recordDataZeltomStd
Data of the standard Zeltom kit
Extends from Modelica.Icons.Record (Icon for records).
Information
Parameters of Zeltom's Standard system, enriched by calculation of steady-state equilibrium and controller parameters.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| String | Type | "ZeltomStd" | |
| Coil and PM | |||
| SI.Resistance | R | 2.41 | Resistance of coil |
| SI.Inductance | L | 15.03E-3 | Inductance of coil |
| Real | kO | 17.31E-9 | Original force per current and distance^pd [N.m^pd/A] |
| SI.Position | d0 | -0.02 | Steady-state Position below coil |
| SI.Position | dC | -0.01 | Steady-state Position below coil without coil current > d0 |
| Real | k | kO*(1 - (abs(dC/d0))^pd) | Equivalent force per current and distance^pd [N.m^pd/A] |
| SI.Current | iC | m*g_n/k*abs(dC)^pd | Equivalent current describing force between pm and iron core without coil current |
| Integer | pd | 4 | Power of distance to calculate force |
| SI.Mass | m | 3.02E-3 | Mass of magnet |
| Hall effect sensor | |||
| SI.Voltage | alfa | 2.48 | Coefficient 1 (constant) |
| Real | beta | 2.92E-4 | Coefficient 2 (distance) |
| SI.Resistance | gamma | 0.48 | Coefficient 3 (current) |
| SI.Position | dNoise | 5e-7 | Used to estimate noise on hall sensor output |
| SI.Voltage | eNoise | beta/(d0 + dNoise/2)^2 - beta/(d0 - dNoise/2)^2 | Noise on hall sensor output |
| Steady state | |||
| SI.Current | i0 | g_n*m*(abs(d0))^pd/k - iC | Current through coil |
| SI.Voltage | v0 | R*i0 | Voltage across coil |
| SI.Force | f0 | m*g_n | Force on magnet |
| SI.Voltage | e0 | alfa + beta/d0^2 + gamma*i0 | Signal of hall effect sensor |
| Steady state › Limits | |||
| SI.Voltage | Vsrc | 9 | Source voltage |
| SI.Current | iMax | 1.0 | Current limit |
| SI.Force | fMax | k/(abs(d0))^pd*(iC + iMax) | Max. force in steady state position |
| SI.Position | dMax | -0.001 | Nearest position of magnet below coil |
| SI.Position | dMin | -(k/(m*g_n)*(iC + iMax))^(1.0/pd) | Farest position of magnet below coil |
| Control | |||
| SI.Frequency | fSw | 2500 | Switching frequency |
| SI.Time | Tds | 0.5/fSw | Dead time at sample |
| SI.Time | Tdh | 1.0/fSw | Dead time at hold |
| SI.Time | Td | Tds + Tdh | Dead time |
| Control › Current controller | |||
| SI.Resistance | kpI | L/(2*Td) | Proportional gain |
| SI.Time | TiI | L/R | Integral time constant |
| SI.Time | Tsub | 2*Td | Substitute time constant |
| Control › Speed controller | |||
| Real | a | 2 | Parameter of symmetrical optimum |
| Real | kpv | m/(a*Tsub) | Proportional gain |
| SI.Time | Tiv | a^2*Tsub | Integral time constant |
| Control › Position controller | |||
| Real | kpP | 1/(16*Tsub) | Upper limit of proportional gain |
| Real | ktuneP | 0.50 | Tuning factor for proportional gain |