Uses positive sign for motor and load torques. Added Modelica model f…

…or complete drive.
modelica · Feb 21, 2024 · 2761bde · 2761bde
1 parent c8d39b8
commit 2761bde
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Showing 9 changed files with 141 additions and 10 deletions.
diff --git a/examples/DC-Motor2023.ssp b/examples/DC-Motor2023.ssp
diff --git a/examples/DC-Motor2023/models/sse_edrive/emachine.mo b/examples/DC-Motor2023/models/sse_edrive/emachine.mo
@@ -52,15 +52,17 @@ model emachine "DC-Motor for a mild hybrid application"
         extent={{-20,-20},{20,20}},
         rotation=0,
         origin={-120,60})));
+  Modelica.Blocks.Math.Gain M_gain(k=-1) annotation (Placement(transformation(
+        extent={{-7,-7},{7,7}},
+        rotation=90,
+        origin={75,33})));
 equation
   connect(currentSensor.i, I)
     annotation (Line(points={{-71,0},{-88,0},{-88,-60},{-110,-60}}, color={0,0,127}));
   connect(angleToTorqueAdaptor.flange, emf.flange)
     annotation (Line(points={{58,0},{50,0}}, color={0,0,0}));
   connect(angleToTorqueAdaptor.w, w)
     annotation (Line(points={{63,-5},{83,-5},{83,-20},{120,-20}}, color={0,0,127}));
-  connect(angleToTorqueAdaptor.tau, M)
-    annotation (Line(points={{63,8},{76,8},{76,60},{110,60}}, color={0,0,127}));
   connect(phi, angleToTorqueAdaptor.phi)
     annotation (Line(points={{120,-60},{76,-60},{76,-8},{63,-8}}, color={0,0,127}));
   connect(resistor.n, inductor.p) annotation (Line(points={{0,60},{40,60},{40,50}}, color={0,0,255}));
@@ -74,8 +76,18 @@ equation
     annotation (Line(points={{-60,50},{-60,60},{-20,60}}, color={0,0,255}));
   connect(signalVoltage.n, currentSensor.n)
     annotation (Line(points={{-60,30},{-60,10}}, color={0,0,255}));
+  connect(angleToTorqueAdaptor.tau, M_gain.u)
+    annotation (Line(points={{63,8},{75,8},{75,24.6}},
+                                                     color={0,0,127}));
+  connect(M_gain.y, M) annotation (Line(points={{75,40.7},{75,60},{110,60}},
+                                                                           color={0,0,127}));
   annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(
-          preserveAspectRatio=false)),
+          preserveAspectRatio=false), graphics={Text(
+          extent={{56,74},{96,64}},
+          textColor={0,0,0},
+          textString="Note: interface is defined to use a
+positive sign of the torque.",
+          horizontalAlignment=TextAlignment.Left)}),
     __Dymola_UserMetaData(MetaData(category="DC-Motor-el Meta-Data (DC-Motor-el.srmd)", value={{
             "Type: de.setlevel.srmd.model-meta-data=",""},{"model.type","physical principle"},{
             "physical-principle.family","ex: Electrical"},{"physical-principle.name","ex: motor"},{

diff --git a/examples/DC-Motor2023/models/sse_edrive/emech.mo b/examples/DC-Motor2023/models/sse_edrive/emech.mo
@@ -0,0 +1,96 @@
+within sse_edrive;
+model emech "Native Modelica model of emachine and load"
+  Modelica.Electrical.Analog.Basic.Ground ground
+    annotation (Placement(transformation(extent={{-60,-60},{-40,-40}})));
+  Modelica.Electrical.Analog.Basic.Resistor resistor(
+    R=1,
+    T_ref=300.15,
+    alpha=0,
+    T=300.15) annotation (Placement(transformation(
+        extent={{10,-10},{-10,10}},
+        rotation=180,
+        origin={-50,60})));
+  Modelica.Electrical.Analog.Basic.Inductor inductor(L=0.001, i(start=0)) annotation (Placement(
+        transformation(
+        extent={{10,-10},{-10,10}},
+        rotation=90,
+        origin={-20,40})));
+  Modelica.Electrical.Analog.Basic.RotationalEMF emf(k=0.01) annotation (Placement(transformation(
+        extent={{10,10},{-10,-10}},
+        rotation=180,
+        origin={-20,0})));
+  Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor annotation (Placement(transformation(
+        extent={{10,-10},{-10,10}},
+        rotation=270,
+        origin={-70,-10})));
+  Modelica.Electrical.Analog.Sources.SignalVoltage signalVoltage annotation (Placement(transformation(
+        extent={{10,-10},{-10,10}},
+        rotation=90,
+        origin={-70,30})));
+  Modelica.Blocks.Interfaces.RealOutput I(unit="A") annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=180,
+        origin={-110,-60})));
+  Modelica.Blocks.Interfaces.RealInput U(unit="V") annotation (Placement(transformation(
+        extent={{-20,-20},{20,20}},
+        rotation=0,
+        origin={-120,60})));
+  Modelica.Mechanics.Rotational.Components.TorqueToAngleAdaptor torqueToAngleAdaptor1(use_a=false)
+    annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=0,
+        origin={50,0})));
+  Modelica.Mechanics.Rotational.Components.Inertia inertia(
+    J=0.002,
+    phi(start=0),
+    w(start=0),
+    a(start=0)) annotation (Placement(transformation(extent={{10,-10},{30,10}})));
+  Modelica.Mechanics.Rotational.Components.Damper damper(d=0.001)
+    annotation (Placement(transformation(extent={{10,-50},{30,-30}})));
+  Modelica.Mechanics.Rotational.Components.Fixed fixed
+    annotation (Placement(transformation(extent={{40,-50},{60,-30}})));
+  Modelica.Blocks.Interfaces.RealInput M_B(unit="N.m") annotation (Placement(transformation(
+        extent={{-20,-20},{20,20}},
+        rotation=180,
+        origin={120,-60})));
+  Modelica.Blocks.Interfaces.RealOutput wB(unit="rad/s") annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=0,
+        origin={110,20})));
+  Modelica.Blocks.Interfaces.RealOutput phiB(unit="rad") annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=0,
+        origin={110,60})));
+equation
+  connect(currentSensor.i,I)
+    annotation (Line(points={{-81,-10},{-88,-10},{-88,-60},{-110,-60}},
+                                                                    color={0,0,127}));
+  connect(resistor.n,inductor. p) annotation (Line(points={{-40,60},{-20,60},{-20,50}},
+                                                                                    color={0,0,255}));
+  connect(emf.p,inductor. n) annotation (Line(points={{-20,10},{-20,30}},
+                                                                        color={0,0,255}));
+  connect(emf.n,ground. p) annotation (Line(points={{-20,-10},{-20,-40},{-50,-40}},
+                                                                                  color={0,0,255}));
+  connect(ground.p,currentSensor. p)
+    annotation (Line(points={{-50,-40},{-70,-40},{-70,-20}},color={0,0,255}));
+  connect(signalVoltage.v,U)
+    annotation (Line(points={{-82,30},{-90,30},{-90,60},{-120,60}}, color={0,0,127}));
+  connect(signalVoltage.p,resistor. p)
+    annotation (Line(points={{-70,40},{-70,60},{-60,60}}, color={0,0,255}));
+  connect(signalVoltage.n,currentSensor. n)
+    annotation (Line(points={{-70,20},{-70,0}},  color={0,0,255}));
+  connect(inertia.flange_b,torqueToAngleAdaptor1. flange)
+    annotation (Line(points={{30,0},{48,0}}, color={0,0,0}));
+  connect(torqueToAngleAdaptor1.phi,phiB)
+    annotation (Line(points={{53,8},{70,8},{70,60},{110,60}}, color={0,0,127}));
+  connect(torqueToAngleAdaptor1.w,wB)
+    annotation (Line(points={{53,5},{80,5},{80,20},{110,20}}, color={0,0,127}));
+  connect(torqueToAngleAdaptor1.tau,M_B)
+    annotation (Line(points={{53,-8},{80,-8},{80,-60},{120,-60}}, color={0,0,127}));
+  connect(fixed.flange,damper. flange_b) annotation (Line(points={{50,-40},{30,-40}}, color={0,0,0}));
+  connect(inertia.flange_a,damper. flange_a)
+    annotation (Line(points={{10,0},{0,0},{0,-40},{10,-40}},       color={0,0,0}));
+  connect(emf.flange, inertia.flange_a) annotation (Line(points={{-10,0},{10,0}}, color={0,0,0}));
+  annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(
+          preserveAspectRatio=false)));
+end emech;
diff --git a/examples/DC-Motor2023/models/sse_edrive/mass.mo b/examples/DC-Motor2023/models/sse_edrive/mass.mo
@@ -37,13 +37,20 @@ model mass "Rotational mass (load)"
         extent={{-10,-10},{10,10}},
         rotation=0,
         origin={110,60})));
+  Modelica.Blocks.Math.Gain M_gain(k=-1) annotation (Placement(transformation(
+        extent={{-5,-5},{5,5}},
+        rotation=-90,
+        origin={-80,25})));
+  Modelica.Blocks.Math.Gain M_gain1(k=-1)
+                                         annotation (Placement(transformation(
+        extent={{5,-5},{-5,5}},
+        rotation=-90,
+        origin={80,-30})));
 equation
   connect(inertia.flange_a, torqueToAngleAdaptor.flange)
     annotation (Line(points={{-10,0},{-48,0}}, color={0,0,0}));
   connect(inertia.flange_b, torqueToAngleAdaptor1.flange)
     annotation (Line(points={{10,0},{48,0}}, color={0,0,0}));
-  connect(torqueToAngleAdaptor.tau, M_A)
-    annotation (Line(points={{-53,8},{-80,8},{-80,60},{-120,60}}, color={0,0,127}));
   connect(torqueToAngleAdaptor.w, wA)
     annotation (Line(points={{-53,-5},{-80.5,-5},{-80.5,-20},{-110,-20}}, color={0,0,127}));
   connect(torqueToAngleAdaptor.phi, phiA)
@@ -52,8 +59,23 @@ equation
     annotation (Line(points={{53,8},{70,8},{70,60},{110,60}}, color={0,0,127}));
   connect(torqueToAngleAdaptor1.w, wB)
     annotation (Line(points={{53,5},{80,5},{80,20},{110,20}}, color={0,0,127}));
-  connect(torqueToAngleAdaptor1.tau, M_B)
-    annotation (Line(points={{53,-8},{80,-8},{80,-60},{120,-60}}, color={0,0,127}));
+  connect(torqueToAngleAdaptor.tau, M_gain.y)
+    annotation (Line(points={{-53,8},{-80,8},{-80,19.5}},
+                                                        color={0,0,127}));
+  connect(M_gain.u, M_A) annotation (Line(points={{-80,31},{-80,60},{-120,60}}, color={0,0,127}));
+  connect(M_B, M_gain1.u) annotation (Line(points={{120,-60},{80,-60},{80,-36}}, color={0,0,127}));
+  connect(M_gain1.y, torqueToAngleAdaptor1.tau)
+    annotation (Line(points={{80,-24.5},{80,-8},{53,-8}}, color={0,0,127}));
   annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(
-          preserveAspectRatio=false)));
+          preserveAspectRatio=false), graphics={Text(
+          extent={{-94,72},{-54,62}},
+          textColor={0,0,0},
+          textString="Note: interface is defined to use a
+positive sign of the torque.",
+          horizontalAlignment=TextAlignment.Left), Text(
+          extent={{58,-62},{98,-72}},
+          textColor={0,0,0},
+          textString="Note: interface is defined to use a
+positive sign of the torque.",
+          horizontalAlignment=TextAlignment.Left)}));
 end mass;
diff --git a/examples/DC-Motor2023/models/sse_edrive/package.order b/examples/DC-Motor2023/models/sse_edrive/package.order
@@ -2,6 +2,7 @@ emachine
 mass
 mass_damper
 spring_mass
+emech
 stimuli
 test_spring_mass
 test
diff --git a/examples/DC-Motor2023/models/sse_edrive/test.mo b/examples/DC-Motor2023/models/sse_edrive/test.mo
@@ -3,7 +3,7 @@ model test "Test model for DC-Motor e-machine with load"
   emachine my_emachine(emf(k=0.03), resistor(R=0.1))
                        annotation (Placement(transformation(extent={{-30,-20},{10,20}})));
   mass_damper my_mass annotation (Placement(transformation(extent={{40,-20},{80,20}})));
-  sse_edrive.stimuli stimuli(MLoad(k=1.0), Voltage_step(height=48.0))
+  sse_edrive.stimuli stimuli(MLoad(k=-1.0),Voltage_step(height=48.0))
     annotation (Placement(transformation(rotation=0, extent={{-100,-20},{-60,20}})));
 equation
   connect(my_emachine.M, my_mass.M_A) annotation (Line(points={{12,12},{36,12}}, color={0,0,127}));
@@ -74,5 +74,5 @@ equation
         timeUnit="s",
         displayUnits={"N.m"})} "Plot KPI", file(description="Export FMUs for SSP") =
         "Export FMUs.mos" "Export FMUs"),
-    experiment(StopTime=1, __Dymola_Algorithm="Dassl"));
+    experiment(StopTime=1.5, __Dymola_Algorithm="Dassl"));
 end test;
diff --git a/examples/DC-Motor2023/resources/edrive_mass.fmu b/examples/DC-Motor2023/resources/edrive_mass.fmu
diff --git a/examples/DC-Motor2023/resources/emachine_model.fmu b/examples/DC-Motor2023/resources/emachine_model.fmu
diff --git a/examples/DC-Motor2023/resources/stimuli_model.fmu b/examples/DC-Motor2023/resources/stimuli_model.fmu