Motor & Drive
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Universal motor and closed-loop torque control drive.
blockType: Engee1DMechanical.Electromechanical.MotorAndDrive
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Path in the library: |
Description
Block Motor & Drive It is a universal brushless motor and a closed-loop torque control drive. Block Motor & Drive It is useful if you need a universal or approximate engine implementation in your system. It is also suitable for cases when you do not know all the technical characteristics of your engine or want to use the unit to find the right engine for your system.
To speed up the simulation, the block uses an abstraction of the motor, drive electronics, and control system. The unit generates an envelope of the dependence of the torque on the rotational speed, which saturates the input torque, and allows only a range of torques and speeds defined by this envelope.
Modeling of electrical losses
Block Motor & Drive simulates first-order losses based on the total efficiency for rotational speed and torque, which are set as parameters Motor and driver overall efficiency (percent), Speed at which efficiency is measured and Torque at which efficiency is measured accordingly. The block uses data on the rotational speed and torque to construct an envelope of the dependence of the torque on the rotational speed. The envelope saturates the input torque, which gives the torque that the motor responds to., . This torque is also used by the unit to calculate electrical losses.
The unit only takes into account torque-dependent resistive losses, so that
where
Resistive losses, also known as ohmic losses, occur due to the resistance of the armature windings to the flow of electrons. Electrical power includes these losses, so that
The rate of conversion of electrical energy into thermal energy is determined by the Joule—Lenz law:
where
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— the electrical power that the unit calculates and uses in the main equation.
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— electrical power lost during operation. When modeling the effect of heat flow and temperature changes, this value represents the rate of heat flow that is distributed in the heat mass or through the output port H.
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— the angular velocity of rotation of the rotor. It is equivalent to the value of the output port W.
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— required torque at saturation.
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— the coefficient of proportionality for resistance losses, measured in units .
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— The efficiency of the motor and drive at a given speed and torque. This value is equivalent to the parameter Motor and driver overall efficiency (percent).
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— the angular velocity corresponding to the overall efficiency. This value is equivalent to the parameter Speed at which efficiency is measured.
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— the torque corresponding to the overall efficiency. This value is equivalent to the parameter Torque at which efficiency is measured.
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— terminal voltage.
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— the current passing through the terminals.
When thermal modeling is enabled, the value displays the block’s contribution to the heat flow.
To account for sequential resistance, permanent losses, and core losses, you can add blocks to your model.
| You can add damping and inertia using the block Rotational Damper and the block Inertia accordingly. |
Thermal modeling
You can simulate the effects of heat flow and temperature changes by turning on an additional heat port H. To enable this port, check the box next to the option Enable thermal port.
When modeling the effects of heat flow and temperature changes, the electrical losses of the motor contribute to these effects.
Ports
Conserving
#
+
—
positive DC power supply
electricity
Details
A power saving port connected to a positive DC source.
| Program usage name |
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#
R
—
engine rotor
rotational mechanics
Details
A mechanical rotation preservation port connected to the motor rotor.
| Program usage name |
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#
−
—
negative DC power supply
electricity
Details
A power saving port connected to a negative DC source.
| Program usage name |
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#
C
—
engine housing
rotational mechanics
Details
Mechanical rotation preservation port connected to the motor housing.
| Program usage name |
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#
H
—
heat flow
warmth
Details
The heat preservation port associated with the heat flow. The electrical losses of the engine contribute to the heat flow through this port.
Dependencies
To use this port, check the box next to the option Enable thermal port.
| Program usage name |
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Input
#
Tr
—
required reference torque
scalar
Details
Directional input port of the physical signal associated with the required reference torque.
| Data types |
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| Complex numbers support |
No |
Output
#
W
—
mechanical rotation speed, rad/s
scalar
Details
A directional output port of a physical signal related to the mechanical rotation speed.
| Data types |
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| Complex numbers support |
No |
Parameters
Parameters
#
Maximum torque —
torque to determine the boundary of the envelope of the dependence of the torque on the rotational speed
N*m | mN*m | lbf*ft
Details
The maximum allowable torque value. The block uses this value and parameter Maximum power to determine the envelope dependence of the torque on the rotational speed.
| Units |
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| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
#
Maximum power —
power for determining the boundary of the envelope of the dependence of the torque on the speed of rotation
W | GW | MW | kW | mW | uW | HP_DIN
Details
The maximum allowable power value. The block uses this value and parameter Maximum torque to determine the dependence of the torque on the rotational speed.
| Units |
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| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
#
Torque control time constant, Tc —
time step of the output torque
d | s | hr | ms | ns | us | min
Details
The time interval of the output signal of the torque regulator. Use this parameter to specify the waiting time for the unit between displaying information about the torque value.
| Units |
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| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
# Motor and driver overall efficiency (percent) — energy efficiency at set values of rotation speed and torque
Details
The efficiency of converting electrical energy of rotation into mechanical energy.
| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
#
Speed at which efficiency is measured —
preset speed for measuring efficiency
rpm | deg/s | rad/s
Details
The speed that the unit uses to calculate electrical losses that depend on the torque.
| Units |
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| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
#
Torque at which efficiency is measured —
preset torque for measuring efficiency
N*m | mN*m | lbf*ft
Details
The torque that the unit uses to calculate electrical losses that depend on the torque.
| Units |
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| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
# Enable thermal port — modeling of thermal losses in the mass of electrical wiring
Details
The ability to turn on the heat port and take into account heat losses during modeling.
| Default value |
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| Program usage name |
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| Evaluatable |
Yes |
#
Thermal mass —
the ability of the wiring to retain heat
J/K | kJ/K
Details
The thermal mass of an electrical winding, defined as the energy required to raise the temperature per unit of temperature measurement.
Dependencies
To use this port, check the box next to the option Enable thermal port.
| Units |
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| Default value |
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| Program usage name |
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| Evaluatable |
Yes |