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WOLFRAM SYSTEM MODELER

PositionControlledDCPM

Position controlled DC PM drive with H-bridge from battery

Diagram

Wolfram Language

In[1]:=

SystemModel["Modelica.Electrical.Machines.Examples.ControlledDCDrives.PositionControlledDCPM"]

Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This model demonstrates how a position controller for a speed controlled DC PM drive works.

The inner current controller is parameterized according to the absolute optimum. The middle control loop is formed by the speed controller which is parameterized according to the symmetrical optimum. The outer control loop is formed by the position controller which is parameterized to avoid an overshot in the position.

At time=0.2 s the kinematicPTP starts to prescribe the reference position with limited speed and limited acceleration. At time=2.3 s a load torque step is applied, causing the drive to slightly leave the end position until the position controller brings the drive back to the desired position.

Further reading: Tutorial at the Modelica Conference 2017

Parameters (1)

driveData	Value: Type: DriveDataDCPM Description: DC machine data

driveData

Value:

Type: DriveDataDCPM

Description: DC machine data

Components (13)

	driveData	Type: DriveDataDCPM Description: DC machine data
	loadInertia	Type: Inertia Description: 1D-rotational component with inertia
	speedSensor	Type: SpeedSensor Description: Ideal sensor to measure the absolute flange angular velocity
	dcpm	Type: DC_PermanentMagnet Description: Permanent magnet DC machine
	armatureInverter	Type: DcdcInverter Description: DC-DC inverter
	source	Type: Battery Description: Simple battery model
	currentController	Type: LimitedPI Description: Limited PI-controller with anti-windup and feed-forward
	tau2i	Type: Gain Description: Output the product of a gain value with the input signal
	loadTorque	Type: TorqueStep Description: Constant torque, not dependent on speed
	speedController	Type: LimitedPI Description: Limited PI-controller with anti-windup and feed-forward
	positionController	Type: LimitedPI Description: Limited PI-controller with anti-windup and feed-forward
	angleSensor	Type: AngleSensor Description: Ideal sensor to measure the absolute flange angle
	kinematicPTP	Type: KinematicPTP2 Description: Move as fast as possible from start to end position within given kinematic constraints with output signals q, qd=der(q), qdd=der(qd)