在“modellica方法”中建模电流控制电机的数学块模型
对于我的一个项目，我用它自己的电流控制器控制 BLDC 电机。
为了设计电机控制器，我为流动函数添加了一些时间轨迹：
捕捉整个系统的动态，即电机、电流控制器/驱动器和负载。
J是转子惯量，[kg*m^2]
r阻尼常数（线性摩擦）
tau是扭矩常数 [Nm/A]
u[t]当前输入
der(der(phi))是角加速度
der(phi)角速度
拟合值代表整个系统对于电机、负载和电机的电流控制器/驱动器的“连续”近似来说已经足够好了。使用控制方案，我给出一个以安培为单位的信号 u(t)，我希望输出一个扭矩和一个角速度。当时我只需要角速度，但我离题了，这种方法非常有效，而且是在 mathematica 中拟合和设计的。
我想在 modelica 中构建一个更大、更复杂的机器人系统（但是，特别是 Systemmodeler，modelica 库 3.2.x），但是我遇到了一些问题。
我的第一次尝试是：
但是，当用另一个外部负载（外部模型）对此进行模拟时，我遇到了很多问题，来自一些比我更有经验的人，有人告诉我这种建模形式是“一种方式”而不是“modelica 方法”，但是更多的simulink形式。
也就是说，它应该是双向的，而不仅仅是数字输出，以便与多体外部模型正确反应，这将连接到。
我的第二次尝试是：
当连接到我更大的多体模型时，它确实更像预期的那样工作，当施加外部扭矩/负载时，这个模型会产生反应。然而，当模拟这个模型以查看它与纯块模型相比如何公平时，它们无论如何都不相同。我不得不花费大量时间尝试拟合惯性和摩擦数据以获得类似的结果。
所以我的问题是，最好的方法是什么，将纯块模型（数学模型）或至少，我的纯块模型变成更现实的模型，或者至少，将连接输出变成更现实的，或者我猜是“非偶然”的.
我不想使用我的第二次尝试，因为我不能相信我必须调整的值与块相比实际上是正确的，因为与我的第一个模型相比，它们没有将值拟合到现实世界的数据。
回答
一般很难回答。基本上，您需要了解哪个模型对应于您想要建模的系统/方程的哪个部分，然后将它们组合起来以产生相同的整体行为。
原始模型/方程似乎包括（如果我误解了方程，请纠正我）：
- 对应的惯性
J * dot(dot(phi)) - 对应的线性摩擦模型
r * dot(phi) - 由输入乘以常数（在这种情况下可能是转矩常数乘以输入电流）产生的扭矩对应于
tau * u(t)
如果您不了解组件，我认为除了花时间理解 Modelica 代码或至少每个组件的文档之外别无他法。
我将使用以下组件来描述行为
Modelica.Mechanics.Rotational.Components.InertiaModelica.Mechanics.Rotational.Components.Damper- 这可以通过结合
Modelica.Blocks.Math.Gain和Modelica.Mechanics.Rotational.Sources.Torque
这样做的结果是：
作为扩展，我建议使用物理量（电流）作为输入。这可以通过将模型更改为：
使用两个更有意义的组件（第一条评论中要求的电阻和电感）扩展模型会导致：
注意：该模型实际上是 3~ 电机的 1~ 表示。我认为终端电阻/电感的参数应该仍然有效，但我强烈建议通过例如计算空载运行和标称负载时的速度来验证模型。
如果您需要生成上述屏幕截图的代码（使用 MSL 4.0.0）：
package MotorExamples
model SignalControlledMotor
extends Modelica.Electrical.Machines.Icons.Machine;
parameter Real k "Gain value multiplied with input signal";
parameter Modelica.Units.SI.Inertia J "Moment of inertia";
parameter Modelica.Units.SI.RotationalDampingConstant d "Damping constant";
Modelica.Blocks.Interfaces.RealInput u(final unit="A")
annotation (Placement(transformation(extent={{-140,-20},{-100,20}}), iconTransformation(extent={{-140,-20},{-100,20}})));
Modelica.Blocks.Math.Gain gain(k=k)
annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
Modelica.Mechanics.Rotational.Sources.Torque torque
annotation (Placement(transformation(extent={{-40,-10},{-20,10}})));
Modelica.Mechanics.Rotational.Components.Inertia inertia(J=J)
annotation (Placement(transformation(extent={{0,-10},{20,10}})));
Modelica.Mechanics.Rotational.Components.Damper damper(d=d)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={60,-30})));
Modelica.Mechanics.Rotational.Interfaces.Flange_a flange "Mechanical flange of motor"
annotation (Placement(transformation(extent={{90,-10},{110,10}})));
Modelica.Mechanics.Rotational.Components.Fixed fixed
annotation (Placement(transformation(extent={{50,-70},{70,-50}})));
equation
connect(gain.u, u) annotation (Line(points={{-82,0},{-120,0}}, color={0,0,127}));
connect(torque.tau, gain.y) annotation (Line(points={{-42,0},{-59,0}}, color={0,0,127}));
connect(inertia.flange_a, torque.flange) annotation (Line(points={{0,0},{-20,0}}, color={0,0,0}));
connect(inertia.flange_b, damper.flange_a) annotation (Line(points={{20,0},{60,0},{60,-20}},
color={0,0,0}));
connect(damper.flange_a, flange) annotation (Line(points={{60,-20},{60,0},{100,0}},
color={0,0,0}));
connect(damper.flange_b, fixed.flange) annotation (Line(points={{60,-40},{60,-60}}, color={0,0,0}));
annotation (Icon(graphics={Line(points={{-60,0},{-100,0}}, color={0,0,0})}));
end SignalControlledMotor;
model CurrentControlledMotor
extends Modelica.Electrical.Machines.Icons.Machine;
parameter Modelica.Units.SI.ElectricalTorqueConstant k "Transformation coefficient";
parameter Modelica.Units.SI.Inertia J "Moment of inertia";
parameter Modelica.Units.SI.RotationalDampingConstant d "Damping constant";
Modelica.Units.SI.Voltage v = p.v - n.v "Terminal voltage";
Modelica.Electrical.Analog.Basic.RotationalEMF
emf(k=k)
annotation (Placement(transformation(extent={{-40,-10},{-20,10}})));
Modelica.Mechanics.Rotational.Components.Inertia inertia(J=J)
annotation (Placement(transformation(extent={{0,-10},{20,10}})));
Modelica.Mechanics.Rotational.Components.Damper damper(d=d)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={60,-30})));
Modelica.Mechanics.Rotational.Interfaces.Flange_a flange "Mechanical flange of motor"
annotation (Placement(transformation(extent={{90,-10},{110,10}})));
Modelica.Mechanics.Rotational.Components.Fixed fixed
annotation (Placement(transformation(extent={{50,-70},{70,-50}})));
Modelica.Electrical.Analog.Interfaces.PositivePin p "Positive electrical pin"
annotation (Placement(transformation(extent={{-110,50},{-90,70}})));
Modelica.Electrical.Analog.Interfaces.NegativePin n "Negative electrical pin"
annotation (Placement(transformation(extent={{-110,-70},{-90,-50}})));
equation
connect(inertia.flange_a, emf.flange) annotation (Line(points={{0,0},{-20,0}}, color={0,0,0}));
connect(inertia.flange_b, damper.flange_a) annotation (Line(points={{20,0},{60,0},{60,-20}},
color={0,0,0}));
connect(damper.flange_a, flange) annotation (Line(points={{60,-20},{60,0},{100,0}},
color={0,0,0}));
connect(damper.flange_b, fixed.flange) annotation (Line(points={{60,-40},{60,-60}}, color={0,0,0}));
connect(emf.p, p) annotation (Line(points={{-30,10},{-30,60},{-100,60}}, color={0,0,255}));
connect(emf.n, n) annotation (Line(points={{-30,-10},{-30,-60},{-100,-60}}, color={0,0,255}));
annotation ( Icon(graphics={Line(points={{-60,40},{-80,40},{-80,60},{-100,60}},
color={28,108,200}),
Line(points={{-60,-40},{-80,-40},{-80,-60},{-100,-60}},
color={28,108,200})}));
end CurrentControlledMotor;
model DC_Motor
extends Modelica.Electrical.Machines.Icons.Machine;
parameter Modelica.Units.SI.ElectricalTorqueConstant k "Transformation coefficient";
parameter Modelica.Units.SI.Resistance R "Terminal Resistance";
parameter Modelica.Units.SI.Inductance L "Terminal Inductance";
parameter Modelica.Units.SI.Inertia J "Moment of inertia";
parameter Modelica.Units.SI.RotationalDampingConstant d "Damping constant";
Modelica.Units.SI.Voltage v = p.v - n.v "Terminal voltage";
Modelica.Electrical.Analog.Basic.RotationalEMF
emf(k=k)
annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
Modelica.Mechanics.Rotational.Components.Inertia inertia(J=J)
annotation (Placement(transformation(extent={{30,-10},{50,10}})));
Modelica.Mechanics.Rotational.Components.Damper damper(d=d)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=270,
origin={70,-30})));
Modelica.Mechanics.Rotational.Interfaces.Flange_a flange "Mechanical flange of motor"
annotation (Placement(transformation(extent={{90,-10},{110,10}})));
Modelica.Mechanics.Rotational.Components.Fixed fixed
annotation (Placement(transformation(extent={{60,-70},{80,-50}})));
Modelica.Electrical.Analog.Interfaces.PositivePin p "Positive electrical pin"
annotation (Placement(transformation(extent={{-110,50},{-90,70}})));
Modelica.Electrical.Analog.Interfaces.NegativePin n "Negative electrical pin"
annotation (Placement(transformation(extent={{-110,-70},{-90,-50}})));
Modelica.Electrical.Analog.Basic.Resistor resistor(R=R) annotation (Placement(transformation(extent={{-80,50},{-60,70}})));
Modelica.Electrical.Analog.Basic.Inductor inductor(L=L) annotation (Placement(transformation(extent={{-40,50},{-20,70}})));
equation
connect(inertia.flange_a, emf.flange) annotation (Line(points={{30,0},{10,0}}, color={0,0,0}));
connect(inertia.flange_b, damper.flange_a) annotation (Line(points={{50,0},{70,0},{70,-20}},
color={0,0,0}));
connect(damper.flange_a, flange) annotation (Line(points={{70,-20},{70,0},{100,0}},
color={0,0,0}));
connect(damper.flange_b, fixed.flange) annotation (Line(points={{70,-40},{70,-60}}, color={0,0,0}));
connect(emf.n, n) annotation (Line(points={{0,-10},{0,-60},{-100,-60}}, color={0,0,255}));
connect(resistor.p, p) annotation (Line(points={{-80,60},{-100,60}}, color={0,0,255}));
connect(emf.p, inductor.n) annotation (Line(points={{0,10},{0,60},{-20,60}}, color={0,0,255}));
connect(inductor.p, resistor.n) annotation (Line(points={{-40,60},{-60,60}}, color={0,0,255}));
annotation ( Icon(graphics={Line(points={{-60,40},{-80,40},{-80,60},{-100,60}},
color={28,108,200}),
Line(points={{-60,-40},{-80,-40},{-80,-60},{-100,-60}},
color={28,108,200})}));
end DC_Motor;
model Test
extends Modelica.Icons.Example;
MotorExamples.SignalControlledMotor signalControlledMotor(
k=1,
J=0.1,
d=1) annotation (Placement(transformation(extent={{-12,70},{8,90}})));
Modelica.Blocks.Sources.Step step(height=10, startTime=0.1) annotation (Placement(transformation(extent={{-90,70},{-70,90}})));
CurrentControlledMotor currentControlledMotor(
k=1,
J=0.1,
d=1) annotation (Placement(transformation(extent={{-12,-10},{8,10}})));
Modelica.Electrical.Analog.Sources.SignalCurrent signalCurrent
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={-40,6})));
Modelica.Electrical.Analog.Basic.Ground ground annotation (Placement(transformation(extent={{-70,-28},{-50,-6}})));
DC_Motor dC_Motor(
k=1,
R=1.39,
L=0.572e-3,
J=0.1,
d=1) annotation (Placement(transformation(extent={{-12,-76},{8,-56}})));
Modelica.Electrical.Analog.Sources.SignalCurrent signalCurrentDC
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={-40,-60})));
Modelica.Electrical.Analog.Basic.Ground ground1
annotation (Placement(transformation(extent={{-70,-94},{-50,-72}})));
Modelica.Blocks.Continuous.FirstOrder firstOrder(T=1e-3) annotation (Placement(transformation(extent={{-60,74},{-48,86}})));
equation
connect(signalCurrent.n, currentControlledMotor.p) annotation (Line(points={{-30,6},{-12,6}}, color={0,0,255}));
connect(signalCurrent.p, currentControlledMotor.n)
annotation (Line(points={{-50,6},{-60,6},{-60,-6},{-12,-6}}, color={0,0,255}));
connect(signalCurrent.p, ground.p) annotation (Line(points={{-50,6},{-60,6},{-60,-6}}, color={0,0,255}));
connect(signalCurrentDC.p, dC_Motor.n) annotation (Line(points={{-50,-60},{-60,-60},{-60,-72},{-12,-72}}, color={0,0,255}));
connect(signalCurrentDC.p, ground1.p) annotation (Line(points={{-50,-60},{-60,-60},{-60,-72}}, color={0,0,255}));
connect(signalCurrentDC.n, dC_Motor.p) annotation (Line(points={{-30,-60},{-12,-60}}, color={0,0,255}));
connect(step.y, firstOrder.u) annotation (Line(points={{-69,80},{-61.2,80}}, color={0,0,127}));
connect(firstOrder.y, signalControlledMotor.u) annotation (Line(points={{-47.4,80},{-14,80}}, color={0,0,127}));
connect(firstOrder.y, signalCurrent.i) annotation (Line(points={{-47.4,80},{-40,80},{-40,18}}, color={0,0,127}));
connect(firstOrder.y, signalCurrentDC.i)
annotation (Line(points={{-47.4,80},{-40,80},{-40,40},{-80,40},{-80,-40},{-40,-40},{-40,-48}}, color={0,0,127}));
annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(preserveAspectRatio=false)));
end Test;
annotation (uses(Modelica(version="4.0.0")));
end MotorExamples;