Modelica.Electrical.Machines.BasicMachines.DCMachines

Models of DC machines

Information

This package contains models of DC machines:

DC_PermanentMagnet: DC machine with permanent magnet excitation
DC_ElectricalExcited: DC machine with electrical shunt or separate excitation
DC_SeriesExcited: DC machine with series excitation

Extends from Modelica.Icons.Library (Icon for library).

Package Content

Name Description

DC_PermanentMagnet Permanent magnet DC machine

DC_ElectricalExcited Electrical shunt/separate excited linear DC machine

DC_SeriesExcited Series excited linear DC machine

Name	Description
DC_PermanentMagnet	Permanent magnet DC machine
DC_ElectricalExcited	Electrical shunt/separate excited linear DC machine
DC_SeriesExcited	Series excited linear DC machine

Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_PermanentMagnet

Permanent magnet DC machine

Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_PermanentMagnet

Information

Model of a DC Machine with Permanent magnet.
Armature resistance and inductance are modeled directly after the armature pins, then using a AirGapDC model. Permanent magnet excitation is modelled by a constant equivalent excitation current feeding AirGapDC. Only losses in armature resistance are taken into account. No saturation is modelled.
Default values for machine's parameters (a realistic example) are:

stator's moment of inertia	0.29	kg.m2
rotor's moment of inertia	0.15	kg.m2
nominal armature voltage	100	V
nominal armature current	100	A
nominal speed	1425	rpm
nominal torque	63.66	Nm
nominal mechanical output	9.5	kW
efficiency	95.0	%
armature resistance	0.05	Ohm in warm condition
armature inductance	0.0015	H

Armature resistance resp. inductance include resistance resp. inductance of commutating pole winding and compensation windig, if present.

Extends from Machines.Interfaces.PartialBasicDCMachine (Partial model for DC machine).

Parameters

Type Name Default Description

Inertia Jr Jr(start=0.15) rotor's moment of inertia [kg.m2]

Boolean useSupport false enable / disable (=fixed stator) support

Inertia Js stator's moment of inertia [kg.m2]

Real turnsRatio (VaNominal - Ra*IaNominal)/(... ratio of armature turns over number of turns of the excitation winding

Nominal parameters

Voltage VaNominal nominal armature voltage [V]

Current IaNominal nominal armature current [A]

AngularVelocity wNominal nominal speed [rad/s]

Nominal resistances and inductances

Resistance Ra warm armature resistance [Ohm]

Inductance La armature inductance [H]

Type	Name	Default	Description
Inertia	Jr	Jr(start=0.15)	rotor's moment of inertia [kg.m2]
Boolean	useSupport	false	enable / disable (=fixed stator) support
Inertia	Js		stator's moment of inertia [kg.m2]
Real	turnsRatio	(VaNominal - Ra*IaNominal)/(...	ratio of armature turns over number of turns of the excitation winding
Nominal parameters
Voltage	VaNominal		nominal armature voltage [V]
Current	IaNominal		nominal armature current [A]
AngularVelocity	wNominal		nominal speed [rad/s]
Nominal resistances and inductances
Resistance	Ra		warm armature resistance [Ohm]
Inductance	La		armature inductance [H]

Connectors

Type Name Description

Flange_a flange

Flange_a support support at which the reaction torque is acting

PositivePin pin_ap

NegativePin pin_an

Type	Name	Description
Flange_a	flange
Flange_a	support	support at which the reaction torque is acting
PositivePin	pin_ap
NegativePin	pin_an

Modelica definition

model DC_PermanentMagnet "Permanent magnet DC machine"
  extends Machines.Interfaces.PartialBasicDCMachine(
  final turnsRatio=(VaNominal-Ra*IaNominal)/(wNominal*Le*IeNominal));
  Components.AirGapDC airGapDC(final turnsRatio=turnsRatio, final Le=Le);
protected 
  final parameter Modelica.SIunits.Inductance Le(start=1) 
    "total field excitation inductance";
  constant Modelica.SIunits.Current IeNominal=1 "equivalent excitation current";
public 
  Modelica.Electrical.Analog.Basic.Ground eGround;
  Modelica.Electrical.Analog.Sources.ConstantCurrent ie(I=IeNominal);
equation 
  assert(VaNominal > Ra*IaNominal, "VaNominal has to be > Ra*IaNominal");
  connect(eGround.p, ie.p);
  connect(airGapDC.pin_ep, ie.n);
  connect(airGapDC.pin_en, eGround.p);
  connect(airGapDC.pin_ap, la.n);
  connect(airGapDC.pin_an, pin_an);
  connect(airGapDC.support, internalSupport);

  connect(airGapDC.flange, inertiaRotor.flange_a);
end DC_PermanentMagnet;

Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_ElectricalExcited

Electrical shunt/separate excited linear DC machine

Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_ElectricalExcited

Information

Model of a DC Machine with Electrical shunt or separate excitation.
Armature resistance and inductance are modeled directly after the armature pins, then using a AirGapDC model.
Only losses in armature and excitation resistance are taken into account. No saturation is modelled.
Shunt or separate excitation is defined by the user's external circuit.
Default values for machine's parameters (a realistic example) are:

stator's moment of inertia	0.29	kg.m2
rotor's moment of inertia	0.15	kg.m2
nominal armature voltage	100	V
nominal armature current	100	A
nominal torque	63.66	Nm
nominal speed	1425	rpm
nominal mechanical output	9.5	kW
efficiency	95.0	% only armature
efficiency	94.06	% including excitation
armature resistance	0.05	Ohm in warm condition
armature inductance	0.0015	H
nominal excitation voltage	100	V
nominal excitation current	1	A
excitation resistance	100	Ohm in warm condition
excitation inductance	1	H

Armature resistance resp. inductance include resistance resp. inductance of commutating pole winding and compensation windig, if present.
Armature current does not cover excitation current of a shunt excitation; in this case total current drawn from the grid = armature current + excitation current.

Extends from Machines.Interfaces.PartialBasicDCMachine (Partial model for DC machine).

Parameters

Type	Name	Default	Description
Inertia	Jr	Jr(start=0.15)	rotor's moment of inertia [kg.m2]
Boolean	useSupport	false	enable / disable (=fixed stator) support
Inertia	Js		stator's moment of inertia [kg.m2]
Real	turnsRatio	(VaNominal - Ra*IaNominal)/(...	ratio of armature turns over number of turns of the excitation winding
Nominal parameters
Voltage	VaNominal		nominal armature voltage [V]
Current	IaNominal		nominal armature current [A]
AngularVelocity	wNominal		nominal speed [rad/s]
Nominal resistances and inductances
Resistance	Ra		warm armature resistance [Ohm]
Inductance	La		armature inductance [H]
Excitation
Current	IeNominal		nominal excitation current [A]
Resistance	Re		warm field excitation resistance [Ohm]
Inductance	Le		total field excitation inductance [H]

Connectors

Type Name Description

Flange_a flange

Flange_a support support at which the reaction torque is acting

PositivePin pin_ap

NegativePin pin_an

PositivePin pin_ep

NegativePin pin_en

Type	Name	Description
Flange_a	flange
Flange_a	support	support at which the reaction torque is acting
PositivePin	pin_ap
NegativePin	pin_an
PositivePin	pin_ep
NegativePin	pin_en

Modelica definition

model DC_ElectricalExcited 
  "Electrical shunt/separate excited linear DC machine"
  extends Machines.Interfaces.PartialBasicDCMachine(
    final turnsRatio=(VaNominal-Ra*IaNominal)/(wNominal*Le*IeNominal));
  Components.AirGapDC airGapDC(final turnsRatio=turnsRatio, final Le=Le);
  parameter Modelica.SIunits.Current IeNominal(start=1) 
    "nominal excitation current";
  parameter Modelica.SIunits.Resistance Re(start=100) 
    "warm field excitation resistance";
  parameter Modelica.SIunits.Inductance Le(start=1) 
    "total field excitation inductance";
  output Modelica.SIunits.Voltage ve = pin_ep.v-pin_en.v 
    "Field excitation voltage";
  output Modelica.SIunits.Current ie = pin_ep.i "Field excitation current";
  Modelica.Electrical.Analog.Basic.Resistor re(
    final R=Re,
    final T_ref=293.15,
    final alpha=0,
    final useHeatPort=false,
    final T=re.T_ref);
  Modelica.Electrical.Analog.Interfaces.PositivePin pin_ep;
  Modelica.Electrical.Analog.Interfaces.NegativePin pin_en;

equation 
  assert(VaNominal > Ra*IaNominal, "VaNominal has to be > Ra*IaNominal");
  connect(re.p, pin_ep);
  connect(pin_en, airGapDC.pin_en);
  connect(re.n, airGapDC.pin_ep);
  connect(airGapDC.pin_ap, la.n);
  connect(airGapDC.pin_an, pin_an);
  connect(airGapDC.support, internalSupport);
  connect(airGapDC.flange, inertiaRotor.flange_a);
end DC_ElectricalExcited;

Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_SeriesExcited

Series excited linear DC machine

Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_SeriesExcited

Information

Model of a DC Machine with Series excitation.
Armature resistance and inductance are modeled directly after the armature pins, then using a AirGapDC model.
Only losses in armature and excitation resistance are taken into account. No saturation is modelled.
Series excitation has to be connected by the user's external circuit.
Default values for machine's parameters (a realistic example) are:

stator's moment of inertia	0.29	kg.m2
rotor's moment of inertia	0.15	kg.m2
nominal armature voltage	100	V
nominal armature current	100	A
nominal torque	63.66	Nm
nominal speed	1410	rpm
nominal mechanical output	9.4	kW
efficiency	94.0	% only armature
armature resistance	0.05	Ohm in warm condition
armature inductance	0.0015	H
excitation resistance	0.01	Ohm in warm condition
excitation inductance	0.0005	H

Armature resistance resp. inductance include resistance resp. inductance of commutating pole winding and compensation windig, if present.
Parameter nominal armature voltage includes voltage drop of series excitation;
but for output the voltage is splitted into:
va = armature voltage without voltage drop of series excitation
ve = voltage drop of series excitation

Extends from Machines.Interfaces.PartialBasicDCMachine (Partial model for DC machine).

Parameters

Type Name Default Description

Inertia Jr Jr(start=0.15) rotor's moment of inertia [kg.m2]

Boolean useSupport false enable / disable (=fixed stator) support

Inertia Js stator's moment of inertia [kg.m2]

Real turnsRatio (VaNominal - (Ra + Re)*IaNom... ratio of armature turns over number of turns of the excitation winding

Nominal parameters

Voltage VaNominal nominal armature voltage [V]

Current IaNominal nominal armature current [A]

AngularVelocity wNominal.start 1410*2*pi/60 nominal speed [rad/s]

Nominal resistances and inductances

Resistance Ra warm armature resistance [Ohm]

Inductance La armature inductance [H]

Excitation

Resistance Re warm field excitation resistance [Ohm]

Inductance Le total field excitation inductance [H]

Type	Name	Default	Description
Inertia	Jr	Jr(start=0.15)	rotor's moment of inertia [kg.m2]
Boolean	useSupport	false	enable / disable (=fixed stator) support
Inertia	Js		stator's moment of inertia [kg.m2]
Real	turnsRatio	(VaNominal - (Ra + Re)*IaNom...	ratio of armature turns over number of turns of the excitation winding
Nominal parameters
Voltage	VaNominal		nominal armature voltage [V]
Current	IaNominal		nominal armature current [A]
AngularVelocity	wNominal.start	14102pi/60	nominal speed [rad/s]
Nominal resistances and inductances
Resistance	Ra		warm armature resistance [Ohm]
Inductance	La		armature inductance [H]
Excitation
Resistance	Re		warm field excitation resistance [Ohm]
Inductance	Le		total field excitation inductance [H]

Connectors

Type Name Description

Flange_a flange

Flange_a support support at which the reaction torque is acting

PositivePin pin_ap

NegativePin pin_an

PositivePin pin_ep

NegativePin pin_en

Type	Name	Description
Flange_a	flange
Flange_a	support	support at which the reaction torque is acting
PositivePin	pin_ap
NegativePin	pin_an
PositivePin	pin_ep
NegativePin	pin_en

Modelica definition

model DC_SeriesExcited "Series excited linear DC machine"
  extends Machines.Interfaces.PartialBasicDCMachine(wNominal(start=1410*2*pi/60),
    final turnsRatio=(VaNominal-(Ra+Re)*IaNominal)/(wNominal*Le*IaNominal));
  Components.AirGapDC airGapDC(final turnsRatio=turnsRatio, final Le=Le);
  parameter Modelica.SIunits.Resistance Re(start=0.01) 
    "warm field excitation resistance";
  parameter Modelica.SIunits.Inductance Le(start=0.0005) 
    "total field excitation inductance";
  output Modelica.SIunits.Voltage ve = pin_ep.v-pin_en.v 
    "Field excitation voltage";
  output Modelica.SIunits.Current ie = pin_ep.i "Field excitation current";
  Modelica.Electrical.Analog.Basic.Resistor re(
    final R=Re,
    final T_ref=293.15,
    final alpha=0,
    final useHeatPort=false,
    final T=re.T_ref);
  Modelica.Electrical.Analog.Interfaces.PositivePin pin_ep;
  Modelica.Electrical.Analog.Interfaces.NegativePin pin_en;
equation 
  assert(VaNominal > (Ra+Re)*IaNominal, "VaNominal has to be > (Ra+Re)*IaNominal");
  connect(re.p, pin_ep);
  connect(pin_en, airGapDC.pin_en);
  connect(re.n, airGapDC.pin_ep);
  connect(airGapDC.pin_ap, la.n);
  connect(airGapDC.pin_an, pin_an);
  connect(airGapDC.support, internalSupport);
  connect(airGapDC.flange, inertiaRotor.flange_a);
end DC_SeriesExcited;

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