3周《机电传动控制》学习笔记

 1 model motor1 "An DC Motor Model"
 2   type Voltage=Real(unit="V");
 3   type Current=Real(unit="A");
 4   type Resistance=Real(unit="Ohm");
 5   type Speed=Real(unit="r/min");
 6   type Torque=Real(unit="N.m");
 7   type Inertia=Real(unit="kg.m^2");
 8      
 9   Torque Tm"Torque of the Motor";
10   Speed n"Speed of the Motor";
11   Current i"Armature Current";
12   Voltage u"Voltage Source";
13   Resistance R_ad"External Resistance";  
14   parameter Real J = 1"Total Inertia";
15   parameter Real R = 0.6"Armature Resistance";
16   parameter Real Kt = 1.8"Torque Constant";
17   parameter Real Ke = 0.189"EMF Constant";
18   parameter Real Tl = 29.2"Load Torque";
19 
20   
21 equation
22 
23   Tm-Tl = J * der(n) * 6.28 / 60;
24   Tm= Kt * i;
25   u= i * (R+R_ad) + Ke * n;
26   
27   if time <= 0.1 then
28     u = 0;
29   else
30     u = 240;
31   end if;
32 
33 if n<=634.9 then
34 R_ad=4.33;
35 elseif n<=952.4 then
36 R_ad=1.87;
37 elseif n<=1111.1 then
38 R_ad=0.63;
39 else
40 R_ad=0;
41 end if;
42 
43 end motor1;