Mapped Motor

Mapped motor and drive electronics operating in torque-control mode

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Libraries:
Powertrain Blockset / Propulsion / Electric Motors and Inverters
Vehicle Dynamics Blockset / Powertrain / Propulsion

Description

TheMapped Motorblock implements a mapped motor and drive electronics operating in torque-control mode. The output torque tracks the torque reference demand and includes a motor-response and drive-response time constant. Use the block for fast system-level simulations when you do not know detailed motor parameters, for example, for motor power and torque tradeoff studies. The block assumes that the speed fluctuations due to mechanical load do not affect the motor torque tracking.

You can specify:

Port configuration — Input torque or speed.
Electrical torque range — Torque speed envelope or maximum motor power and torque.
Electrical loss — Single operating point, measured efficiency, or measured loss. If you have Model-Based Calibration Toolbox™, you can virtually calibrate the measured loss tables.

Electrical Torque

To specify the range of torque and speed that the block allows, on theElectrical Torquetab, forParametrized by, select one of these options.

Setting	Block Implementation
`Tabulated torque-speed envelope`	Range specified as a set of speed data points and corresponding maximum torque values.
`Maximum torque and power`	Range specified with maximum torque and maximum power.

For either method, the block implements an envelope similar to this.

Plot of torque versus speed indicating permissible steady-state operation

Electrical Losses

To specify the electrical losses, on theElectrical Lossestab, forParameterize losses by, select one of these options.

Setting	Block Implementation
`Single efficiency measurement`	Sum of these terms, measured at a single measurement point: 固定的损失dependent of torque and speed,P₀. UseP₀to account for fixed converter losses. A torque-dependent electrical losskτ², wherekis a constant andτis the torque. Represents ohmic losses in the copper windings. A speed-dependent electrical lossk_wω², wherek_wis a constant andωis the speed. Represents iron losses due to eddy currents.
`Tabulated loss data`	Loss lookup table that is a function of motor speeds and load torques. If you have Model-Based Calibration Toolbox, clickCalibrate Mapsto virtually calibrate the 2D lookup tables using measured data.
`Tabulated loss data with temperature`	Loss lookup table that is a function of motor speeds, load torques, and operating temperature. If you have Model-Based Calibration Toolbox, clickCalibrate Mapsto virtually calibrate the 3D lookup tables using measured data.
`Tabulated efficiency data`	2D efficiency lookup table that is a function of motor speeds and load torques: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. 忽略了spe效率值为零ed or zero torque. Losses are assumed zero when either torque or speed is zero. Uses linear interpolation to determine losses. Provide tabulated data for low speeds and low torques, as required, to get the desired level of accuracy for lower power conditions. Does not extrapolate loss values for speed and torque magnitudes that exceed the range of the table.
`Tabulated efficiency data with temperature`	3D efficiency lookup table that is a function of motor speeds, load torques, and operating temperature: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. 忽略了spe效率值为零ed or zero torque. Losses are assumed zero when either torque or speed is zero. Uses linear interpolation to determine losses. Provide tabulated data for low speeds and low torques, as required, to get the desired level of accuracy for lower power conditions. Does not extrapolate loss values for speed, torque, or temperature magnitudes that exceed the range of the table.

For best practice, useTabulated loss datainstead ofTabulated efficiency data:

Efficiency becomes ill defined for zero speed or zero torque.
You can account for fixed losses that are still present for zero speed or torque.

Note

Due to system losses, the motor can draw a current when the motor torque is zero.

Virtual Calibration

If you have Model-Based Calibration Toolbox, you can virtually calibrate the measured loss lookup tables.

On theElectrical Lossestab, setParameterize losses byto either:
- Tabulated loss data
- Tabulated loss data with temperature
ClickCalibrate Maps.

The dialog box steps through these tasks.

Task

Description

Import Loss Data

Import this loss data from a file. For example, open/toolbox/autoblks/autoblksshared/mbctemplates/MappedMotorDataset.xlsx.

For more information, seeUsing Data(Model-Based Calibration Toolbox).

Parameterize losses by	Required Data
`Tabulated loss data`	Motor speed, rad/s Motor torque, N·m Power loss, W
`Tabulated loss data with temperature`	Motor speed, rad/s Motor torque, N·m Motor temperature, K Power loss, W

Collect motor data at steady-state operating conditions. Data should cover the motor speed, torque, and temperature operating range.

To filter or edit the data, selectEdit in Application. The Model-Based Calibration Toolbox Data Editor opens.

Generate Response Models

Model-Based Calibration Toolbox uses test plans to fit data to Gaussian process models (GPMs).

To assess or adjust the response model fit, selectEdit in Application. The Model-Based Calibration Toolbox Model Browser opens. For more information, seeModel Assessment(Model-Based Calibration Toolbox).

Generate Calibration

Model-Based Calibration Toolbox calibrates the response models and generates calibrated tables.

To assess or adjust the calibration, selectEdit in Application. The Model-Based Calibration Toolbox CAGE Browser opens. For more information, seeCalibration Lookup Tables(Model-Based Calibration Toolbox).

Update block parameters

Update these parameters with the calibration.

Parameterize losses by	Parameters
`Tabulated loss data`	Vector of speeds(w) for tabulated losses, w_eff_bp Vector of torques (T) for tabulated losses, T_eff_bp Corresponding losses, losses_table
`Tabulated loss data with temperature`	Vector of speeds(w) for tabulated losses, w_eff_bp Vector of torques (T) for tabulated losses, T_eff_bp Vector of temperatures for tabulated losses, Temp_eff_bp Corresponding losses, losses_table_3d

Battery Current

块计算电池电流使用mechanical power, power loss, and battery voltage. Positive current indicates battery discharge. Negative current indicates battery charge.

$B a t t A m p = \frac{M e c h P w r + P w r L o s s}{B a t t V o l t}$

The equation uses these variables.

BattVolt	Battery voltage
MechPwr	Mechanical power
PwrLoss	Power loss
BattCurr	Battery current

Power Accounting

For the power accounting, the block implements these equations.

Bus Signal			Description	Variable	Equations
`PwrInfo`	`PwrTrnsfrd` Positive signals indicate power flow into the block. Negative signals indicate power flow out of the block.	`PwrMtr`	Mechanical power	P_mot	$P_{m o t} = ω_{m} T_{e}$
		`PwrBus`	Electrical power	P_bus	$P_{b u s} = P_{m o t} + P_{l o s s}$
	`PwrNotTrnsfrd` Negative signals indicate power loss.	`PwrLoss`	Motor power loss	P_loss	$P_{s t o r e d} = ω_{m} {\dot{ω}}_{m} J$
	`PwrStored` Positive signals indicate power gain.	`PwrStoredShft`	Motor power stored	P_str	$P_{l o s s} = - (P_{m o t} + P_{l o s s} - P_{s t o r e d})$

The equations use these variables.

T_e	Motor output shaft torque
ω	Motor shaft speed
J	Motor inertia

Ports

Input

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BattVolt—Battery voltage
`scalar`

Battery voltage,BattVolt, in V.

TrqCmd—Commanded motor torque
`scalar`

Commanded motor torque,Trq_cmd, in N·m.

Dependencies

To create this input port, for thePort configuration, selectTorque.

MtrSpd—Motor output shaft speed
`scalar`

Motor shaft speed,Mtr_spd, in rad/s.

Dependencies

To create this input port, for thePort configuration, selectSpeed.

Output

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Info—Bus signal
bus

The bus signal contains these block calculations.

Signal			Description	Units
`MechPwr`			Mechanical power	W
`PwrLoss`			Internal inverter and motor power loss	N·m
`PwrInfo`	`PwrTrnsfrd`	`PwrMtr`	Mechanical power	W
	`PwrTrnsfrd`	`PwrBus`	Electrical power	W
	`PwrNotTrnsfrd`	`PwrLoss`	Motor power loss	W
	`PwrStored`	`PwrStoredShft`	Motor power stored	W

BattCurr—Battery current
`scalar`

Battery current draw or demand,I_batt, in A.

MtrTrq—Motor torque
`scalar`

Motor output shaft torque,Mtr_trq, in N·m.

MtrSpd—Motor shaft speed
`scalar`

Motor shaft speed,Mtr_spd, in rad/s.

Dependencies

To create this output port, for thePort configuration, selectTorque.

Parameters

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块的选择

Port configuration—Select port configuration
`Torque`(default) |`Speed`

This table summarizes the port configurations.

Port Configuration	Creates Ports
`Torque`	Outpost`MtrSpd`
`Speed`	Input`MtrSpd`

Calibrate Maps—Calibrate tables with measured data
`selection`

If you have Model-Based Calibration Toolbox, you can virtually calibrate the measured loss lookup tables.

On theElectrical Lossestab, setParameterize losses byto either:
- Tabulated loss data
- Tabulated loss data with temperature
ClickCalibrate Maps.

The dialog box steps through these tasks.

Task

Description

Import Loss Data

Import this loss data from a file. For example, open/toolbox/autoblks/autoblksshared/mbctemplates/MappedMotorDataset.xlsx.

For more information, seeUsing Data(Model-Based Calibration Toolbox).

Parameterize losses by	Required Data
`Tabulated loss data`	Motor speed, rad/s Motor torque, N·m Power loss, W
`Tabulated loss data with temperature`	Motor speed, rad/s Motor torque, N·m Motor temperature, K Power loss, W

Collect motor data at steady-state operating conditions. Data should cover the motor speed, torque, and temperature operating range.

To filter or edit the data, selectEdit in Application. The Model-Based Calibration Toolbox Data Editor opens.

Generate Response Models

Model-Based Calibration Toolbox uses test plans to fit data to Gaussian process models (GPMs).

Generate Calibration

Model-Based Calibration Toolbox calibrates the response models and generates calibrated tables.

Update block parameters

Update these parameters with the calibration.

Parameterize losses by	Parameters
`Tabulated loss data`	Vector of speeds(w) for tabulated losses, w_eff_bp Vector of torques (T) for tabulated losses, T_eff_bp Corresponding losses, losses_table
`Tabulated loss data with temperature`	Vector of speeds(w) for tabulated losses, w_eff_bp Vector of torques (T) for tabulated losses, T_eff_bp Vector of temperatures for tabulated losses, Temp_eff_bp Corresponding losses, losses_table_3d

Electrical Torque

Parameterized by—Select type
`Tabulated torque-speed envelope`(default) |`Maximum torque and power`

Setting	Block Implementation
`Tabulated torque-speed envelope`	Range specified as a set of speed data points and corresponding maximum torque values.
`Maximum torque and power`	Range specified with maximum torque and maximum power.

For either method, the block implements an envelope similar to this.

Plot of torque versus speed indicating permissible steady-state operation

Vector of rotational speeds, w_t—Rotational speeds
`[0 375 750 800]`(default) |`vector`

Rotational speeds for permissible steady-state operation, in rad/s. To avoid poor performance due to an infinite slope in the torque-speed curve, specify a vector of rotational speeds that does not contain duplicate consecutive values.

Dependencies

To create this parameter, for theParameterized byparameter, selectTabulated torque-speed envelope.

Vector of maximum torque values, T_t—Torque
`[0.09 0.08 0.07 0]`(default) |`vector`

Maximum torque values for permissible steady state, in N·m.

Dependencies

To create this parameter, for theParameterized byparameter, selectTabulated torque-speed envelope.

Maximum torque, torque_max—Torque
`.1`(default) |`scalar`

The maximum permissible motor torque, in N·m.

Dependencies

To create this parameter, for theParameterized byparameter, selectMaximum torque and power.

Maximum power, power_max—Power
`30`(default) |`scalar`

The maximum permissible motor power, in W.

Dependencies

To create this parameter, for theParameterized byparameter, selectMaximum torque and power.

Torque control time constant, Tc—Time constant
`0.02`(default) |`scalar`

Time constant with which the motor driver tracks a torque demand, in s.

Electrical Losses

Parameterize losses by—Select type
`Single efficiency measurement`(default) |`Tabulated loss data`|`Tabulated efficiency data`

Setting	Block Implementation
`Single efficiency measurement`	Sum of these terms, measured at a single measurement point: 固定的损失dependent of torque and speed,P₀. UseP₀to account for fixed converter losses. A torque-dependent electrical losskτ², wherekis a constant andτis the torque. Represents ohmic losses in the copper windings. A speed-dependent electrical lossk_wω², wherek_wis a constant andωis the speed. Represents iron losses due to eddy currents.
`Tabulated loss data`	Loss lookup table that is a function of motor speeds and load torques. If you have Model-Based Calibration Toolbox, clickCalibrate Mapsto virtually calibrate the 2D lookup tables using measured data.
`Tabulated loss data with temperature`	Loss lookup table that is a function of motor speeds, load torques, and operating temperature. If you have Model-Based Calibration Toolbox, clickCalibrate Mapsto virtually calibrate the 3D lookup tables using measured data.
`Tabulated efficiency data`	2D efficiency lookup table that is a function of motor speeds and load torques: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. 忽略了spe效率值为零ed or zero torque. Losses are assumed zero when either torque or speed is zero. Uses linear interpolation to determine losses. Provide tabulated data for low speeds and low torques, as required, to get the desired level of accuracy for lower power conditions. Does not extrapolate loss values for speed and torque magnitudes that exceed the range of the table.
`Tabulated efficiency data with temperature`	3D efficiency lookup table that is a function of motor speeds, load torques, and operating temperature: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. 忽略了spe效率值为零ed or zero torque. Losses are assumed zero when either torque or speed is zero. Uses linear interpolation to determine losses. Provide tabulated data for low speeds and low torques, as required, to get the desired level of accuracy for lower power conditions. Does not extrapolate loss values for speed, torque, or temperature magnitudes that exceed the range of the table.

For best practice, useTabulated loss datainstead ofTabulated efficiency data:

Efficiency becomes ill defined for zero speed or zero torque.
You can account for fixed losses that are still present for zero speed or torque.

Note

Due to system losses, the motor can draw a current when the motor torque is zero.

Motor and drive overall efficiency, eff—Efficiency
`100`(default) |`scalar`

The block defines overall efficiency as:

$η = 100 \frac{τ_{0} ω_{0}}{τ_{0} ω_{0} + P_{0} + k τ_{0}^{2} + k_{w} ω_{0}^{2}}$

The equation uses these variables.

τ₀	Torque at which efficiency is measured
ω₀	Speed at which efficiency is measured
P₀	固定的损失dependent of torque or speed
$k τ_{0}^{2}$	Torque-dependent electrical losses
k_wω²	Speed-dependent iron losses

At initialization, the block solves the efficiency equation fork. The block neglects losses associated with the rotor damping.