
Modelica.Mechanics.Translational.Components.Mass mass(m = m) annotation(Placement(transformation(extent = {{10, -30}, {30, -10}})));
Modelica.Mechanics.Translational.Interfaces.Flange_b flange_b1
"Right flange of translational component" annotation(Placement(transformation(extent = {{170, -10}, {190, 10}}), iconTransformation(extent = {{170, -10}, {190, 10}})));
equation
//Optimization problem
con_F_max = S_F * transSensor.f_max - F_max;
con_U_max = S_U * voltageSensor.u_link_max - U_eff_max;
obj_rms_current = currentSensor.i_rms;
obj_absMax_current = currentSensor.i_max;
connect(currentSensor.n, resistance.p) annotation(Line(points = {{-110, 40}, {-100, 40}}, color = {0, 0, 255}));
connect(voltageSensor.n, currentSensor.n) annotation(Line(points = {{-110, -10}, {-110, 40}}, color = {0, 0, 255}));
connect(resistance.heatPort, thermConductor.port_b) annotation(Line(points = {{-90, 44}, {-90, 58}, {26, 58}}, color = {191, 0, 0}));
connect(heatCapacitor.port, thermConductor.port_b) annotation(Line(points = {{-20, 70}, {-20, 58}, {26, 58}}, color = {191, 0, 0}));
connect(heatCapacitor.port, tempSensor.port) annotation(Line(points={{-20,70},
{-5.4,70}}, color = {191, 0, 0}));
connect(converter.u_q, u_q) annotation(Line(points = {{-170, -31}, {-170, -40}, {-190, -40}}, color = {0, 0, 127}));
connect(heatPort, thermConductor.port_a) annotation(Line(points = {{60, 58}, {46, 58}}, color = {191, 0, 0}));
connect(voltageSensor.p, inductance.n) annotation(Line(points = {{-110, -30}, {-110, -40}, {-100, -40}}, color = {0, 0, 255}));
connect(currentSensor.i_q, i_q) annotation(Line(points = {{-122, 30.1}, {-124, 30.1}, {-124, 16}}, color = {0, 0, 127}));
connect(motorGround.p, converter.n) annotation(Line(points = {{-146, -40}, {-146, -24.1}, {-156, -24.1}}, color = {0, 0, 255}));
connect(motorGround.p, inductance.n) annotation(Line(points = {{-146, -40}, {-100, -40}}, color = {0, 0, 255}));
connect(converter.p, currentSensor.p) annotation(Line(points = {{-156, -16.1}, {-152, -16.1}, {-152, -16}, {-146, -16}, {-146, 39.9}, {-130, 39.9}}, color = {0, 0, 255}));
connect(inductance.p, emf.n) annotation(Line(points = {{-80, -40}, {-60, -40}, {-60, -30}}, color = {0, 0, 255}));
connect(emf.p, resistance.n) annotation(Line(points = {{-60, -10}, {-60, 40}, {-80, 40}}, color = {0, 0, 255}));
connect(emf.flange, transSensor.flange_a) annotation(Line(points = {{-54, -20}, {-28.2, -20}}, color = {0, 127, 0}));
connect(transSensor.flange_b, mass.flange_a) annotation(Line(points = {{-8, -20}, {10, -20}}, color = {0, 127, 0}));
connect(mass.flange_b, flange_b1) annotation(Line(points = {{30, -20}, {106, -20}, {106, 0}, {180, 0}}, color = {0, 127, 0}));
connect(emf.heatport, thermConductor.port_b) annotation(Line(points = {{-65, -20}, {-65, 58}, {26, 58}}, color = {191, 0, 0}));
annotation(Diagram(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}}), graphics), Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}}), graphics={ Ellipse(extent= {{20, 80}, {180, -80}}, lineColor= {0, 0, 0}), Text(extent= {{-40, 140}, {240, 100}}, lineColor= {0, 0, 255}, textString= "%name"), Text(extent= {{40, 30}, {160, -30}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "M"), Rectangle(extent= {{-180, 80}, {-20, -80}}, lineColor= {0, 0, 0}), Text(extent= {{-166, 40}, {-34, -40}}, lineColor= {0, 0, 0}, textString= "Converter"), Line(points= {{-20, 40}, {30, 40}}, color= {0, 0, 0}), Line(points= {{-20, 0}, {20, 0}}, color= {0, 0, 0}), Line(points= {{-20, -40}, {30, -40}}, color= {0, 0, 0}), Line(points= {{-218, 0}, {-180, 0}}, color= {0, 0, 0}), Line(points= {{-218, 40}, {-180, 40}}, color= {0, 0, 0}), Line(points= {{-218, -40}, {-180, -40}}, color= {0, 0, 0}), Text(extent= {{-340, 44}, {-224, -44}}, lineColor= {0, 0, 0}, textString= "Power
Supply"), Text(extent= {{-250, -80}, {-50, -118}}, lineColor= {0, 0, 0}, textString= "Uq"), Text(extent= {{-242, 124}, {-42, 86}}, lineColor= {0, 0, 0}, textString= "Iq"), Line(points= {{20, -60}, {182, -60}}, color= {0, 0, 0}, thickness= 0.5)}));
end LM;
model LM_cooling "Model of a linear motor with cooling"
parameter SI.Force F_N "Rated force" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_n "Rated current" annotation(Dialog(group = "Engineering data"));
parameter SI.Mass m "Mass of primary motor part" annotation(Dialog(group = "Engineering data"));
parameter SI.Force F_max "Maximum torque" annotation(Dialog(group = "Limiting data"));
parameter SI.Current I_max "Maximum current" annotation(Dialog(group = "Limiting data"));
parameter SI.Voltage U_eff_max = 380 "Voltage limit of motor module" annotation(Dialog(group = "Limiting data"));
parameter SI.ElectricalForceConstant k_F_0_20
"Rated force constant at 20degC" annotation(Dialog(group = "Physical constants"));
parameter SI.Resistance R_ph_20 "Winding resistance at 20degC" annotation(Dialog(group = "Physical constants"));
parameter SI.Inductance L_D "Rotating field inductance" annotation(Dialog(group = "Physical constants"));
parameter SI.Time T_th(displayUnit = "min") "Thermal time constant" annotation(Dialog(group = "Physical constants"));
parameter SI.Length tau_p "Pole width" annotation(Dialog(group = "Physical constants"));
parameter SI.Temperature T_start = 393.15 "Start temperature" annotation(Dialog(group = "Start conditions"));
parameter SI.Temperature T_max(displayUnit = "degC") = 393.15
"Permissible temperature" annotation(Dialog(group = "Limiting data"));
parameter Cooling.Units.FlowResistanceL R_flow = Delta_p_N / Q_N ^ 1.75
"Resistance to flow of pipe" annotation(Dialog(group = "Cooling system"));
parameter SI.VolumeFlowRate Q_N(displayUnit = "l/min")
"Nominal volume flow" annotation(Dialog(group = "Cooling system"));
parameter SI.Pressure Delta_p_N(displayUnit = "bar")
"Nominal pressure loss" annotation(Dialog(group = "Cooling system"));
replaceable model FluidProp = Cooling.Interfaces.Water
"constants of fluid models" annotation(Dialog(group = "Cooling system"));
FluidProp fluidProp;
parameter Real S_F = 1
"Safety factor (>=1) for torque (S_n * M <= M_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_U = 1
"Safety factor (>=1) for voltage (S_n * v <= v_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_T = 1
"Safety factor (>=1) for temperature (S_T * T <= T_max)" annotation(Dialog(tab = "Safety factors"));
parameter SI.HeatFlowRate Q_el_N = 3 * I_n ^ 2 * (1 + 100 * 0.0039) * R_ph_20
"Electrical heat at M = M_0_100";
Real con_F_max;
Real con_U_max;
Real con_T_max;
Real util_F_max;
Real util_T_max;
Real util_U_max;
Real obj_rms_current;
Real obj_absMax_current;
parameter SI.ThermalResistance R_therm = -1 / (Q_N * fluidProp.rho * fluidProp.c_p * log(1 - Q_el_N / (Q_N * fluidProp.rho * fluidProp.c_p * T_ref_100)))
"Thermal resistance";
Modelica.Blocks.Interfaces.RealInput u_q annotation(Placement(transformation(extent = {{-198, -48}, {-182, -32}}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 90, origin = {-100, -102})));
Components.Converter converter annotation(Placement(transformation(extent = {{-176, -30}, {-156, -10}})));
Components.MotorInductance inductance(L_D = L_D) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-90, -40})));
Components.MotorResistor resistance(R_ref = R_ph_20, alpha = 0.0039, T_ref = 293.15) annotation(Placement(transformation(extent = {{-10, 10}, {10, -10}}, rotation = 0, origin = {-90, 40})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor(C = C, T(start=
T_start, fixed=true)) annotation(Placement(transformation(extent = {{-66, 42}, {-46, 62}})));
HelpBlocks.TemperatureSensor tempSensor annotation(Placement(transformation(extent = {{-16, 16}, {4, 36}})));
Components.MotorCurrentSensor currentSensor annotation(Placement(transformation(extent = {{-130, 30}, {-110, 50}})));
Components.MotorVoltageSensor voltageSensor annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-110, -20})));
Modelica.Blocks.Interfaces.RealOutput i_q
"current in the branch from p to n as output signal" annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-124, 16}), iconTransformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-100, 90})));
Components.MotorGround motorGround annotation(Placement(transformation(extent = {{-156, -60}, {-136, -40}})));
Components.EMF_linear emf_linear(k_F_0_20 = k_F_0_20, F_N = F_N, I_N = I_n, F_max = F_max, I_max = I_max, tau_p = tau_p) annotation(Placement(transformation(extent = {{-70, -30}, {-50, -10}})));
TranslationalComponents.Sensors.TranslationalSensor transSensor annotation(Placement(transformation(extent = {{-40, -30}, {-20, -10}})));
Modelica.Mechanics.Translational.Components.Mass mass(m = m) annotation(Placement(transformation(extent = {{-10, -30}, {10, -10}})));
Modelica.Mechanics.Translational.Interfaces.Flange_b f
"Right flange of translational component" annotation(Placement(transformation(extent = {{12, -26}, {24, -14}}), iconTransformation(extent = {{180, -10}, {200, 10}})));
Cooling.CoolingChannels coolingChannels(R_flow = R_flow, R_therm = R_therm) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {-22, 50})));
Cooling.Interfaces.HydraulicPort_b coolingPort_b annotation(Placement(transformation(extent = {{154, 54}, {168, 68}}), iconTransformation(extent = {{148, 48}, {168, 68}})));
Cooling.Interfaces.HydraulicPort_a coolingPort_a annotation(Placement(transformation(extent = {{38, 54}, {52, 68}}), iconTransformation(extent = {{32, 48}, {52, 68}})));
Modelica.Blocks.Interfaces.RealOutput actual1 annotation(Placement(transformation(extent = {{96, 80}, {116, 100}}), iconTransformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {100, 88})));
protected
parameter SI.HeatCapacity C = T_th / R_therm "Heat Capacity";
constant SI.Temperature T_ref_100 = 100;
initial equation
util_F_max = 0;
util_T_max = 0;
util_U_max = 0;
equation
//Optimization problem
con_F_max = S_F * transSensor.f_max - F_max;
con_U_max = S_U * voltageSensor.u_link_max - U_eff_max;
con_T_max = S_T * tempSensor.actual - T_max;
obj_rms_current = currentSensor.i_rms;
obj_absMax_current = currentSensor.i_max;
when terminal() then
util_F_max = S_F * transSensor.f_max / F_max;
util_T_max = 1 + con_T_max;
//this not physically rigerous. Rigerous values require many cylces. This assumes that if temperature decreases in one cycle by 1 K, we have 0 % utilization. But of course this way also negative values are possible
util_U_max = S_U * voltageSensor.u_link_max / U_eff_max;
end when;
connect(currentSensor.n, resistance.p) annotation(Line(points = {{-110, 40}, {-100, 40}}, color = {0, 0, 255}));
connect(voltageSensor.n, currentSensor.n) annotation(Line(points = {{-110, -10}, {-110, 40}}, color = {0, 0, 255}));
connect(converter.u_q, u_q) annotation(Line(points = {{-170, -31}, {-170, -40}, {-190, -40}}, color = {0, 0, 127}));
connect(voltageSensor.p, inductance.n) annotation(Line(points = {{-110, -30}, {-110, -40}, {-100, -40}}, color = {0, 0, 255}));
connect(currentSensor.i_q, i_q) annotation(Line(points = {{-122, 30.1}, {-124, 30.1}, {-124, 16}}, color = {0, 0, 127}));
connect(motorGround.p, converter.n) annotation(Line(points = {{-146, -40}, {-146, -24.1}, {-156, -24.1}}, color = {0, 0, 255}));
connect(motorGround.p, inductance.n) annotation(Line(points = {{-146, -40}, {-100, -40}}, color = {0, 0, 255}));
connect(converter.p, currentSensor.p) annotation(Line(points = {{-156, -16.1}, {-152, -16.1}, {-152, -16}, {-146, -16}, {-146, 39.9}, {-130, 39.9}}, color = {0, 0, 255}));
connect(inductance.p, emf_linear.n) annotation(Line(points = {{-80, -40}, {-60, -40}, {-60, -30}}, color = {0, 0, 255}));
connect(emf_linear.p, resistance.n) annotation(Line(points = {{-60, -10}, {-60, 40}, {-80, 40}}, color = {0, 0, 255}));
connect(emf_linear.flange, transSensor.flange_a) annotation(Line(points = {{-54, -20}, {-40.2, -20}}, color = {0, 127, 0}));
connect(emf_linear.heatport, resistance.heatPort) annotation(Line(points = {{-65, -20}, {-90, -20}, {-90, 36}}, color = {191, 0, 0}));
connect(heatCapacitor.port, resistance.heatPort) annotation(Line(points = {{-56, 42}, {-56, 26}, {-90, 26}, {-90, 36}}, color = {191, 0, 0}));
connect(tempSensor.port, resistance.heatPort) annotation(Line(points = {{-15.4, 26}, {-90, 26}, {-90, 36}}, color = {191, 0, 0}));
connect(coolingChannels.heatport_a, resistance.heatPort) annotation(Line(points = {{-22, 39}, {-22, 26}, {-90, 26}, {-90, 36}}, color = {191, 0, 0}));
connect(coolingChannels.port_a, coolingPort_a) annotation(Line(points = {{-32.4, 50}, {45, 50}, {45, 61}}, color = {0, 0, 0}, thickness = 0.25));
connect(coolingChannels.port_b, coolingPort_b) annotation(Line(points = {{-11.6, 50}, {161, 50}, {161, 61}}, color = {0, 0, 0}));
connect(mass.flange_a, transSensor.flange_b) annotation(Line(points = {{-10, -20}, {-20, -20}}, color = {0, 127, 0}));
connect(mass.flange_b, f) annotation(Line(points = {{10, -20}, {18, -20}}, color = {0, 127, 0}));
connect(tempSensor.actual, actual1) annotation(Line(points = {{4.6, 27}, {26.3, 27}, {26.3, 90}, {106, 90}}, color = {0, 0, 127}));
annotation(Diagram(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}}), graphics), Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -100}, {200, 100}}), graphics={ Ellipse(extent= {{20, 80}, {180, -80}}, lineColor= {0, 0, 0}), Text(extent= {{-120, -100}, {340, -140}}, lineColor= {0, 0, 255}, textString= "%name"), Text(extent= {{40, 30}, {160, -30}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "M"), Rectangle(extent= {{-180, 80}, {-20, -80}}, lineColor= {0, 0, 0}), Text(extent= {{-166, 40}, {-34, -40}}, lineColor= {0, 0, 0}, textString= "Converter"), Line(points= {{-20, 40}, {30, 40}}, color= {0, 0, 0}), Line(points= {{-20, 0}, {20, 0}}, color= {0, 0, 0}), Line(points= {{-20, -40}, {30, -40}}, color= {0, 0, 0}), Line(points= {{-218, 0}, {-180, 0}}, color= {0, 0, 0}), Line(points= {{-218, 40}, {-180, 40}}, color= {0, 0, 0}), Line(points= {{-218, -40}, {-180, -40}}, color= {0, 0, 0}), Text(extent= {{-340, 44}, {-224, -44}}, lineColor= {0, 0, 0}, textString= "Power
Supply"), Text(extent= {{-250, -80}, {-50, -118}}, lineColor= {0, 0, 0}, textString= "Uq"), Text(extent= {{-242, 124}, {-42, 86}}, lineColor= {0, 0, 0}, textString= "Iq"), Line(points= {{20, -60}, {182, -60}}, color= {0, 0, 0}, thickness= 0.5), Text(extent= {{40, 82}, {160, 40}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "T")}));
end LM_cooling;
end Motors;
package Motors_withAutoTunedCurrentController
model PMSM "Simple Model of a synchronous servo motor"
parameter SI.Conversions.NonSIunits.AngularVelocity_rpm n_n
"Rated speed" annotation(Dialog(group = "Engineering data"));
parameter Integer n_polePairs "Number of pole pairs" annotation(Dialog(group = "Engineering data"));
parameter SI.Torque M_n "Rated torque (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_n "Rated current (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Torque M_0_100 "Stall torque (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_0_100 "Stall current (100 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Torque M_0_60 "Stall torque (60 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Current I_0_60 "Stall current (60 K)" annotation(Dialog(group = "Engineering data"));
parameter SI.Inertia J "Motor inertia" annotation(Dialog(group = "Engineering data"));
parameter SI.Conversions.NonSIunits.AngularVelocity_rpm n_max
"Max. permissible speed (mech.)" annotation(Dialog(group = "Limiting data"));
parameter SI.Torque M_max "Maximum torque" annotation(Dialog(group = "Limiting data"));
parameter SI.Current I_max "Maximum current" annotation(Dialog(group = "Limiting data"));
parameter SI.Temperature T_max(displayUnit = "degC") = 413.15
"Permissible temperature" annotation(Dialog(group = "Limiting data"));
parameter SI.Voltage U_eff_max = 380 "Voltage limit of motor module" annotation(Dialog(group = "Limiting data"));
parameter SI.ElectricalTorqueConstant k_T_0_100 = M_0_100 / I_0_100
"Rated torque constant" annotation(Dialog(group = "Physical constants"));
parameter SI.Resistance R_ph_20 "Winding resistance at 20degC" annotation(Dialog(group = "Physical constants"));
parameter SI.Inductance L_D "Rotating field inductance" annotation(Dialog(group = "Physical constants"));
parameter SI.Time T_th(displayUnit = "min") "Thermal time constant" annotation(Dialog(group = "Physical constants"));
parameter Real C_F = (T_ref_100 / R_heat - Q_R_N) / SI.Conversions.from_rpm(n_n) ^ 1.5
"Constant relating friction torque and square root of angular velocity"
annotation(Dialog(group = "Physical constants"));
parameter SI.Time T_AT(displayUnit = "ms") = 125e-6
"Sampling time for current control loop" annotation(Dialog(group = "Physical constants"));
parameter SI.Temperature T_start "Start temperature" annotation(Dialog(group = "Start conditions"));
parameter Real S_n = 1
"Safety factor (>=1) for rotation speed (S_n * n <= n_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_M = 1
"Safety factor (>=1) for torque (S_n * M <= M_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_U = 1
"Safety factor (>=1) for voltage (S_n * u <= u_max)" annotation(Dialog(tab = "Safety factors"));
parameter Real S_T = 1
"Safety factor (>=1) for temperature (S_n * T <= T_max)" annotation(Dialog(tab = "Safety factors"));
Real con_n_max;
Real con_M_max;
Real con_T_max "End of period value, for simulation of one period";
Real con_U_max;
Real util_n_max;
Real util_M_max;
Real util_T_max;
Real util_U_max;
Real obj_rms_current;
Real obj_absMax_current;
Real obj_power_average;
Modelica.Mechanics.Rotational.Interfaces.Flange_b flange
"Flange of shaft" annotation(Placement(transformation(extent = {{180, -10}, {200, 10}}), iconTransformation(extent = {{180, -10}, {200, 10}})));
protected
parameter SI.HeatCapacity C = T_th / R_heat "Heat Capacity";
parameter SI.HeatFlowRate Q_el_100 = 3 * I_0_100 ^ 2 * (1 + 100 * 0.0039) * R_ph_20
"Electrical heat at M = M_0_100";
parameter SI.HeatFlowRate Q_R_N = 3 * (M_n / k_T_0_100) ^ 2 * (1 + 100 * 0.0039) * R_ph_20
"Electrical heat at nominal point";
parameter SI.ThermalResistance R_heat = T_ref_100 / Q_el_100
"Resistance to heat flow";
constant SI.Temperature T_ref_100 = 100;
public
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_b heatPort annotation(Placement(transformation(extent={{130,62},
{142,74}}), iconTransformation(extent = {{90, -100}, {110, -80}})));
Components.Converter converter annotation(Placement(transformation(extent={{-100,
-20},{-80,0}})));
Components.MotorInductance inductance(L_D = L_D) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin={-14,-30})));
Components.MotorResistor resistance(R_ref = R_ph_20, alpha = 0.0039, T_ref = 293.15) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin={-14,50})));
Components.EMF airgap(n_polePairs = n_polePairs, k_T_0_100 = k_T_0_100, M_0_100 = M_0_100, I_0_100 = I_0_100, M_0_60 = M_0_60, I_0_60 = I_0_60, M_max = M_max, I_max = I_max) annotation(Placement(transformation(extent={{6,-20},
{26,0}})));
Components.Friction friction(C_F = C_F) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin={42,20})));
Modelica.Mechanics.Rotational.Components.Fixed fixed annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin={42,46})));
RotationalComponents.Sensors.TorqueSensor torqueSensor annotation(Placement(transformation(extent={{72,-20},
{92,0}})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor(C = C, T(start = T_start, fixed = true)) annotation(Placement(transformation(extent={{46,80},
{66,100}})));
Modelica.Thermal.HeatTransfer.Components.ThermalConductor thermConductor(G = 1 / R_heat) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin={112,68})));
HelpBlocks.TemperatureSensor tempSensor annotation(Placement(transformation(extent={{70,70},
{90,90}})));
Modelica.Mechanics.Rotational.Components.Inertia motorInertia(J = J) annotation(Placement(transformation(extent={{102,-20},
{122,0}})));
RotationalComponents.Sensors.SpeedSensor_rpm wSensor_rpm annotation(Placement(transformation(extent={{72,10},
{92,30}})));
Components.MotorCurrentSensor currentSensor annotation(Placement(transformation(extent={{-54,40},
{-34,60}})));
Components.MotorVoltageSensor voltageSensor annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin={-34,-10})));
Components.MotorGround motorGround annotation(Placement(transformation(extent={{-76,-50},
{-56,-30}})));
Modelica.Blocks.Continuous.PI PI_I( T=L_D/R_ph_20, k=L_D/(2
*1.5*T_AT))
"Control according to amplitude optimum. k = Ts/(2*Ks*T_omega), where s denotes the controlled system with Ks = 1/R and T_omega = 1.5 * T_AT (sampling time)"
annotation(Placement(transformation(extent={{-120,
-80},{-100,-60}})));
HelpBlocks.Feedback_mirror I_feedback annotation(Placement(transformation(extent = {{10, -10}, {-10, 10}}, rotation = 180, origin={-142,-38})));
Modelica.Blocks.Interfaces.RealInput i_set
annotation (Placement(transformation(extent={{-124,-114},{-84,-74}}),
iconTransformation(
extent={{-20,-20},{20,20}},
rotation=90,
origin={-100,-100})));
Components.voltageLimit voltageLimit(U_eff_max=U_eff_max)
annotation (Placement(transformation(extent={{-10,10},{10,-10}},
rotation=90,
origin={-94,-44})));
Modelica.Blocks.Nonlinear.Limiter limiter(uMax=I_max)
annotation (Placement(transformation(extent={{-184,10},{-164,30}})));
Modelica.Blocks.Continuous.FirstOrder T_GI(k=1, T=0.08*L_D/R_ph_20)
"0,08 is just a guess value to avoid limits"
annotation (Placement(transformation(extent={{-10,-10},{10,10}},
rotation=270,
origin={-160,-14})));
Modelica.Blocks.Math.Gain gain(k=I_0_100/M_0_100) annotation (Placement(
transformation(
extent={{-10,-10},{10,10}},
rotation=90,
origin={-194,-60})));
initial equation
util_n_max = 0;
util_M_max = 0;
util_T_max = 0;
util_U_max = 0;
equation
//Optimization problem
con_n_max = S_n * wSensor_rpm.max - n_max;
con_M_max = S_M * torqueSensor.max - M_max;
con_T_max = S_T * tempSensor.actual - T_max;
con_U_max = S_U * voltageSensor.u_link_max - U_eff_max;
obj_rms_current = currentSensor.i_rms;
obj_absMax_current = currentSensor.i_max;
obj_power_average = converter.power_average;
connect(airgap.flange, torqueSensor.flange_a) annotation(Line(points={{26,-10},
{72,-10}}, color = {0, 0, 0}));
connect(torqueSensor.flange_b, motorInertia.flange_a) annotation(Line(points={{92,-10},
{102,-10}}, color = {0, 0, 0}));
connect(motorInertia.flange_b, flange) annotation(Line(points={{122,-10},{178,
-10},{178,0},{190,0}}, color = {0, 0, 0}));
connect(currentSensor.n, resistance.p) annotation(Line(points={{-34,50},{-24,50}}, color = {0, 0, 255}));
connect(friction.support, fixed.flange) annotation(Line(points={{42,30},{42,46}}, color = {0, 0, 0}));
connect(friction.flange, torqueSensor.flange_a) annotation(Line(points={{42,10},
{42,-10},{72,-10}}, color = {0, 0, 0}));
connect(voltageSensor.n, currentSensor.n) annotation(Line(points={{-34,0},{-34,
50}}, color = {0, 0, 255}));
connect(resistance.heatPort, thermConductor.port_b) annotation(Line(points={{-14,54},
{-14,68},{102,68}}, color = {191, 0, 0}));
connect(heatCapacitor.port, thermConductor.port_b) annotation(Line(points={{56,80},
{56,68},{102,68}}, color = {191, 0, 0}));
connect(heatCapacitor.port, tempSensor.port) annotation(Line(points={{56,80},{
70.6,80}}, color = {191, 0, 0}));
connect(friction.heatPort, thermConductor.port_b) annotation(Line(points={{52,20},
{56,20},{56,68},{102,68}}, color = {191, 0, 0}));
connect(wSensor_rpm.flange, torqueSensor.flange_a) annotation(Line(points={{72,20},
{64,20},{64,-10},{72,-10}}, color = {0, 0, 0}));
connect(inductance.p, airgap.n) annotation(Line(points={{-4,-30},{16,-30},{16,
-20}}, color = {0, 0, 255}));
connect(airgap.p, resistance.n) annotation(Line(points={{16,0},{16,50},{-4,50}}, color = {0, 0, 255}));
connect(airgap.heatport, thermConductor.port_b) annotation(Line(points={{22,-8},
{22,68},{102,68}}, color = {191, 0, 0}));
connect(heatPort, thermConductor.port_a) annotation(Line(points={{136,68},{122,
68}}, color = {191, 0, 0}));
connect(voltageSensor.p, inductance.n) annotation(Line(points={{-34,-20},{-34,
-30},{-24,-30}}, color = {0, 0, 255}));
connect(motorGround.p, converter.n) annotation(Line(points={{-66,-30},{
-66,-14.1},{-80,-14.1}}, color = {0, 0, 255}));
connect(motorGround.p, inductance.n) annotation(Line(points={{-66,-30},
{-24,-30}}, color = {0, 0, 255}));
connect(converter.p, currentSensor.p) annotation(Line(points={{-80,-6.1},
{-76,-6.1},{-76,-6},{-70,-6},{-70,49.9},{-54,49.9}}, color = {0, 0, 255}));
when terminal() then
util_n_max = S_n * wSensor_rpm.max / n_max;
util_M_max = S_M * torqueSensor.max / M_max;
util_T_max = 1 + con_T_max;
//this not physically rigerous. Rigerous values require many cylces. This assumes that if temperature decreases in one cycle by 1 K, we have 0 % utilization. But of course this way also negative values are possible
util_U_max = S_U * voltageSensor.u_link_max / U_eff_max;
end when;
connect(PI_I.u, I_feedback.y) annotation (Line(
points={{-122,-70},{-128,-70},{-128,-38},{-133,-38}},
color={0,0,127}));
connect(I_feedback.u2, currentSensor.i_q) annotation (Line(
points={{-142,-30},{-142,30},{-46,30},{-46,40.1}},
color={0,0,127}));
connect(voltageLimit.y, converter.u_q) annotation (Line(
points={{-94,-33},{-94,-21}},
color={0,0,127}));
connect(voltageLimit.u_d, voltageSensor.u_d_out) annotation (Line(
points={{-86,-56},{-86,-74},{-16,-74},{-16,-13},{-24,-13}},
color={0,0,127}));
connect(PI_I.y, voltageLimit.u) annotation (Line(
points={{-99,-70},{-94,-70},{-94,-56}},
color={0,0,127}));
connect(T_GI.y, I_feedback.u1) annotation (Line(
points={{-160,-25},{-160,-38},{-150,-38}},
color={0,0,127}));
connect(T_GI.u, limiter.y) annotation (Line(
points={{-160,-2},{-160,20},{-163,20}},
color={0,0,127}));
connect(gain.y, limiter.u) annotation (Line(
points={{-194,-49},{-194,20},{-186,20}},
color={0,0,127}));
connect(gain.u, i_set) annotation (Line(
points={{-194,-72},{-194,-94},{-104,-94}},
color={0,0,127}));
annotation(Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-200,
-100},{200,100}}), graphics), Icon(coordinateSystem(preserveAspectRatio=false, extent={{-200,
-100},{200,100}}), graphics={ Text(extent= {{-40, 140}, {240, 100}}, lineColor= {0, 0, 255}, textString= "%name"), Ellipse(extent= {{20, 80}, {180, -80}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid), Ellipse(extent= {{60, 40}, {140, -40}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid), Rectangle(extent= {{80, 28}, {120, 8}}, lineColor= {0, 0, 0}, fillColor= {0, 0, 0},
fillPattern= FillPattern.Solid), Rectangle(extent= {{80, 28}, {100, 8}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid), Text(extent= {{60, 0}, {140, -40}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "M"), Text(extent= {{60, -40}, {140, -80}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "3~"), Rectangle(extent= {{-180, 80}, {-20, -80}}, lineColor= {0, 0, 0}), Text(extent= {{-166, 40}, {-34, -40}}, lineColor= {0, 0, 0}, textString= "Converter"), Line(points= {{-20, 40}, {30, 40}}, color= {0, 0, 0}), Line(points= {{-20, 0}, {20, 0}}, color= {0, 0, 0}), Line(points= {{-20, -40}, {30, -40}}, color= {0, 0, 0}), Line(points= {{-218, 0}, {-180, 0}}, color= {0, 0, 0}), Line(points= {{-218, 40}, {-180, 40}}, color= {0, 0, 0}), Line(points= {{-218, -40}, {-180, -40}}, color= {0, 0, 0}), Text(extent= {{-340, 44}, {-224, -44}}, lineColor= {0, 0, 0}, textString= "Power
Supply"), Text(extent= {{-250, -80}, {-50, -118}}, lineColor={0,0,0},
textString="Iq")}));
end PMSM;
end Motors_withAutoTunedCurrentController;
package Components
model HeatTransfer "Comination of capacitor and thermal resistance"
parameter SI.HeatCapacity C "Heat Capacity";
parameter SI.ThermalResistance R_heat "Resistance to heat flow";
parameter SI.Temperature T_start "Start temperature";
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_a port_a annotation(Placement(transformation(extent = {{-120, -10}, {-100, 10}}), iconTransformation(extent = {{-120, -10}, {-100, 10}})));
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_b port_b annotation(Placement(transformation(extent = {{100, -10}, {120, 10}}), iconTransformation(extent = {{100, -10}, {120, 10}})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor1(T(start = T_start), C = C) annotation(Placement(transformation(extent = {{-12, 18}, {8, 38}})));
Modelica.Thermal.HeatTransfer.Components.ThermalConductor thermalConductor1(G = 1 / R_heat) annotation(Placement(transformation(extent = {{22, -10}, {42, 10}})));
equation
connect(heatCapacitor1.port, thermalConductor1.port_a) annotation(Line(points = {{-2, 18}, {-2, 0}, {22, 0}}, color = {191, 0, 0}));
connect(thermalConductor1.port_b, port_b) annotation(Line(points = {{42, 0}, {110, 0}}, color = {191, 0, 0}));
connect(heatCapacitor1.port, port_a) annotation(Line(points = {{-2, 18}, {-2, 0}, {-110, 0}}, color = {191, 0, 0}));
annotation( Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-100, -100}, {100, 100}}), graphics={ Rectangle(extent= {{-88, 70}, {92, -70}}, lineColor= {0, 0, 0}, pattern= LinePattern.None, fillColor= {192, 192, 192},
fillPattern= FillPattern.Backward), Line(points= {{-88, 70}, {-88, -70}}, color= {0, 0, 0}, thickness= 0.5), Line(points= {{92, 70}, {92, -70}}, color= {0, 0, 0}, thickness= 0.5), Text(extent= {{-148, 115}, {152, 75}}, textString= "%name", lineColor= {0, 0, 255})}));
end HeatTransfer;
model HeatTransfer_2C "Model with two heat capcitors"
parameter SI.HeatCapacity C "Heat Capacity";
parameter SI.ThermalResistance R_heat "Resistance to heat flow";
parameter SI.Temperature T_start "Start temperature";
Modelica.Thermal.HeatTransfer.Components.ThermalConductor thermalConductor(G = 2 * 1 / R_heat) annotation(Placement(transformation(extent = {{-40, -10}, {-20, 10}})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor(T(start = T_start), C = 0.2 * C) annotation(Placement(transformation(extent = {{-60, 16}, {-40, 36}})));
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_a port_a annotation(Placement(transformation(extent = {{-120, -10}, {-100, 10}}), iconTransformation(extent = {{-120, -10}, {-100, 10}})));
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_b port_b annotation(Placement(transformation(extent = {{100, -10}, {120, 10}}), iconTransformation(extent = {{100, -10}, {120, 10}})));
Modelica.Thermal.HeatTransfer.Components.HeatCapacitor heatCapacitor1(T(start = T_start), C = 0.8 * C) annotation(Placement(transformation(extent = {{-12, 18}, {8, 38}})));
Modelica.Thermal.HeatTransfer.Components.ThermalConductor thermalConductor1(G = 2 * 1 / R_heat) annotation(Placement(transformation(extent = {{22, -10}, {42, 10}})));
equation
connect(heatCapacitor.port, thermalConductor.port_a) annotation(Line(points = {{-50, 16}, {-50, 0}, {-40, 0}}, color = {191, 0, 0}));
connect(thermalConductor.port_a, port_a) annotation(Line(points = {{-40, 0}, {-110, 0}}, color = {191, 0, 0}));
connect(heatCapacitor1.port, thermalConductor1.port_a) annotation(Line(points = {{-2, 18}, {-2, 0}, {22, 0}}, color = {191, 0, 0}));
connect(thermalConductor.port_b, thermalConductor1.port_a) annotation(Line(points = {{-20, 0}, {22, 0}}, color = {191, 0, 0}));
connect(thermalConductor1.port_b, port_b) annotation(Line(points = {{42, 0}, {110, 0}}, color = {191, 0, 0}));
annotation( Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-100, -100}, {100, 100}}), graphics={ Rectangle(extent= {{-88, 70}, {92, -70}}, lineColor= {0, 0, 0}, pattern= LinePattern.None, fillColor= {192, 192, 192},
fillPattern= FillPattern.Backward), Line(points= {{-88, 70}, {-88, -70}}, color= {0, 0, 0}, thickness= 0.5), Line(points= {{92, 70}, {92, -70}}, color= {0, 0, 0}, thickness= 0.5), Text(extent= {{-148, 115}, {152, 75}}, textString= "%name", lineColor= {0, 0, 255})}));
end HeatTransfer_2C;
model Converter
"Model for a voltage-driven converter. The field producing current i_d is set to zero"
Modelica.Blocks.Interfaces.RealInput u_q annotation(Placement(transformation(extent = {{-140, 60}, {-100, 100}}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 90, origin = {-80, -220})));
Interfaces.PositivePin p annotation(Placement(transformation(extent = {{190, 68}, {210, 88}}), iconTransformation(extent = {{190, 68}, {210, 88}})));
Interfaces.NegativePin n annotation(Placement(transformation(extent = {{190, -92}, {210, -72}}), iconTransformation(extent = {{190, -92}, {210, -72}})));
SI.Voltage u_d;
SI.Power power "Acutual power";
SI.Power power_average "Average power";
SI.Power power_no_recovery_average "Average power if without recovery";
SI.Energy energy;
SI.Energy energy_no_recovery;
protected
parameter Real startTime(fixed = false);
initial equation
startTime = time;
energy = 0;
energy_no_recovery = 0;
equation
u_d = p.u_d - n.u_d;
u_q = p.u_q - n.u_q;
0 = p.i_d + n.i_d;
0 = p.i_q + n.i_q;
//0 = p.w - n.w;
p.i_d = 0; //This is a simplification, as i.d is usually set to zero by current control
power = -3 * (p.i_q * u_q + p.i_d * u_d);
der(energy) = power;
der(energy_no_recovery) = max(power, 0);
if time <= startTime then
power_average = 0;
power_no_recovery_average = 0;
else
power_average = energy / (time - startTime);
power_no_recovery_average = energy_no_recovery / (time - startTime);
end if;
annotation(Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -200}, {200, 200}}), graphics={ Rectangle(extent= {{-200, 200}, {200, -200}}, lineColor= {0, 0, 0}),
Line(points= {{200, 200}, {-200, -200}}, color= {0, 0, 0}), Line(points= {{-160, 100}, {-148.7, 134.2}, {-141.5, 153.1}, {-135.1, 166.4}, {-129.4, 174.6}, {-123.8, 179.1}, {-118.2, 179.8}, {-112.6, 176.6}, {-106.9, 169.7}, {-101.3, 159.4}, {-94.9, 144.1}, {-86.83, 121.2}, {-69.9, 69.2}, {-62.7, 49.8}, {-56.3, 35.8}, {-50.7, 26.9}, {-45, 21.6}, {-39.4, 20}, {-33.8, 22.4}, {-28.1, 28.5}, {-22.5, 38.1}, {-16.1, 52.8}, {-8, 75.2}, {0, 100}}, color= {0, 0, 0}), Line(points= {{0, -100}, {11.3, -65.8}, {18.5, -46.9}, {24.9, -33.6}, {30.6, -25.4}, {36.2, -20.9}, {41.8, -20.2}, {47.4, -23.4}, {53.1, -30.3}, {58.7, -40.6}, {65.1, -55.9}, {73.17, -78.8}, {90.1, -130.8}, {97.3, -150.2}, {103.7, -164.2}, {109.3, -173.1}, {115, -178.4}, {120.6, -180}, {126.2, -177.6}, {131.9, -171.5}, {137.5, -161.9}, {143.9, -147.2}, {152, -124.8}, {160, -100}}, color= {0, 0, 0}), Text(extent= {{-304, -220}, {-120, -300}}, lineColor= {0, 0, 0}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, textString= "Uq"), Text(extent= {{-258, 302}, {260, 200}}, textString= "%name", lineColor= {0, 0, 255}), Line(points= {{-238, 40}, {-200, 40}}, color= {0, 0, 0}), Line(points= {{-238, 0}, {-200, 0}}, color= {0, 0, 0}), Line(points= {{-238, -40}, {-200, -40}}, color= {0, 0, 0}), Text(extent= {{-698, 64}, {-180, -38}}, lineColor= {0, 0, 0}, textString= "power
supply")}), Diagram(coordinateSystem(preserveAspectRatio = false, extent = {{-200, -200}, {200, 200}}), graphics));
end Converter;
model EMF "Electromotoric force (electric/mechanic transformer)"
Modelica.Mechanics.Rotational.Interfaces.Flange_b flange annotation(Placement(transformation(extent = {{90, -10}, {110, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Interfaces.Support support if useSupport
"Support/housing of emf shaft" annotation(Placement(transformation(extent = {{-110, -10}, {-90, 10}})));
Interfaces.NegativePin n annotation(Placement(transformation(extent = {{-10, -110}, {10, -90}}), iconTransformation(extent = {{-10, -110}, {10, -90}})));
Interfaces.PositivePin p annotation(Placement(transformation(extent = {{-10, 90}, {10, 110}}), iconTransformation(extent = {{-10, 90}, {10, 110}})));
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_a heatport annotation(Placement(transformation(extent = {{50, 10}, {70, 30}}), iconTransformation(extent = {{50, 10}, {70, 30}})));
parameter Boolean useSupport = false
"= true, if support flange enabled, otherwise implicitly grounded" annotation(Evaluate = true, HideResult = true, choices(__Dymola_checkBox = true));
parameter Integer n_polePairs "Number of pole pairs";
parameter SI.ElectricalTorqueConstant k_T_0_100
"Rated torque constant at 100 K overtemperature";
parameter SI.Torque M_0_100 "Stall torque (100 K)";
parameter SI.Current I_0_100 "Stall current (100 K)";
parameter SI.Torque M_0_60 "Stall torque (100 K)";
parameter SI.Current I_0_60 "Stall current (100 K)";
parameter SI.Torque M_max "Maximum permissible torque";
parameter SI.Current I_max "Maximum permissible current";
SI.Angle phi
"Angle of shaft flange with respect to support (= flange.phi - support.phi)";
SI.AngularVelocity w_mech
"Angular velocity of flange relative to support";
SI.Current i_q(start = 0) "Current";
SI.ElectricalTorqueConstant k_T(start = k_T_0_100)
"Actual torque constant";
SI.Torque tau "Torque at flange";
SI.Torque tau_abs "Absolute torque at flange";
SI.Voltage u_emf "Voltage drop at emf";
SI.Temperature T "Temperature of motor";
protected
parameter Real Delta_k_T_Temp = (M_0_60 / I_0_60 - M_0_100 / I_0_100) / 40
"Decrease of torque constant with temperature";
parameter Real Delta_k_T_Torque = (M_0_100 / I_0_100 - M_max / I_max) / (M_max - M_0_100)
"Decrease of torque constant with torque";
Real c_Torque(start = 1)
"Decrease factor of torque constant with torque";
Real c_Temp(start = 1)
"Decrease factor of torque constant with temperature";
Modelica.Mechanics.Rotational.Components.Fixed fixed if not useSupport annotation(Placement(transformation(extent = {{-90, -20}, {-70, 0}})));
Modelica.Mechanics.Rotational.Interfaces.InternalSupport internalSupport(tau = -flange.tau) annotation(Placement(transformation(extent = {{-90, -10}, {-70, 10}})));
equation
heatport.Q_flow = 0; // no heat generation
heatport.T = T;
u_emf = p.u_q - n.u_q;
0 = p.u_d - n.u_d;
0 = p.i_q + n.i_q;
0 = p.i_d + n.i_d;
i_q = p.i_q;
w_mech * n_polePairs = p.w;
0 = p.w - n.w;
phi = flange.phi - internalSupport.phi;
w_mech = der(phi);
flange.tau = tau;
tau_abs = abs(tau);
k_T * w_mech = 3 * u_emf;
tau = -k_T * i_q;
//The torque constant k_T is dependent on temperature and torque
k_T_0_100 * c_Torque = if tau_abs > M_max then M_max / I_max elseif tau_abs < M_0_100 then k_T_0_100 else k_T_0_100 - Delta_k_T_Torque * (tau_abs - M_0_100);
//100 K and 0 K overtemperature
k_T_0_100 * c_Temp = if T > 393.15 then k_T_0_100 elseif T < 293.15 then k_T_0_100 + Delta_k_T_Temp * 100 else k_T_0_100 + Delta_k_T_Temp * (393.15 - T);
k_T = k_T_0_100 * c_Temp * c_Torque;
connect(internalSupport.flange, support) annotation(Line(points = {{-80, 0}, {-100, 0}}, color = {0, 0, 0}));
connect(internalSupport.flange, fixed.flange) annotation(Line(points = {{-80, 0}, {-80, -10}}, color = {0, 0, 0}));
annotation(defaultComponentName = "emf", Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-100, -100}, {100, 100}}, grid = {1, 1}), graphics={ Rectangle(extent= {{-85, 10}, {-36, -10}}, lineColor= {0, 0, 0},
fillPattern= FillPattern.HorizontalCylinder, fillColor= {192, 192, 192}), Line(points= {{0, 90}, {0, 40}}, color= {0, 0, 255}), Rectangle(extent= {{35, 10}, {100, -10}}, lineColor= {0, 0, 0},
fillPattern= FillPattern.HorizontalCylinder, fillColor= {192, 192, 192}), Ellipse(extent= {{-40, 40}, {40, -40}}, fillColor= {255, 255, 255},
fillPattern= FillPattern.Solid, lineColor= {0, 0, 255}), Line(points= {{0, -90}, {0, -40}}, color= {0, 0, 255}), Text(extent= {{0, -50}, {199, -90}}, textString= "%name", lineColor= {0, 0, 255}), Line(visible= not useSupport, points= {{-100, -30}, {-40, -30}}, color= {0, 0, 0}), Line(visible= not useSupport, points= {{-100, -50}, {-80, -30}}, color= {0, 0, 0}), Line(visible= not useSupport, points= {{-80, -50}, {-60, -30}}, color= {0, 0, 0}), Line(visible= not useSupport, points= {{-60, -50}, {-40, -30}}, color= {0, 0, 0}), Line(visible= not useSupport, points= {{-70, -30}, {-70, -10}}, color= {0, 0, 0})}), Diagram(coordinateSystem(preserveAspectRatio = true, extent = {{-100, -100}, {100, 100}}, grid = {1, 1}), graphics={ Polygon(points= {{-17, 95}, {-20, 85}, {-23, 95}, {-17, 95}}, lineColor= {160, 160, 164}, fillColor= {160, 160, 164},
fillPattern= FillPattern.Solid), Line(points= {{-20, 110}, {-20, 85}}, color= {160, 160, 164}), Text(extent= {{-40, 110}, {-30, 90}}, lineColor= {160, 160, 164}, textString= "i"), Line(points= {{9, 75}, {19, 75}}, color= {192, 192, 192}), Line(points= {{-20, -110}, {-20, -85}}, color= {160, 160, 164}), Polygon(points= {{-17, -100}, {-20, -110}, {-23, -100}, {-17, -100}}, lineColor= {160, 160, 164}, fillColor= {160, 160, 164},
fillPattern= FillPattern.Solid), Text(extent= {{-40, -110}, {-30, -90}}, lineColor= {160, 160, 164}, textString= "i"), Line(points= {{8, -79}, {18, -79}}, color= {192, 192, 192}), Line(points= {{14, 80}, {14, 70}}, color= {192, 192, 192})}), Documentation(info = "<html>
<p>EMF transforms electrical energy into rotational mechanical energy. It is used as basic building block of an electrical motor. The mechanical connector flange can be connected to elements of the Modelica.Mechanics.Rotational library. flange.tau is the cut-torque, flange.phi is the angle at the rotational connection.</p>
</html>", revisions = "<html>
<ul>
<li><i> 1998 </i>
by Martin Otter<br> initially implemented<br>
</li>
</ul>
</html>"));
end EMF;
model EMF_linear "Electromotoric force (electric/mechanic transformer)"
Modelica.Mechanics.Translational.Interfaces.Flange_b flange annotation(Placement(transformation(extent = {{50, -10}, {70, 10}}, rotation = 0), iconTransformation(extent = {{50, -10}, {70, 10}})));
Modelica.Mechanics.Translational.Interfaces.Support support if useSupport
"Support/housing of emf shaft" annotation(Placement(transformation(extent = {{-110, -10}, {-90, 10}})));
Interfaces.NegativePin n annotation(Placement(transformation(extent = {{-10, -110}, {10, -90}}), iconTransformation(extent = {{-10, -110}, {10, -90}})));
Interfaces.PositivePin p annotation(Placement(transformation(extent = {{-10, 90}, {10, 110}}), iconTransformation(extent = {{-10, 90}, {10, 110}})));
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_a heatport annotation(Placement(transformation(extent = {{-60, -10}, {-40, 10}}), iconTransformation(extent = {{-60, -10}, {-40, 10}})));
parameter Boolean useSupport = false
"= true, if support flange enabled, otherwise implicitly grounded" annotation(Evaluate = true, HideResult = true, choices(__Dymola_checkBox = true));
parameter SI.ElectricalForceConstant k_F_0_20
"Rated force constant at 20 ?C";
parameter SI.Force F_N "Nomina (120 ?C)";
parameter SI.Current I_N "Nominal current (120 ?C)";
parameter SI.Force F_max "Maximum permissible force (120 ?C)";
parameter SI.Current I_max "Maximum permissible current (120 ?C)";
parameter SI.Length tau_p "Pole width";
SI.Velocity v_M "Motor velocity";
SI.Position s
"Angle of shaft flange with respect to support (= flange.phi - support.phi)";
SI.Frequency f_M "Motor frequency of the induced voltage";
SI.Current i_q(start = 0) "Current";
SI.ElectricalForceConstant k_F(start = k_F_0_20)
"Actual force constant";
SI.Force force "Force at flange";
SI.Force force_abs "Absolute force at flange";
SI.Voltage u_emf "Voltage drop at emf";
SI.Temperature T "Temperature of motor";
protected
parameter Real Delta_k_F_Force = (F_N / I_N - F_max / I_max) / (F_max - F_N)
"Decrease of force constant with torque";
parameter Real Delta_k_F_Temp = (k_F_0_20 - F_N / I_N) / 100
"Decrease of force constant with froce";
Real c_Force(start = 1) "Decrease factor of force constant with force";
Real c_Temp(start = 1)
"Decrease factor of force constant with temperature";
Modelica.Mechanics.Translational.Components.Fixed fixed if not useSupport annotation(Placement(transformation(extent = {{-90, -20}, {-70, 0}})));
Modelica.Mechanics.Translational.Interfaces.InternalSupport internalSupport(f = -flange.f) annotation(Placement(transformation(extent = {{-90, -10}, {-70, 10}})));
equation
heatport.Q_flow = 0;
heatport.T = T;
u_emf = p.u_q - n.u_q;
0 = p.u_d - n.u_d;
0 = p.i_q + n.i_q;
0 = p.i_d + n.i_d;
i_q = p.i_q;
f_M * 2 * Constants.pi = p.w;
v_M = 2 * tau_p * f_M;
//factor 2 (see GROS06, 257ff)
0 = p.w - n.w;
s = flange.s - internalSupport.s;
v_M = der(s);
flange.f = force;
force_abs = abs(force);
k_F * v_M = 3 * u_emf;
force = -k_F * i_q;