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Dag bruck #75

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merged 9 commits into from
Feb 16, 2024
Merged

Dag bruck #75

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7337767
Initial version of the example, date 22 October 2021.
Feb 6, 2024
5dfb795
DC-Motor example as of 2022-03-22, with small changes e.g. tauA is M-a.
Feb 7, 2024
0bbef79
Reformat graphics and Modelica text
Feb 7, 2024
cde0ad6
Fix for sign problems
Feb 7, 2024
99727be
Update parameters to match SSP example, added plot of KPI signals
Feb 12, 2024
a21dcb4
Added script to export FMUs
Feb 12, 2024
9943b15
Added SRMD meta-data to emachine model
Feb 12, 2024
b785c2f
SImplified and updated example, make cross-compiled FMUs
Feb 16, 2024
c8d39b8
Updated example with new FMUs generated from new models, with correct…
Feb 16, 2024
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Binary file modified examples/DC-Motor2023.ssp
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5 changes: 1 addition & 4 deletions examples/DC-Motor2023/DC-motor-mechanic.ssd
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Expand Up @@ -44,11 +44,8 @@
<ssv:Parameter name="Voltage_step.offset" description="Offset of output signal y">
<ssv:Real value="0.0"/>
</ssv:Parameter>
<ssv:Parameter name="gain.k" description="Gain value multiplied with input signal">
<ssv:Real value="1.0" unit="1"/>
</ssv:Parameter>
<ssv:Parameter name="MLoad.k" description="Constant output value">
<ssv:Real value="-1.0" unit="N.m"/>
<ssv:Real value="1.0" unit="N.m"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.startTime" description="Output y = offset for time &lt; startTime">
<ssv:Real value="0.0" unit="s"/>
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5 changes: 1 addition & 4 deletions examples/DC-Motor2023/Design-Specification-DC-Motor-Model.ssd
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<ssv:Real value="1.0" unit="N.m"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.height" description="Height of step">
<ssv:Real value="-48.0" unit="V"/>
</ssv:Parameter>
<ssv:Parameter name="gain.k" description="Gain value multiplied with input signal">
<ssv:Real value="1.0" unit="1"/>
<ssv:Real value="48.0" unit="V"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.startTime" description="Output y = offset for time &lt; startTime">
<ssv:Real value="0.0" unit="s"/>
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12 changes: 3 additions & 9 deletions examples/DC-Motor2023/SystemStructure.ssd
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Expand Up @@ -424,17 +424,14 @@
<ssv:ParameterSet version="1.0" name="Parameter-Set">
<ssv:Parameters>
<ssv:Parameter name="Voltage_step.height" description="Height of step">
<ssv:Real value="-48.0" unit="V"/>
<ssv:Real value="48.0" unit="V"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.offset" description="Offset of output signal y">
<ssv:Real value="0.0"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.startTime" description="Output y = offset for time &lt; startTime">
<ssv:Real value="0.0" unit="s"/>
</ssv:Parameter>
<ssv:Parameter name="gain.k" description="Gain value multiplied with input signal">
<ssv:Real value="1.0" unit="1"/>
</ssv:Parameter>
<ssv:Parameter name="MLoad.k" description="Constant output value">
<ssv:Real value="1.0" unit="N.m"/>
</ssv:Parameter>
Expand Down Expand Up @@ -470,14 +467,11 @@
<ssv:Real value="0.0"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.height" description="Height of step">
<ssv:Real value="-48.0" unit="V"/>
<ssv:Real value="48.0" unit="V"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.startTime" description="Output y = offset for time &lt; startTime">
<ssv:Real value="0.0" unit="s"/>
</ssv:Parameter>
<ssv:Parameter name="gain.k" description="Gain value multiplied with input signal">
<ssv:Real value="1.0" unit="1"/>
</ssv:Parameter>
<ssv:Parameter name="MLoad.k" description="Constant output value">
<ssv:Real value="1.0" unit="N.m"/>
</ssv:Parameter>
Expand Down Expand Up @@ -514,7 +508,7 @@
<ssv:Real value="1.0" unit="N.m"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.height" description="Height of step">
<ssv:Real value="-48.0" unit="V"/>
<ssv:Real value="48.0" unit="V"/>
</ssv:Parameter>
<ssv:Parameter name="Voltage_step.startTime" description="Output y = offset for time &lt; startTime">
<ssv:Real value="0.0" unit="s"/>
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3 changes: 3 additions & 0 deletions examples/DC-Motor2023/models/README.md
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### Models

These are the Modelica source models used to generate the FMUs of this example.
34 changes: 34 additions & 0 deletions examples/DC-Motor2023/models/sse_edrive/Export FMUs.mos
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// Script to export FMUs from library.
// Script generated by Dymola.

OutputCPUtime = false;
Advanced.Translation.EnableCodeExport=true;
Advanced.FMI.CrossExport=true;

translateModelFMU(
"sse_edrive.stimuli",
false,
"stimuli_model",
"2",
"all",
true,
0,
fill("", 0));
translateModelFMU(
"sse_edrive.emachine",
false,
"emachine_model",
"2",
"all",
true,
0,
fill("", 0));
translateModelFMU(
"sse_edrive.mass_damper",
false,
"edrive_mass",
"2",
"all",
true,
0,
fill("", 0));
110 changes: 110 additions & 0 deletions examples/DC-Motor2023/models/sse_edrive/emachine.mo
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within sse_edrive;
model emachine "DC-Motor for a mild hybrid application"
Modelica.Electrical.Analog.Basic.Ground ground
annotation (Placement(transformation(extent={{-20,-60},{0,-40}})));
Modelica.Electrical.Analog.Basic.Resistor resistor(
R=1,
T_ref=300.15,
alpha=0,
T=300.15) annotation (Placement(transformation(
extent={{10,-10},{-10,10}},
rotation=180,
origin={-10,60})));
Modelica.Electrical.Analog.Basic.Inductor inductor(L=0.001, i(start=0)) annotation (Placement(
transformation(
extent={{10,-10},{-10,10}},
rotation=90,
origin={40,40})));
Modelica.Electrical.Analog.Basic.RotationalEMF emf(k=0.01) annotation (Placement(transformation(
extent={{10,10},{-10,-10}},
rotation=180,
origin={40,0})));
Modelica.Electrical.Analog.Sensors.CurrentSensor currentSensor annotation (Placement(transformation(
extent={{10,-10},{-10,10}},
rotation=270,
origin={-60,0})));
Modelica.Blocks.Interfaces.RealOutput I(unit="A") annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-110,-60})));
Modelica.Mechanics.Rotational.Components.AngleToTorqueAdaptor angleToTorqueAdaptor(use_a=false)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={60,0})));
Modelica.Blocks.Interfaces.RealInput w(unit="rad/s") annotation (Placement(transformation(
extent={{-20,-20},{20,20}},
rotation=180,
origin={120,-20})));
Modelica.Blocks.Interfaces.RealInput phi(unit="rad") annotation (Placement(transformation(
extent={{-20,-20},{20,20}},
rotation=180,
origin={120,-60})));
Modelica.Blocks.Interfaces.RealOutput M(unit="N.m") annotation (Placement(transformation(
extent={{10,-10},{-10,10}},
rotation=180,
origin={110,60})));
Modelica.Electrical.Analog.Sources.SignalVoltage signalVoltage annotation (Placement(transformation(
extent={{10,-10},{-10,10}},
rotation=90,
origin={-60,40})));
Modelica.Blocks.Interfaces.RealInput U(unit="V") annotation (Placement(transformation(
extent={{-20,-20},{20,20}},
rotation=0,
origin={-120,60})));
equation
connect(currentSensor.i, I)
annotation (Line(points={{-71,0},{-88,0},{-88,-60},{-110,-60}}, color={0,0,127}));
connect(angleToTorqueAdaptor.flange, emf.flange)
annotation (Line(points={{58,0},{50,0}}, color={0,0,0}));
connect(angleToTorqueAdaptor.w, w)
annotation (Line(points={{63,-5},{83,-5},{83,-20},{120,-20}}, color={0,0,127}));
connect(angleToTorqueAdaptor.tau, M)
annotation (Line(points={{63,8},{76,8},{76,60},{110,60}}, color={0,0,127}));
connect(phi, angleToTorqueAdaptor.phi)
annotation (Line(points={{120,-60},{76,-60},{76,-8},{63,-8}}, color={0,0,127}));
connect(resistor.n, inductor.p) annotation (Line(points={{0,60},{40,60},{40,50}}, color={0,0,255}));
connect(emf.p, inductor.n) annotation (Line(points={{40,10},{40,30}}, color={0,0,255}));
connect(emf.n, ground.p) annotation (Line(points={{40,-10},{40,-40},{-10,-40}}, color={0,0,255}));
connect(ground.p, currentSensor.p)
annotation (Line(points={{-10,-40},{-60,-40},{-60,-10}},color={0,0,255}));
connect(signalVoltage.v, U)
annotation (Line(points={{-72,40},{-90,40},{-90,60},{-120,60}}, color={0,0,127}));
connect(signalVoltage.p, resistor.p)
annotation (Line(points={{-60,50},{-60,60},{-20,60}}, color={0,0,255}));
connect(signalVoltage.n, currentSensor.n)
annotation (Line(points={{-60,30},{-60,10}}, color={0,0,255}));
annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(
preserveAspectRatio=false)),
__Dymola_UserMetaData(MetaData(category="DC-Motor-el Meta-Data (DC-Motor-el.srmd)", value={{
"Type: de.setlevel.srmd.model-meta-data=",""},{"model.type","physical principle"},{
"physical-principle.family","ex: Electrical"},{"physical-principle.name","ex: motor"},{
"physical-principle.technology","ex: DC"},{"physical-principle.technology.variant",
"ex: el-magn"},{"model.manufacturer","GlueParticle"},{"model.family"," DC-Motor"},{
"model.name","DC-Motor-el"},{"model.version","GPsim2.03"},{"model.releasedate",
"2022-02-01"},{"model.releasestatus","In Development"},{"model.guid",
"For FMU-based models, this should be the GUID of the FMU, e.g. 7ae4-210f-dead-beef-0422"},
{"model.purpose","Pre-development of systems with DC-motors"},{
"model.modelling-approach",
"basic physical equations of the electrical part of a DC motor is causal modeled"},{
"model.preconditions","-none-"},{"model.validity-range","basic physical equations"},{
"model.specification","link to specification document"},{"model.verification.status",
"false"},{"model.verification.report",""},{"model.validation.concept",""},{
"model.validation.status","false"},{"model.validation.platform",
"Dymola V112 and PMSF FMIBench 1.9.9.4 on Windows 10 1809"},{"model.validation.report",
""},{"model.limitations","This delivery is a pre-release and the model is intended to be used for pre-development
The model is not validated; thus it is not intended to be used for validation or verification of any actuator.

This delivery is not developed according to process defined in ISO 26262 (Standard for Functional Safety).
"},{"model.implementation.format","FMI 2.0"},{"model.implementation.preconditions",
"Model needs Windows 10 1809 or newer or Linux"},{
"model.implementation.performance-characteristics",
"Potentially real-time capable, simple differential equation 1 order"},{
"model.integration.requirements",
"link to requirements and considerations for operating the model"},{
"Type: de.setlevel.srmd.ISO-11010-X=",""},{"part",
"The part of the ISO-11010 relevant for model, for example 1 if ISO-11010-1"},{"plant",
"The relevant nomencalture convention for the plant part of the model if applicable, for example a Model of the Brake physical system: BRM2.2"},
{"controller",
"The relevant nomencalture convention for the controller part of the model if applicable, for example a Model of the Brake controller system: BRC2.1"}})));
end emachine;
59 changes: 59 additions & 0 deletions examples/DC-Motor2023/models/sse_edrive/mass.mo
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within sse_edrive;
model mass "Rotational mass (load)"
Modelica.Mechanics.Rotational.Components.TorqueToAngleAdaptor torqueToAngleAdaptor(use_a=false)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-50,0})));
Modelica.Mechanics.Rotational.Components.TorqueToAngleAdaptor torqueToAngleAdaptor1(use_a=false)
annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={50,0})));
Modelica.Mechanics.Rotational.Components.Inertia inertia(
J=0.002,
phi(start=0),
w(start=0),
a(start=0)) annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
Modelica.Blocks.Interfaces.RealInput M_A(unit="N.m")
annotation (Placement(transformation(extent={{-140,40},{-100,80}})));
Modelica.Blocks.Interfaces.RealOutput wA(unit="rad/s") annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-110,-20})));
Modelica.Blocks.Interfaces.RealOutput phiA(unit="rad") annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=180,
origin={-110,-60})));
Modelica.Blocks.Interfaces.RealInput M_B(unit="N.m") annotation (Placement(transformation(
extent={{-20,-20},{20,20}},
rotation=180,
origin={120,-60})));
Modelica.Blocks.Interfaces.RealOutput wB(unit="rad/s") annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={110,20})));
Modelica.Blocks.Interfaces.RealOutput phiB(unit="rad") annotation (Placement(transformation(
extent={{-10,-10},{10,10}},
rotation=0,
origin={110,60})));
equation
connect(inertia.flange_a, torqueToAngleAdaptor.flange)
annotation (Line(points={{-10,0},{-48,0}}, color={0,0,0}));
connect(inertia.flange_b, torqueToAngleAdaptor1.flange)
annotation (Line(points={{10,0},{48,0}}, color={0,0,0}));
connect(torqueToAngleAdaptor.tau, M_A)
annotation (Line(points={{-53,8},{-80,8},{-80,60},{-120,60}}, color={0,0,127}));
connect(torqueToAngleAdaptor.w, wA)
annotation (Line(points={{-53,-5},{-80.5,-5},{-80.5,-20},{-110,-20}}, color={0,0,127}));
connect(torqueToAngleAdaptor.phi, phiA)
annotation (Line(points={{-53,-8},{-70,-8},{-70,-60},{-110,-60}}, color={0,0,127}));
connect(torqueToAngleAdaptor1.phi, phiB)
annotation (Line(points={{53,8},{70,8},{70,60},{110,60}}, color={0,0,127}));
connect(torqueToAngleAdaptor1.w, wB)
annotation (Line(points={{53,5},{80,5},{80,20},{110,20}}, color={0,0,127}));
connect(torqueToAngleAdaptor1.tau, M_B)
annotation (Line(points={{53,-8},{80,-8},{80,-60},{120,-60}}, color={0,0,127}));
annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(
preserveAspectRatio=false)));
end mass;
16 changes: 16 additions & 0 deletions examples/DC-Motor2023/models/sse_edrive/mass_damper.mo
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within sse_edrive;
model mass_damper "Rotational mass with damper"
extends mass;
Modelica.Mechanics.Rotational.Components.Damper damper(d=0.001)
annotation (Placement(transformation(extent={{-10,-50},{10,-30}})));
Modelica.Mechanics.Rotational.Components.Fixed fixed
annotation (Placement(transformation(extent={{20,-50},{40,-30}})));
equation
connect(fixed.flange, damper.flange_b) annotation (Line(points={{30,-40},{10,-40}}, color={0,0,0}));
connect(inertia.flange_a, torqueToAngleAdaptor.flange)
annotation (Line(points={{-10,0},{-48,0}}, color={0,0,0}));
connect(inertia.flange_a, damper.flange_a)
annotation (Line(points={{-10,0},{-30,0},{-30,-40},{-10,-40}}, color={0,0,0}));
annotation (Icon(coordinateSystem(preserveAspectRatio=false)), Diagram(coordinateSystem(
preserveAspectRatio=false)));
end mass_damper;
9 changes: 9 additions & 0 deletions examples/DC-Motor2023/models/sse_edrive/package.mo
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within ;
package sse_edrive "ProSTEP Smart System Engineering DCMmotor example"

annotation (
uses(Modelica(version="4.0.0")),
version="1.2.0",
conversion(noneFromVersion=""),
versionDate="2024-02-16");
end sse_edrive;
7 changes: 7 additions & 0 deletions examples/DC-Motor2023/models/sse_edrive/package.order
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emachine
mass
mass_damper
spring_mass
stimuli
test_spring_mass
test
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