Package Modelica.Electrical.Machines.Examples.DCMachines
Test examples of DC machines

Information

This package contains test examples of DC machines.

Extends from Modelica.Icons.ExamplesPackage (Icon for packages containing runnable examples).

Package Contents

Name	Description
`DC_CompareCharacteristics`	Test example: Compare torque-speed characteristic of DC motors
`DCEE_Start`	Test example: DC with electrical excitation starting with voltage ramp
`DCPM_Cooling`	Test example: Cooling of a DCPM motor
`DCPM_CurrentControlled`	Test example: DC with permanent magnet starting with current controller
`DCPM_QuasiStatic`	Test example: Compare DCPM motors transient - quasi-static
`DCPM_Start`	Test example: DC with permanent magnet starting with voltage ramp
`DCPM_Temperature`	Test example: Investigate temperature dependency of a DCPM motor
`DCPM_withLosses`	Test example: Investigate influence of losses on DCPM motor performance
`DCSE_SinglePhase`	Test example: DC with serial excitation starting with voltage ramp
`DCSE_Start`	Test example: DC with serial excitation starting with voltage ramp

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Start
Test example: DC with permanent magnet starting with voltage ramp

Information

Test example: Permanent magnet DC machine started with an armature voltage ramp
A voltage ramp is applied to the armature, causing the DC machine to start, and accelerating inertias.
At time tStep a load step is applied.
Simulate for 2 seconds and plot (versus time):

dcpm.ia: armature current
dcpm.wMechanical: motor's speed
dcpm.tauElectrical: motor's torque

Default machine parameters of model DC_PermanentMagnet are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Time`	`tStart`	`0.2`	Start of armature voltage ramp
`Time`	`tRamp`	`0.8`	Armature voltage ramp
`Torque`	`TLoad`	`63.66`	Nominal load torque
`Time`	`tStep`	`1.5`	Time of load torque step
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcPermanentMagnetData`	`dcpmData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_CurrentControlled
Test example: DC with permanent magnet starting with current controller

Information

Test example: Permanent magnet DC machine started with current controller
The current controller is parameterized according to absolute optimum. At time 0.1 s a reference current step with height = nominal armature current is applied, causing the DC machine to start, and accelerating inertias.
The machine is loaded by a quadratic speed dependent load torque.
Simulate for 2 seconds and plot (versus time):

dcpm.ia: armature current
dcpm.wMechanical: motor's speed
dcpm.tauElectrical: motor's torque

Default machine parameters of model DC_PermanentMagnet are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Torque`	`TLoad`	`ViNominal * dcpmData.IaNominal / dcpmData.wNominal`	Nominal load torque
`AngularVelocity`	`wLoad`	`dcpmData.wNominal`	Nominal load torque
`Inertia`	`JLoad`	`dcpmData.Jr`	Load's moment of inertia
`Resistance`	`Ra`	`Modelica.Electrical.Machines.Thermal.convertResistance(dcpmData.Ra, dcpmData.TaRef, dcpmData.alpha20a, dcpmData.TaNominal)`	Warm armature resistance
`Voltage`	`ViNominal`	`dcpmData.VaNominal - Ra * dcpmData.IaNominal`	Nominal induced voltage
`Time`	`Ta`	`dcpmData.La / Ra`	Armature time constant
`Time`	`Ts`	`0.001`	Dead time of inverter
`Resistance`	`k`	`Ra * Ta / (2 * Ts)`	Current controller proportional gain
`Time`	`Ti`	`Ta`	Current controller integral time constant
`MagneticFlux`	`kPhi`	`ViNominal / dcpmData.wNominal`	Voltage constant
`DcPermanentMagnetData`	`dcpmData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCEE_Start
Test example: DC with electrical excitation starting with voltage ramp

Information

Test example: Electrically separate excited DC machine started with an armature voltage ramp
A voltage ramp is applied to the armature, causing the DC machine to start, and accelerating inertias.
At time tStep a load step is applied.
Simulate for 2 seconds and plot (versus time):

dcee.ia: armature current
dcee.wMechanical: motor's speed
dcee.tauElectrical: motor's torque
dcee.ie: excitation current

Default machine parameters of model DC_ElectricalExcited are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Time`	`tStart`	`0.2`	Start of armature voltage ramp
`Time`	`tRamp`	`0.8`	Armature voltage ramp
`Voltage`	`Ve`	`100`	Actual excitation voltage
`Torque`	`TLoad`	`63.66`	Nominal load torque
`Time`	`tStep`	`1.5`	Time of load torque step
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcElectricalExcitedData`	`dceeData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCSE_Start
Test example: DC with serial excitation starting with voltage ramp

Information

Test example: Series excited DC machine started with a series resistor
At constant source voltage, a series resistor limiting the armature current, is reduced according to a ramp, causing the DC machine to start, and accelerating inertias against load torque quadratic dependent on speed, finally reaching nominal speed.
Simulate for 2 seconds and plot (versus time):

dcse.ia: armature current
dcse.wMechanical: motor's speed
dcse.tauElectrical: motor's torque

Default machine parameters of model DC_SeriesExcited are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Time`	`tStart`	`0.1`	Start of resistance ramp
`Time`	`tRamp`	`0.9`	Resistance ramp
`Torque`	`TLoad`	`63.66`	Nominal load torque
`AngularVelocity`	`wLoad`	`0.016666666666667 * (2820 * Modelica.Constants.pi)`	Nominal load speed
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcSeriesExcitedData`	`dcseData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCSE_SinglePhase
Test example: DC with serial excitation starting with voltage ramp

Information

Test example: Series excited DC machine at single-phase AC voltage started with a series resistor
At sinusoidal source voltage, a series resistor limiting the armature current, is reduced according to a ramp, causing the DC machine to start, and accelerating inertias against load torque quadratic dependent on speed, finally reaching nominal speed.
Simulate for 2 seconds and plot (versus time):

dcse.ia: armature current
dcse.wMechanical: motor's speed
dcse.tauElectrical: motor's torque

Default machine parameters of model DC_SeriesExcited are used.
Note:
Since both the field and the armature current are sinusoidal, the waveform of the torque is the square of sine. Due to the additional inductive voltage drops, output of the motor is lower, compared to the same motor (DCSE_Start) at DC voltage.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage RMS
`Time`	`tStart`	`0.1`	Start of resistance ramp
`Time`	`tRamp`	`0.9`	Resistance ramp
`Torque`	`TLoad`	`63.66`	Nominal load torque
`AngularVelocity`	`wLoad`	`0.016666666666667 * (2820 * Modelica.Constants.pi)`	Nominal load speed
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcSeriesExcitedData`	`dcseData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Temperature
Test example: Investigate temperature dependency of a DCPM motor

Information

Test example: Investigate influence of armature temperature on a DCPM motor
The motor starts at no-load speed, then a load step is applied.
Beginning with the load step, the armature temperature rises exponentially from 20 degC to 80 degC.
Simulate for 3 seconds and plot (versus time):

dcpm.ia: armature current
dcpm.wMechanical: motor's speed
dcpm.tauElectrical: motor's torque
thermalAmbientDCPM.Q_flow_a: motor's armature losses

Default machine parameters are used, but:

The armature winding material is set to Copper.
Armature reference temperature is set to 80 degC.
Nominal armature temperature is set to 80 degC.

So the machine is at the beginning in cold condition, ending in warm condition (with the same armature resistance as the unmodified machine).

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Voltage`	`Ve`	`100`	Actual excitation voltage
`AngularVelocity`	`w0`	`Modelica.Units.Conversions.from_rpm(1500)`	No-load speed
`Torque`	`TLoad`	`63.66`	Nominal load torque
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcPermanentMagnetData`	`dcpmData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Cooling
Test example: Cooling of a DCPM motor

Information

Test example: Demonstrate cooling of a DCPM motor
The motor starts at no-load speed, then load pulses are applied.
The cooling circuit consists of armature's thermal capacitance, a thermal conductance between armature and core, core's thermal capacitance and a thermal conductance between core and coolant. The coolant flow circuit consists of inlet, volume flow, a pipe connected to the core and the outlet.
Please note:

All unused heat ports of the thermal port (i.e., without loss sources in the machine: brush, stray, friction, permanent magnet) have to be connected to a constant temperature source.
The thermal capacitances (i.e., time constants) are unusual small to provide short simulation time!
The coolant is a theoretical coolant with specific mass = 1 kg/m3 and cp = 1 J/kg.K.
The thermal conductances as well as the coolant flow are parametrized such way, that:

the total coolant's temperature rise is 10 K (over coolant inlet)
the core's temperature rise is 27.5 K (over coolant's average temperature between inlet and outlet)
the armature's temperature rise is 55 K (over coolant's average temperature between inlet and outlet)

Simulate for 25 seconds and plot (versus time):

armature.T: armature temperature
core.T: core temperature
cooling.T: coolant temperature at outlet

Therefore the armature temperature would reach nominal armature temperature at constant nominal load.
Default machine parameters are used, but:

The armature winding material is set to Copper.
Armature reference temperature is set to 80 degC.
Nominal armature temperature is set to 80 degC.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Voltage`	`Ve`	`100`	Actual excitation voltage
`AngularVelocity`	`w0`	`Modelica.Units.Conversions.from_rpm(1500)`	No-load speed
`Torque`	`TLoad`	`63.66`	Nominal load torque
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`Temperature`	`TAmbient`	`293.15`	Ambient temperature
`HeatCapacity`	`Ca`	`20`	Armature's heat capacity
`HeatCapacity`	`Cc`	`50`	Core's heat capacity
`final` `Power`	`Losses`	`dcpm.Ra * dcpm.IaNominal ^ 2`	Nominal Losses
`final` `Temperature`	`T0`	`293.15`	Reference temperature 20 degC
`final` `TemperatureDifference`	`dTCoolant`	`10`	Coolant's temperature rise
`final` `TemperatureDifference`	`dTArmature`	`dcpm.TaNominal - T0 - 0.5 * dTCoolant`	Armature's temperature rise over coolant
`ThermalConductance`	`G_armature_core`	`2 * Losses / dTArmature`	Heat conductance armature - core
`ThermalConductance`	`G_core_cooling`	`2 * Losses / dTArmature`	Heat conductance core - cooling
`VolumeFlowRate`	`CoolantFlow`	`50`	Coolant flow
`DcPermanentMagnetData`	`dcpmData`

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_QuasiStatic
Test example: Compare DCPM motors transient - quasi-static

Information

Test example: Compare DCPM motors transient and quasi-static
The motors start at no-load speed, then load pulses are applied.
Simulate for 2 seconds and plot (versus time):

dcpm1.ia: armature current of transient model
dcpm1.wMechanical: motor's speed of transient model
dcpm1.tauElectrical: motor's torque of transient model
dcpm2.ia: armature current of quasi-static model
dcpm2.wMechanical: motor's speed of quasi-static model
dcpm2.tauElectrical: motor's torque of quasi-static model

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Voltage`	`Ve`	`100`	Actual excitation voltage
`AngularVelocity`	`w0`	`Modelica.Units.Conversions.from_rpm(1500)`	No-load speed
`Torque`	`TLoad`	`63.66`	Nominal load torque
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcPermanentMagnetData`	`dcpmData`		DC machine data

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_withLosses
Test example: Investigate influence of losses on DCPM motor performance

Information

Test example: Investigate influence of losses on DCPM motor performance
Both motors are started with a voltage ramp applied to the armature, causing the DC machines to start, and accelerating inertias. Both machines are loading with a quadratic speed dependent load torque.
The first machine dcpm1 uses default machine parameters of model DC_PermanentMagnet, the second machine dcpm2 is parametrized with additional losses:

dcpm1 dcpm2

Armature voltage 100 100 V

Armature current 100 100 A

Inner voltage 95.0 94.5 V

Nominal speed 1425.0 1417.5 rpm

Armature resistance 0.05000 0.03864 Ohm

Temperature coefficient n/a 0.00392 1/K

Reference temperature n/a 20 degC

Operation temperature n/a 95 degC

Brush voltage drop n/a 0.5 V

Electrical input 10,000 10,000 W

Armature copper losses 500 500 W

Core losses n/a 200 W

Stray load losses n/a 50 W

Friction losses n/a 100 W

Brush losses n/a 50 W

Mechanical output 9,500 9,100 W

Nominal torque 63,66 61,30 Nm

Note: The reference values (voltage, current, speed) are already propagated to the loss records, using the nominal operation point.
See:
Anton Haumer, Christian Kral, Hansjörg Kapeller, Thomas Bäuml, Johannes V. Gragger
The AdvancedMachines Library: Loss Models for Electric Machines
Modelica 2009, 7^th International Modelica Conference

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Time`	`tStart`	`0.2`	Start of armature voltage ramp
`Time`	`tRamp`	`0.8`	Armature voltage ramp
`Torque`	`TLoad1`	`63.66`	Nominal load torque
`AngularVelocity`	`wLoad1`	`0.016666666666667 * (2850 * pi)`	Nominal load speed
`Torque`	`TLoad2`	`61.3`	Nominal load torque
`AngularVelocity`	`wLoad2`	`0.016666666666667 * (2835 * pi)`	Nominal load speed
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcPermanentMagnetData`	`dcpmData1`		Data of DC machine 1
`DcPermanentMagnetData`	`dcpmData2`		Data of DC machine 2

Model Modelica.Electrical.Machines.Examples.DCMachines.DC_CompareCharacteristics
Test example: Compare torque-speed characteristic of DC motors

Information

Test example: Compare characteristic of DC motors
The motors are started at nominal speed, then load is ramped down. Simulate for 6 seconds and plot dcxx.wMechanical (motor speed) versus dcxx.tauElectrical (motor torque). Default machine parameters are used.

Note that the characteristics of permanent magnet and electrical excited dc machine (at nominal excitation) is identical, but speed of the series excited dc machine rises when load torque is lowered. Dynamic increase of speed is determined by the sum of inertias. Load torque of the series excited is not lowered to zero, otherwise speed would rise infinitely.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Type	Name	Default	Description
`Voltage`	`Va`	`100`	Actual armature voltage
`Voltage`	`Ve`	`100`	Actual excitation voltage
`Torque`	`TLoad`	`63.66`	Nominal load torque
`Time`	`tStart`	`0.5`	Start of load torque ramp
`Time`	`tRamp`	`5`	Load torque ramp
`Inertia`	`JLoad`	`0.15`	Load's moment of inertia
`DcPermanentMagnetData`	`dcpmData`		Parameters of permanent magnet dc machine
`DcElectricalExcitedData`	`dceeData`		Parameters of electrical excited dc machine
`DcSeriesExcitedData`	`dcseData`		Parameters of series excited dc machine

	dcpm1	dcpm2
Armature voltage	100	100	V
Armature current	100	100	A
Inner voltage	95.0	94.5	V
Nominal speed	1425.0	1417.5	rpm
Armature resistance	0.05000	0.03864	Ohm
Temperature coefficient	n/a	0.00392	1/K
Reference temperature	n/a	20	degC
Operation temperature	n/a	95	degC
Brush voltage drop	n/a	0.5	V
Electrical input	10,000	10,000	W
Armature copper losses	500	500	W
Core losses	n/a	200	W
Stray load losses	n/a	50	W
Friction losses	n/a	100	W
Brush losses	n/a	50	W
Mechanical output	9,500	9,100	W
Nominal torque	63,66	61,30	Nm

Package Modelica.​Electrical.​Machines.​Examples.​DCMachinesTest examples of DC machines

Information

Package Contents

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCPM_StartTest example: DC with permanent magnet starting with voltage ramp

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCPM_CurrentControlledTest example: DC with permanent magnet starting with current controller

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCEE_StartTest example: DC with electrical excitation starting with voltage ramp

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCSE_StartTest example: DC with serial excitation starting with voltage ramp

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCSE_SinglePhaseTest example: DC with serial excitation starting with voltage ramp

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCPM_TemperatureTest example: Investigate temperature dependency of a DCPM motor

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCPM_CoolingTest example: Cooling of a DCPM motor

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCPM_QuasiStaticTest example: Compare DCPM motors transient - quasi-static

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DCPM_withLossesTest example: Investigate influence of losses on DCPM motor performance

Information

Parameters

Model Modelica.​Electrical.​Machines.​Examples.​DCMachines.​DC_CompareCharacteristicsTest example: Compare torque-speed characteristic of DC motors

Information

Parameters

Package Modelica.Electrical.Machines.Examples.DCMachines
Test examples of DC machines

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Start
Test example: DC with permanent magnet starting with voltage ramp

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_CurrentControlled
Test example: DC with permanent magnet starting with current controller

Model Modelica.Electrical.Machines.Examples.DCMachines.DCEE_Start
Test example: DC with electrical excitation starting with voltage ramp

Model Modelica.Electrical.Machines.Examples.DCMachines.DCSE_Start
Test example: DC with serial excitation starting with voltage ramp

Model Modelica.Electrical.Machines.Examples.DCMachines.DCSE_SinglePhase
Test example: DC with serial excitation starting with voltage ramp

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Temperature
Test example: Investigate temperature dependency of a DCPM motor

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Cooling
Test example: Cooling of a DCPM motor

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_QuasiStatic
Test example: Compare DCPM motors transient - quasi-static

Model Modelica.Electrical.Machines.Examples.DCMachines.DCPM_withLosses
Test example: Investigate influence of losses on DCPM motor performance

Model Modelica.Electrical.Machines.Examples.DCMachines.DC_CompareCharacteristics
Test example: Compare torque-speed characteristic of DC motors