classDCMotor
DC Motor
Extends from Servomechanisms.Utilities.MotorIcon (This icon will be removed in future Modelica versions.), Servomechanisms.Utilities.IconName.
Information
General
This is the model of a permanent magnet DC motor, one of the most common electromechanical actuator with caractheristics as low inductance and low friction. It includes dead zone.
Implementation
DCMotor is based upon the mathematical model of a permanent magnet dc motor. It is similar to the IdealDCMotor class but this model is nonlinear. A dead zone is added by using the static friction of BearingFriction component.Using elements from MSL the model was developed to represent the mathematical equations:
Notes
- The behavior of the voltage source is given by a real input (for example a real source block could be connected as an input, see Modelica.Blocks.Sources ).
- This model is linear
- All the parameters and variables are in SI units
- Has angle and speed sensors as real outputs .
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Resistance | R | 0.128 | Armature Resistance |
| SI.Inductance | L | 0.000062 | Armature Inductance |
| SI.ElectricalTorqueConstant | kt | 0.0305 | Torque Constant |
| SI.Inertia | J | 0.000121 | Rotor Inertia |
| SI.RotationalDampingConstant | b | 0 | Damping Factor |
| SI.Torque | t_m | 0.001 | Max. Friction torque |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.Rotational.Interfaces.Flange_b | flange_b | ||
| Modelica.Electrical.Analog.Interfaces.NegativePin | pin_n | ||
| Modelica.Electrical.Analog.Interfaces.PositivePin | pin_p | ||
| Modelica.Blocks.Interfaces.RealOutput | angle | ||
| Modelica.Blocks.Interfaces.RealOutput | speed |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Electrical.Analog.Basic.Resistor | resistor | ||
| Modelica.Electrical.Analog.Basic.Inductor | inductor | ||
| Modelica.Electrical.Analog.Basic.RotationalEMF | emf | ||
| Modelica.Mechanics.Rotational.Components.Inertia | inertia | ||
| Modelica.Mechanics.Rotational.Components.Damper | damper | ||
| Modelica.Mechanics.Rotational.Components.Fixed | fixed | ||
| Modelica.Mechanics.Rotational.Components.BearingFriction | bearingfriction | ||
| Modelica.Mechanics.Rotational.Sensors.AngleSensor | anglesensor | ||
| Modelica.Mechanics.Rotational.Sensors.SpeedSensor | speedsensor |