Modelica.Electrical.Machines.Examples.DCMachines

Test examples of DC machines

Information

This package contains test examples of DC machines.

Extends from Modelica.Icons.ExamplesPackage (Icon for packages containing runnable examples).

Package Content

Name	Description
DCPM_Start	Test example: DC with permanent magnet starting with voltage ramp
DCPM_CurrentControlled	Test example: DC with permanent magnet starting with current controller
DCEE_Start	Test example: DC with electrical excitation starting with voltage ramp
DCSE_Start	Test example: DC with serial excitation starting with voltage ramp
DCSE_SinglePhase	Test example: DC with serial excitation starting with voltage ramp
DCPM_Temperature	Test example: Investigate temperature dependency of a DCPM motor
DCPM_Cooling	Test example: Cooling of a DCPM motor
DCPM_QuasiStatic	Test example: Compare DCPM motors transient - quasi-static
DCPM_withLosses	Test example: Investigate influence of losses on DCPM motor performance
DC_CompareCharacteristics	Test example: Compare torque-speed characteristic of DC motors
DCPM_Drive	Test example: drive with 2 permanent magnet DC machines

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Start

Test example: DC with permanent magnet starting with voltage ramp

Information

Test example: Permanent magnet DC machine started with an armature voltage ramp
A voltage ramp is applied to the armature, causing the DC machine to start, and accelerating inertias.
At time tStep a load step is applied.
Simulate for 2 seconds and plot (versus time):

dcpm.ia: armature current
dcpm.wMechanical: motor's speed
dcpm.tauElectrical: motor's torque

Default machine parameters of model DC_PermanentMagnet are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
tStart	Start of armature voltage ramp [s]
tRamp	Armature voltage ramp [s]
TLoad	Nominal load torque [N.m]
tStep	Time of load torque step [s]
JLoad	Load's moment of inertia [kg.m2]
dcpmData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_CurrentControlled

Test example: DC with permanent magnet starting with current controller

Information

Test example: Permanent magnet DC machine started with current controller
The current controller is parameterized according to absolute optimum. At time 0.1 s a reference current step with height = nominal armature current is applied, causing the DC machine to start, and accelerating inertias.
The machine is loaded by a quadratic speed dependent load torque.
Simulate for 2 seconds and plot (versus time):

dcpm.ia: armature current
dcpm.wMechanical: motor's speed
dcpm.tauElectrical: motor's torque

Default machine parameters of model DC_PermanentMagnet are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
TLoad	Nominal load torque [N.m]
wLoad	Nominal load torque [rad/s]
JLoad	Load's moment of inertia [kg.m2]
Ra	Warm armature resistance [Ohm]
ViNominal	Nominal induced voltage [V]
Ta	Armature time constant [s]
Ts	Dead time of inverter [s]
k	Current controller proportional gain [Ohm]
Ti	Current controller integral time constant [s]
kPhi	Voltage constant [Wb]
dcpmData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCEE_Start

Test example: DC with electrical excitation starting with voltage ramp

Information

Test example: Electrically separate excited DC machine started with an armature voltage ramp
A voltage ramp is applied to the armature, causing the DC machine to start, and accelerating inertias.
At time tStep a load step is applied.
Simulate for 2 seconds and plot (versus time):

dcee.ia: armature current
dcee.wMechanical: motor's speed
dcee.tauElectrical: motor's torque
dcee.ie: excitation current

Default machine parameters of model DC_ElectricalExcited are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
tStart	Start of armature voltage ramp [s]
tRamp	Armature voltage ramp [s]
Ve	Actual excitation voltage [V]
TLoad	Nominal load torque [N.m]
tStep	Time of load torque step [s]
JLoad	Load's moment of inertia [kg.m2]
dceeData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCSE_Start

Test example: DC with serial excitation starting with voltage ramp

Information

Test example: Series excited DC machine started with a series resistor
At constant source voltage, a series resistor limiting the armature current, is reduced according to a ramp, causing the DC machine to start, and accelerating inertias against load torque quadratic dependent on speed, finally reaching nominal speed.
Simulate for 2 seconds and plot (versus time):

dcse.ia: armature current
dcse.wMechanical: motor's speed
dcse.tauElectrical: motor's torque

Default machine parameters of model DC_SeriesExcited are used.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
tStart	Start of resistance ramp [s]
tRamp	Resistance ramp [s]
TLoad	Nominal load torque [N.m]
wLoad	Nominal load speed [rad/s]
JLoad	Load's moment of inertia [kg.m2]
dcseData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCSE_SinglePhase

Test example: DC with serial excitation starting with voltage ramp

Information

Test example: Series excited DC machine at single-phase AC voltage started with a series resistor
At sinusoidal source voltage, a series resistor limiting the armature current, is reduced according to a ramp, causing the DC machine to start, and accelerating inertias against load torque quadratic dependent on speed, finally reaching nominal speed.
Simulate for 2 seconds and plot (versus time):

dcse.ia: armature current
dcse.wMechanical: motor's speed
dcse.tauElectrical: motor's torque

Default machine parameters of model DC_SeriesExcited are used.
Note:
Since both the field and the armature current are sinusoidal, the waveform of the torque is the square of sine. Due to the additional inductive voltage drops, output of the motor is lower, compared to the same motor (DCSE_Start) at DC voltage.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage RMS [V]
tStart	Start of resistance ramp [s]
tRamp	Resistance ramp [s]
TLoad	Nominal load torque [N.m]
wLoad	Nominal load speed [rad/s]
JLoad	Load's moment of inertia [kg.m2]
dcseData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Temperature

Test example: Investigate temperature dependency of a DCPM motor

Information

Test example: Investigate influence of armature temperature on a DCPM motor
The motor starts at no-load speed, then a load step is applied.
Beginning with the load step, the armature temperature rises exponentially from 20 degC to 80 degC.
Simulate for 3 seconds and plot (versus time):

dcpm.ia: armature current
dcpm.wMechanical: motor's speed
dcpm.tauElectrical: motor's torque
thermalAmbientDCPM.Q_flow_a: motor's armature losses

Default machine parameters are used, but:

The armature winding material is set to Copper.
Armature reference temperature is set to 80 degC.
Nominal armature temperature is set to 80 degC.

So the machine is at the beginning in cold condition, ending in warm condition (with the same armature resistance as the unmodified machine).

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
Ve	Actual excitation voltage [V]
w0	No-load speed [rad/s]
TLoad	Nominal load torque [N.m]
JLoad	Load's moment of inertia [kg.m2]
dcpmData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Cooling

Test example: Cooling of a DCPM motor

Information

Test example: Demonstrate cooling of a DCPM motor
The motor starts at no-load speed, then load pulses are applied.
The cooling circuit consists of armature's thermal capacitance, a thermal conductance between armature and core, core's thermal capacitance and a thermal conductance between core and coolant. The coolant flow circuit consists of inlet, volume flow, a pipe connected to the core and the outlet.
Please note:

All unused heat ports of the thermal port (i.e., without loss sources in the machine: brush, stray, friction, permanent magnet) have to be connected to a constant temperature source.
The thermal capacitances (i.e., time constants) are unusual small to provide short simulation time!
The coolant is a theoretical coolant with specific mass = 1 kg/m3 and cp = 1 J/kg.K.
The thermal conductances as well as the coolant flow are parametrized such way, that:

the total coolant's temperature rise is 10 K (over coolant inlet)
the core's temperature rise is 27.5 K (over coolant's average temperature between inlet and outlet)
the armature's temperature rise is 55 K (over coolant's average temperature between inlet and outlet)

Simulate for 25 seconds and plot (versus time):

armature.T: armature temperature
core.T: core temperature
cooling.T: coolant temperature at outlet

Therefore the armature temperature would reach nominal armature temperature at constant nominal load.
Default machine parameters are used, but:

The armature winding material is set to Copper.
Armature reference temperature is set to 80 degC.
Nominal armature temperature is set to 80 degC.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
Ve	Actual excitation voltage [V]
w0	No-load speed [rad/s]
TLoad	Nominal load torque [N.m]
JLoad	Load's moment of inertia [kg.m2]
TAmbient	Ambient temperature [K]
Ca	Armature's heat capacity [J/K]
Cc	Core's heat capacity [J/K]
G_armature_core	Heat conductance armature - core [W/K]
G_core_cooling	Heat conductance core - cooling [W/K]
CoolantFlow	Coolant flow [m3/s]
dcpmData

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_QuasiStatic

Test example: Compare DCPM motors transient - quasi-static

Information

Test example: Compare DCPM motors transient and quasi-static
The motors start at no-load speed, then load pulses are applied.
Simulate for 2 seconds and plot (versus time):

dcpm1.ia: armature current of transient model
dcpm1.wMechanical: motor's speed of transient model
dcpm1.tauElectrical: motor's torque of transient model
dcpm2.ia: armature current of quasi-static model
dcpm2.wMechanical: motor's speed of quasi-static model
dcpm2.tauElectrical: motor's torque of quasi-static model

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
Ve	Actual excitation voltage [V]
w0	No-load speed [rad/s]
TLoad	Nominal load torque [N.m]
JLoad	Load's moment of inertia [kg.m2]
dcpmData	DC machine data

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_withLosses

Test example: Investigate influence of losses on DCPM motor performance

Information

Test example: Investigate influence of losses on DCPM motor performance
Both motors are started with a voltage ramp applied to the armature, causing the DC machines to start, and accelerating inertias. Both machines are loading with a quadratic speed dependent load torque.
The first machine dcpm1 uses default machine parameters of model DC_PermanentMagnet, the second machine dcpm2 is parametrized with additional losses:

	dcpm1	dcpm2
Armature voltage	100	100	V
Armature current	100	100	A
Inner voltage	95.0	94.5	V
Nominal speed	1425.0	1417.5	rpm
Armature resistance	0.05000	0.03864	Ohm
Temperature coefficient	n/a	0.00392	1/K
Reference temperature	n/a	20	degC
Operation temperature	n/a	95	degC
Brush voltage drop	n/a	0.5	V
Electrical input	10,000	10,000	W
Armature copper losses	500	500	W
Core losses	n/a	200	W
Stray load losses	n/a	50	W
Friction losses	n/a	100	W
Brush losses	n/a	50	W
Mechanical output	9,500	9,100	W
Nominal torque	63,66	61,30	Nm

Note: The reference values (voltage, current, speed) are already propagated to the loss records, using the nominal operation point.
See:
Anton Haumer, Christian Kral, Hansjörg Kapeller, Thomas Bäuml, Johannes V. Gragger
The AdvancedMachines Library: Loss Models for Electric Machines
Modelica 2009, 7^th International Modelica Conference

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
tStart	Start of armature voltage ramp [s]
tRamp	Armature voltage ramp [s]
TLoad1	Nominal load torque [N.m]
wLoad1	Nominal load speed [rad/s]
TLoad2	Nominal load torque [N.m]
wLoad2	Nominal load speed [rad/s]
JLoad	Load's moment of inertia [kg.m2]
dcpmData1	Data of DC machine 1
dcpmData2	Data of DC machine 2

Modelica.Electrical.Machines.Examples.DCMachines.DC_CompareCharacteristics

Test example: Compare torque-speed characteristic of DC motors

Information

Test example: Compare characteristic of DC motors
The motors are started at nominal speed, then load is ramped down. Simulate for 6 seconds and plot dcxx.wMechanical (motor speed) versus dcxx.tauElectrical (motor torque). Default machine parameters are used.

Note that the characteristics of permanent magnet and electrical excited dc machine (at nominal excitation) is identical, but speed of the series excited dc machine rises when load torque is lowered. Dynamic increase of speed is determined by the sum of inertias. Load torque of the series excited is not lowered to zero, otherwise speed would rise infinitely.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
Va	Actual armature voltage [V]
Ve	Actual excitation voltage [V]
TLoad	Nominal load torque [N.m]
tStart	Start of load torque ramp [s]
tRamp	Load torque ramp [s]
JLoad	Load's moment of inertia [kg.m2]
dcpmData	Parameters of permanent magnet dc machine
dceeData	Parameters of electrical excited dc machine
dcseData	Parameters of series excited dc machine

Modelica.Electrical.Machines.Examples.DCMachines.DCPM_Drive

Test example: drive with 2 permanent magnet DC machines

Information

This example demonstrates how to use a coupling to implement a drive consisting if two permanent magnet DC machines. Note that dcpm1 is turning in the positive direction, whereas dcpm2 is turning in the opposite direction. This is evident by comparing speedSensor1.w and speedSensor2.w. Therefore, the armature of dcpm2 is connected reversed to the source.

Machine dcpm1 starts the drive with a voltage ramp up to half of no-load speed, the armature of dcpm2 is not connected. Since the induced voltage of dcpm2 is the same as that of dcdcInverter2, the switch is closed without any transient. After that, the armature voltage of dcpm2 is slightly increased, causing dcpm2 to drive as motor and dcpm1 to brake as generator. Therefore, the speed coupling.w increases.

Note that in stationary operation the battery only delivers the losses of both machines, since power is exchanged directly between both machines. Only during short time spans with transient operation power is delivered back to the battery, which is the case after accelerating the whole drive when angular velocity settles. An additional energy storage between the battery and the inverters (like a large capacitor or a super capacitor) would help to avoid such situations and to smooth possible current spikes.

Extends from Modelica.Icons.Example (Icon for runnable examples).

Parameters

Name	Description
dcpmData	DC machine data

Automatically generated Tue Feb 24 16:59:14 2026.