recordData
Data of the whole drive, including load and controller
Extends from Modelica.Icons.Record (Icon for records).
Information
Data record, summarizing all parameters of:
- the mechanical load
- the source
- the inverter
- the machine
- the limitations
- the current controller
- the speed controller
- the position controller
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| String | drive | "fictious" | |
| Modelica.Units.SI.Inertia | Jtot | Jr + JL | Inertia machine + load |
| Modelica.Units.SI.Time | Tm | Jtot*wNom/tauNom | Mechanical time constant |
| Load | |||
| Modelica.Units.SI.Inertia | JL | Jr | Inertia load |
| Modelica.Units.SI.Torque | tauL | tauShaft | Load torque |
| Modelica.Units.SI.AngularVelocity | wL | wNom | Load speed |
| Source | |||
| Modelica.Units.SI.Voltage | Vdc0 | VMax/(1 - IMax/IdcMax) | No-load DC-voltage of source |
| Modelica.Units.SI.Current | IdcMax | 100*IMax | Short-cirucit DC-current of source |
| Modelica.Units.SI.Resistance | Ri | Vdc0/IdcMax | Inner resistamce of DC-source |
| Inverter | |||
| Modelica.Units.SI.Frequency | fS | 1000 | Switching frequency |
| Modelica.Units.SI.Time | Td | 0.5/fS | Deadtime inverter |
| Modelica.Units.SI.Inductance | Ldc | 0*La | DC smoothing inductor |
| Machine | |||
| Modelica.Units.SI.Voltage | VNom | 105 | Nominal voltage |
| Modelica.Units.SI.Current | INom | 100 | Nominal current |
| Modelica.Units.SI.Resistance | Ra | 0.05 | Armature resistance |
| Modelica.Units.SI.Inductance | La | 0.001 | Armature inductance |
| Modelica.Units.SI.Time | Ta | La/Ra | Armature time constant |
| Modelica.Units.SI.MagneticFlux | kPhi | (VNom - Ra*INom)/wNom | Flux constant |
| Modelica.Units.SI.Torque | tauNom | kPhi*INom | Nominal torque |
| Modelica.Units.SI.Torque | tauShaft | tauNom - tauFric | Nominal shaft torque |
| Modelica.Units.SI.AngularVelocity | wNom | 100 | Nominal speed |
| Modelica.Units.SI.Inertia | Jr | 0.05 | Inertia of machine rotor |
| Modelica.Units.SI.Power | PFric | 0 | Friction losses at nominal speed |
| Modelica.Units.SI.Torque | tauFric | PFric/wNom | Friction torque at nominal speed |
| Limits › Limits | |||
| Modelica.Units.SI.Voltage | VMax | kPhi*wMax + Ra*IMax | Maximum voltage >= kPhi*wMax + Ra*IMax |
| Modelica.Units.SI.Current | IMax | 1.2*INom | Maximum current <= (VMax - kPhi*wMax)/Ra |
| Modelica.Units.SI.Torque | tauMax | kPhi*IMax | Maximum torque |
| Modelica.Units.SI.AngularAcceleration | aMax | tauMax/Jtot | Maximum acceleration |
| Modelica.Units.SI.AngularVelocity | wMax | wNom | Maximum speed <= (VMax - Ra*IMax)/kPhi |
| Modelica.Units.SI.Angle | phiMax | inf | Maximum position |
| Modelica.Units.SI.Angle | phiMin | -inf | Minimum position |
| Controller › Current controller | |||
| Modelica.Units.SI.Resistance | kpI | Ra*Ta/(2*Ts) | Proportional gain current controller |
| Modelica.Units.SI.Time | TiI | Ta | Integral time constant current controller |
| Modelica.Units.SI.Time | Ts | Td + TsI | Sum of small time constants |
| Modelica.Units.SI.Time | TsI | 2/(2*pi*fS) | Smoothing time constant current controller |
| Modelica.Units.SI.Time | TfI | TsI | Prefilter current controller |
| Modelica.Units.SI.Time | Tsub | 2*Ts | Substitute time constant current controlled drive |
| Controller › Speed controller | |||
| Real | a | 2 | Symmetrical optimum |
| Modelica.Units.SI.Inertia | kpW | tauNom/wNom*Tm/(a*Tsub) | Propotional gain speed controller |
| Modelica.Units.SI.Time | TiW | a^2*Tsub | Integral time constant speed controller |
| Modelica.Units.SI.Time | TfW | TiW | Prefilter speed controller |
| Controller › Position controller | |||
| Modelica.Units.SI.DampingCoefficient | kpP | 1/(16*Tsub) | Propotional gain position controller |