Motors#

class SimpleDcMotor(**kwds)#

Creates a simple DC motor.

SimpleDcMotor is an aggregate of the following electomechanical components:

Stator
Rotor
SimpleDCCircuit

The electric circuit of the armature and the free body diagram of the rotor are shown in the following picture:

SimpleDcMotor. — SimpleDcMotor components.#

For more information, see Comment 1.

Example

Create a simple DC motor.#

from msolve import *
from msolve.machinery.motor import SimpleDcMotor

model = Model()

ground = Part(ground=True)
global_ref = Marker(body=ground)

units = Units()
gravity = Accgrav(kgrav=-9.80665)

ref_marker = Marker(body=ground, qp=[0.01, 0, 0], reuler=[Math.radians(90), Math.radians(-90), 0])

motor = SimpleDcMotor(rm=ref_marker,
                      stator_base=ground,
                      stator_length=0.05,
                      stator_radius=0.03,
                      stator_mass=0.05,
                      stator_ip=[1e4, 1e4, 1e4, 0, 0, 0],
                      rotor_length=0.04,
                      rotor_radius=0.025,
                      rotor_mass=0.05,
                      rotor_ip=[5.15e-7, 5.15e-7, 5.15e-7, 0, 0, 0],
                      voltage=6.0,
                      resistance=1.90,
                      inductance=1.01e-3,
                      torque_constant=0.007,
                      viscous_friction=4.83e-7,
                      coulomb_friction=0.0009,
                      steady_state=False
                      )

Name	Type	Symbol	Required	Default	Modifiable
`active`	Bool			True	\(\checkmark\)
`coulomb_friction`	Double			0.0
`id`	Int			Auto
`inductance`	Double	\(L\)		0.0
`label`	Str
`name`	Str
`qg`	Location
`resistance`	Double	\(R\)		0.0
`reuler`	Angles
`rm`	Reference - `Marker`		\(\checkmark\)
`rotor_base`	Reference - `Body`
`rotor_flex_node`	Int			0
`rotor_ip`	Ips			[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
`rotor_length`	Double			0.0
`rotor_mass`	Double			0.0
`rotor_radius`	Double			0.0
`stator_base`	Reference - `Body`
`stator_flex_node`	Int			0
`stator_ip`	Ips			[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
`stator_length`	Double			0.0
`stator_mass`	Double			0.0
`stator_radius`	Double			0.0
`steady_state`	Bool			False
`torque_constant`	Double	\(K_{T}\)		0.0
`viscous_friction`	Double			0.0
`voltage`	Function	\(V\)			\(\checkmark\)
`voltage_ic`	Double			0.0

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

coulomb_friction#

The motor coulomb friction torque.

Type=Double, Default=0.0

id#

The id of the object.

Type=Int

inductance#

The motor inductance.

Type=Double, Default=0.0

label#

The label of the composite element.

Type=Str

name#

Defines a nametag for the object.

Type=Str

qg#

The position of the composite element.

Type=Location

resistance#

The motor resistance.

Type=Double, Default=0.0

reuler#

The orientation of the composite element.

Type=Angles

rm#

The reference marker of the composite element.

Type=Reference (Marker), Required

rotor_base#: Type=Reference (Body)

rotor_flex_node#

Interface node id on rotor attaching body, in case it is flexible.

Type=Int, Default=0

rotor_ip#

Inertial property of rotor.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

rotor_length#

Length of rotor.

Type=Double, Default=0.0

rotor_mass#

Mass of rotor.

Type=Double, Default=0.0

rotor_radius#

Radius of rotor.

Type=Double, Default=0.0

stator_base#: Type=Reference (Body)

stator_flex_node#

Interface node id on stator attaching body, in case it is flexible.

Type=Int, Default=0

stator_ip#

Inertial property of stator.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

stator_length#

Length of the stator.

Type=Double, Default=0.0

stator_mass#

Mass of the stator.

Type=Double, Default=0.0

stator_radius#

Radius of the stator.

Type=Double, Default=0.0

steady_state#

True if steady state, neglecting the inductance term.

Type=Bool, Default=False

torque_constant#

The motor torque constant.

Type=Double, Default=0.0

viscous_friction#

The motor viscous friction.

Type=Double, Default=0.0

voltage#

The variable voltage applied to the motor.

Type=Function, Modifiable

voltage_ic#: Type=Double, Default=0.0

class BLDCMotor(**kwds)#

Creates a Brushless DC motor.: The brushless DC motor accomplishes commutation electronically using switches and rotor position feedback to determine when to switch the current.

The stator windings work in conjunction with permanent magnets on the rotor to generate a nearly uniform flux density in the air gap. This permits the stator coils to be driven by a DC voltage, which switches from one stator coil to the next to generate an AC voltage waveform with a trapezoidal shape (in the case of constant input).

Example

Create a brushless DC motor.#

from msolve import *
from msolve.machinery.motor import BLDCMotor

model = Model()

ground = Part(ground=True)
global_ref = Marker(body=ground)

units = Units()
gravity = Accgrav(kgrav=-9.80665)

ref_marker = Marker(body=ground, qp=[0.01, 0, 0], reuler=[Math.radians(90), Math.radians(-90), 0])

motor = BLDCMotor(rm=ref_marker,
                  stator_base=ground,
                  stator_length=0.05,
                  stator_radius=0.03,
                  stator_mass=0.05,
                  stator_ip=[1e4, 1e4, 1e4],
                  rotor_length=0.04,
                  rotor_radius=0.025,
                  rotor_mass=0.05,
                  rotor_ip=[9.89e-7, 9.89e-7, 9.89e-7],
                  voltage='STEP(TIME,0,0,1,12)',
                  resistance=0.5 * 1.98,
                  inductance=0.5 * 0.18e-3,
                  torque_constant=0.016,
                  viscous_friction=1.07e-6,
                  coulomb_friction=0.001,
                  num_poles=4,
                  steady_state=False
                  )

Name	Type	Symbol	Required	Default	Modifiable
`active`	Bool			True	\(\checkmark\)
`coulomb_friction`	Double			0.0
`id`	Int			Auto
`inductance`	Double	\(L\)		0.0
`label`	Str
`name`	Str
`num_poles`	Double			0.0
`qg`	Location
`resistance`	Double	\(R\)		0.0
`reuler`	Angles
`rm`	Reference - `Marker`		\(\checkmark\)
`rotor_base`	Reference - `Body`
`rotor_flex_node`	Int			0
`rotor_ip`	Ips			[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
`rotor_length`	Double			0.0
`rotor_mass`	Double			0.0
`rotor_radius`	Double			0.0
`stator_base`	Reference - `Body`
`stator_flex_node`	Int			0
`stator_ip`	Ips			[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
`stator_length`	Double			0.0
`stator_mass`	Double			0.0
`stator_radius`	Double			0.0
`steady_state`	Bool			False
`torque_constant`	Double	\(K_{T}\)		0.0
`viscous_friction`	Double			0.0
`voltage`	Function	\(V\)			\(\checkmark\)
`voltage_ic`	Double			6.0

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

coulomb_friction#

The motor coulomb friction torque.

Type=Double, Default=0.0

id#

The id of the object.

Type=Int

inductance#

The motor inductance.

Type=Double, Default=0.0

label#

The label of the composite element.

Type=Str

name#

Defines a nametag for the object.

Type=Str

num_poles#

The motor number of poles.

Type=Double, Default=0.0

qg#

The position of the composite element.

Type=Location

resistance#

The motor resistance.

Type=Double, Default=0.0

reuler#

The orientation of the composite element.

Type=Angles

rm#

The reference marker of the composite element.

Type=Reference (Marker), Required

rotor_base#: Type=Reference (Body)

rotor_flex_node#

Interface node id on rotor attaching body, in case it is flexible.

Type=Int, Default=0

rotor_ip#

Inertial property of rotor.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

rotor_length#

Length of rotor.

Type=Double, Default=0.0

rotor_mass#

Mass of rotor.

Type=Double, Default=0.0

rotor_radius#

Radius of rotor.

Type=Double, Default=0.0

stator_base#: Type=Reference (Body)

stator_flex_node#

Interface node id on stator attaching body, in case it is flexible.

Type=Int, Default=0

stator_ip#

Inertial property of stator.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

stator_length#

Length of the stator.

Type=Double, Default=0.0

stator_mass#

Mass of the stator.

Type=Double, Default=0.0

stator_radius#

Radius of the stator.

Type=Double, Default=0.0

steady_state#

True if steady state, neglecting the inductance term.

Type=Bool, Default=False

torque_constant#

The motor torque constant.

Type=Double, Default=0.0

viscous_friction#

The motor viscous friction.

Type=Double, Default=0.0

voltage#

The variable voltage applied to the motor.

Type=Function, Modifiable

voltage_ic#

Voltage initial condition.

Type=Double, Default=6.0

class CurveMotor(**kwds)#

Creates a curve-based motor.: The motor’s operation is defined based on its characteristic torque-speed curve.

Is an aggregate of a stator, a rotor and an Sforce.

Example

Create a motor defined by a curve.#

from msolve import *
from msolve.machinery.motor import CurveMotor

model = Model()

ground = Part(ground=True)
global_ref = Marker(body=ground)

units = Units()
gravity = Accgrav(kgrav=-9.80665)

ref_marker = Marker(body=ground, qp=[0.01, 0, 0], reuler=[Math.radians(90), Math.radians(-90), 0])

motor = CurveMotor(rm=ref_marker,
                   stator_base=ground,
                   stator_length=0.050,
                   stator_radius=0.030,
                   stator_mass=0.050,
                   stator_ip=[1e4, 1e4, 1e4],
                   rotor_length=0.040,
                   rotor_radius=0.025,
                   rotor_mass=0.050,
                   rotor_ip=[5e-7, 5e-7, 5e-7],
                   speed=[0, 1750, 3500, 5250, 7000],
                   torque=[0.090, 0.030, 0.010, 0.003, 0.000],
                   type='CUBIC'
                   )

Name	Type	Required	Default	Modifiable
`active`	Bool		True	\(\checkmark\)
`id`	Int		Auto
`label`	Str
`name`	Str
`qg`	Location
`reuler`	Angles
`rm`	Reference - `Marker`	\(\checkmark\)
`rotor_base`	Reference - `Body`
`rotor_flex_node`	Int		0
`rotor_ip`	Ips		[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
`rotor_length`	Double		0.0
`rotor_mass`	Double		0.0
`rotor_radius`	Double		0.0
`speed`	Double [0]	\(\checkmark\)	0.0
`stator_base`	Reference - `Body`
`stator_flex_node`	Int		0
`stator_ip`	Ips		[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
`stator_length`	Double		0.0
`stator_mass`	Double		0.0
`stator_radius`	Double		0.0
`torque`	Double [0]	\(\checkmark\)	0.0
`type`	Enum		AKIMA

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

id#

The id of the object.

Type=Int

label#

The label of the composite element.

Type=Str

name#

Defines a nametag for the object.

Type=Str

qg#

The position of the composite element.

Type=Location

reuler#

The orientation of the composite element.

Type=Angles

rm#

The reference marker of the composite element.

Type=Reference (Marker), Required

rotor_base#: Type=Reference (Body)

rotor_flex_node#

Interface node id on rotor attaching body, in case it is flexible.

Type=Int, Default=0

rotor_ip#

Inertial property of rotor.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

rotor_length#

Length of rotor.

Type=Double, Default=0.0

rotor_mass#

Mass of rotor.

Type=Double, Default=0.0

rotor_radius#

Radius of rotor.

Type=Double, Default=0.0

speed#

Rotational speed data characterizing the motor.

Type=Double [0], Required, Default=0.0

stator_base#: Type=Reference (Body)

stator_flex_node#

Interface node id on stator attaching body, in case it is flexible.

Type=Int, Default=0

stator_ip#

Inertial property of stator.

Type=Ips, Default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

stator_length#

Length of the stator.

Type=Double, Default=0.0

stator_mass#

Mass of the stator.

Type=Double, Default=0.0

stator_radius#

Radius of the stator.

Type=Double, Default=0.0

torque#

Torque data characterizing the motor.

Type=Double [0], Required, Default=0.0

type#

Interpolation scheme for speed-torque data.

Type=Enum, Default=AKIMA

Permitted values are:

AKIMA
CUBIC
LINEAR