机器人和机电
利用这些示例了解如何控制电机、比较电机的特性并开发电动作动器。
精选示例
Brushless DC Motor
How a system-level model of a brushless DC motor (i.e. a servomotor) can be constructed and parameterized based on datasheet information. The motor and driver are modeled as a single masked subsystem. If viewing the model in Simulink®, select the Motor and driver block, and type Ctrl+U to look under the mask and see the model structure.
Compound Motor Design Optimization
Find design parameters that optimize a compound motor torque-speed curve to match the desired curve.
DC 电机控制
此示例展示了 DC 电机的级联速度控制结构。采用 PWM 控制的四象限斩波器为该 DC 电机供电。Control 子系统包括外层转速控制环、内层电流控制环和 PWM 生成模块。总仿真时间 (t) 为 4 秒。在 t = 1.5 秒时，负载转矩增加。在 t = 2.5 秒时，参考转速从 1000 rpm 变为 2000 rpm。
DC Motor Control (Lead-Lag)
A lead-lag speed-control structure for a DC motor. A PWM controlled four-quadrant Chopper is used to feed the DC motor. The Control subsystem includes a lead-lag controller, a constant gain, and the PWM generation. The total simulation time (t) is 4 seconds. At t = 1.5 seconds, the load torque increases. At t = 2.5 seconds, the reference speed is changed from 1000 rpm to 2000 rpm.
DC Motor Control (RST)
An RST speed-control structure for a DC motor. A PWM controlled four-quadrant Chopper is used to feed the DC motor. The Control subsystem includes the RST controller with control horizon of 30, and the PWM generation. A sensor measures the rotor speed with a delay of 5ms. The total simulation time (t) is 4 seconds. At t = 1.5 seconds, the load torque increases. At t = 2.5 seconds, the reference speed is changed from 1000 rpm to 2000 rpm.
DC Motor Control (Smith Predictor)
A Smith Predictor speed-control structure for a DC motor. A PWM controlled four-quadrant Chopper is used to feed the DC motor. The Control subsystem includes the Smith predictor controller, and the PWM generation. A sensor measures the rotor speed with a delay of 5ms. The total simulation time (t) is 4 seconds. At t = 1.5 seconds, the load torque increases. At t = 2.5 seconds, the reference speed is changed from 1000 rpm to 2000 rpm.
DC Motor Control (State-Feedback and Observer)
A state-feedback speed-control structure for a DC motor. A PWM controlled four-quadrant Chopper is used to feed the DC motor. The Control subsystem includes the state-feedback control loop, and the PWM generation. The state vector includes the rotor speed which is measured, and the dc motor current, which is estimated using an observer. Both the observer and state-feedback controller are synthesized by pole placement using the state-space model of the system. The total simulation time (t) is 4 seconds. At t = 1.5 seconds, the load torque increases. At t = 2.5 seconds, the reference speed is changed from 1000 rpm to 2000 rpm.
Hybrid Linear Actuator
A hybrid actuator consisting of a DC motor plus lead screw in series with a piezoelectric stack. The DC motor and lead screw combination supports large displacements (tens of millimeters), but is dynamically slow when tracking the reference demand x_ref. Conversely the piezoelectric stack only supports a maximum displacement of +-0.1mm, but has a very fast dynamic response. Combining the two actuator technologies creates a large stroke actuator with highly precise positioning.
Import Efficiency Map Data from Motor-CAD
Import efficiency map data from Motor-CAD to parameterize the Simscape™ Electrical™ Motor & Drive (System Level) block. This provides fast system-level simulation capability of a motor drive whilst still making accurate predictions about losses.
Linear Electric Actuator (Motor Model)
How to develop a model of an uncontrolled linear actuator using datasheet parameter values. The actuator consists of a DC motor driving a 6.25:1 worm gear which in turn drives a 3mm lead screw to produce linear motion. Manufacturer data for the actuator defines the no-load linear speed (26mm/s), rated load (1000N), rated-load linear speed (19mm/s), and maximum current (5A). The maximum static force is 4000N and the rated voltage is 24V DC.
Linear Electric Actuator with Control
A detailed implementation model of a controlled linear actuator. The actuator consists of a DC motor driving a worm gear which in turn drives a lead screw to produce linear motion. The model includes quantization effects of the Hall-effect sensor and the implementation of the control in analog electronics. There are multiple variant subsystems in this model that have models at varying levels of fidelity.
Model a Motor Drive with Multiple Intermittent Torque Limits
Model a motor drive with multiple intermittent over-torque limits by using Simscape™ Electrical™.
Motor Torque-Speed Curves
A comparison of the torque-speed characteristics for five different motor types. To select the motor type, right-click on the Electric Motor block and select Block Parameters (Subsystem) from the context menu. In the new window, specify the desired motor using the Label mode active choice parameter. All motors have been sized for roughly the same mechanical power rating.
使用 PWM 电压源和 H 桥驱动器控制 DC 电机
此示例展示了如何使用 Controlled PWM Voltage 和 H-Bridge 模块来控制 DC 电机。DC Motor 模块在 2500 rpm 转速下提供 10 W 的机械功率，并且在 DC 电源电压为 12 V 时以 4000 rpm 的空载转速运行。因此，如果将 PWM 参考电压设置为其最大值 5 V，电机将以 4000 rpm 的转速运行。如果将 PWM 参考电压设置为 2.5 V，电机将以约 2000 rpm 的转速运行。为了实现快速仿真，此示例将 Controlled PWM Voltage 模块和 H-Bridge 模块的仿真模式参数设置为 Averaged。要验证平均行为，请在 Controlled PWM Voltage 模块和 H-Bridge 模块中将 Simulation mode 参数都设置为 PWM。
Stepper Motor Averaged Mode
The Stepper Motor simulating in Stepping and Averaged simulation modes. The purpose of Averaged mode is faster simulation for any loads that do not cause slip. To avoid incorrect interpretation of results, the stepper motor has an approximate detection of slip which can be set to generate a warning or an error.
Stepper Motor with Control
Model a controlled permanent magnet stepper motor by using the Stepper Motor and Stepper Motor Driver blocks. The model has two controller options: one to control position and one to control speed. To change the controller type, right-click the Controller subsystem, select Variant > Label Mode Active Choice, and then select Position or Speed. The stepper has a full step size of 1.8 degrees. In position control mode, the input to the Ref port is the desired number of steps. In speed control mode, the input to the Ref port is the desired number of steps per second.
Unipolar Stepper Motor Averaged Mode
The Unipolar Stepper Motor simulating in Stepping and Averaged simulation modes. The purpose of Averaged mode is faster simulation for any loads that do not cause slip. To avoid incorrect interpretation of results, the stepper motor has an approximate detection of slip which can be set to generate a warning or an error.
Unipolar Stepper Motor with Control
Model a controlled permanent magnet stepper motor by using the Unipolar Stepper Motor and Unipolar Stepper Motor Driver blocks. The model has two controller options: one to control position and one to control speed. To change the controller type, right-click the Controller subsystem, select Variant > Label Mode Active Choice, and then select Position or Speed. The stepper has a full step size of 1.8 degrees. In position control mode, the input to the Ref port is the desired number of steps. In speed control mode, the input to the Ref port is the desired number of steps per second.
