Mapped Motor

Mapped motor and drive electronics operating in torque-control mode

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

Description

The Mapped Motor block implements a mapped motor and drive electronics operating in torque-control mode. The output torque tracks the torque reference demand while including a time constant for the combined motor and motor drive. Use the block for fast system-level simulations when you do not know detailed physical parameters of the motor, for example, for motor power and torque tradeoff studies.

You can specify:

Port configuration — Input torque or motor shaft speed.
Electrical torque range — Parameterize by a torque-speed envelope, maximum motor power and torque, or a torque-speed-voltage envelope. If you have your own torque torque-speed-voltage envelope, you can directly import it.
Electrical loss — Parameterize by using a single measured operating point, a measured loss table, or a measured efficiency table. If you have Model-Based Calibration Toolbox™, you can virtually calibrate the measured loss table. If you have your own calibration table, you can directly import it.

Electrical Torque

To specify the range of torque that the block allows, on the Electrical Torque tab, for Parameterized by, select one of these options.

Setting Block Implementation

Setting	Block Implementation
`Tabulated torque-speed envelope`	Range specified as a set of shaft speed data points with corresponding maximum torque values. Minimum torque is set to the negative of maximum torque.
`Maximum torque and power`	Range specified using the maximum torque and maximum power values.
`Tabulated torque-speed-voltage envelope`	Range specified as a set of speed and voltage data points with their corresponding maximum and minimum torque values. To directly import your own torque-limits calibration tables, click Import Torque Limits Calibration.

Tabulated torque-speed
                                                  envelope

Range specified as a set of shaft speed data points with corresponding maximum torque values. Minimum torque is set to the negative of maximum torque.

Maximum torque and
                                                  power

Range specified using the maximum torque and maximum power values.

Tabulated torque-speed-voltage
                                                  envelope

Range specified as a set of speed and voltage data points with their corresponding maximum and minimum torque values.

To directly import your own torque-limits calibration tables, click Import Torque Limits Calibration.

For any of these methods, the block implements a torque envelope similar to the one in this figure. If Parameterized by is set to Tabulated torque-speed-voltage envelope, the envelope adds voltage as a third axis.

Plot of torque envelope versus speed, indicating permissible steady-state operation

Direct Import of Electrical Torque

If you have your own torque-speed-voltage envelope calibration, you can directly import it. This table steps through the tasks.

Task	Description
Select parameterization	On the Electrical Torque tab, set Parameterized by to `Tabulated torque-speed-voltage envelope`.
Select electrical torque calibration data file	Navigate to the calibration data file folder, for example, `<matlabroot>/toolbox/autoblks/`. Select the calibration data file, for example, `MotorCalibrationImportData.xlsx`. Click Open.
Import torque limits data	Click Import Torque Limits Calibration. The block reads and imports the data in the spreadsheet MaxTorque and MinTorque tabs.

Task

Description

Select parameterization

On the Electrical Torque tab, set Parameterized by to Tabulated torque-speed-voltage envelope.

Select electrical torque calibration data file

Navigate to the calibration data file folder, for example, <matlabroot>/toolbox/autoblks/.

Select the calibration data file, for example, MotorCalibrationImportData.xlsx.

Click Open.

Import torque limits data

Click Import Torque Limits Calibration. The block reads and imports the data in the spreadsheet MaxTorque and MinTorque tabs.

Electrical Losses

To specify the electrical losses, on the Electrical Losses tab, for Parameterize losses by, select one of these options.

Setting	Block Implementation
`Single efficiency measurement`	Efficiency calculated using three loss terms. One term is constant, and measured at zero speed and torque: Fixed losses independent of torque and speed, P₀. Use P₀ to account for fixed converter losses. Two terms depend on operating conditions. The block determines their coefficients from the efficiency η₀ measured at an efficiency setpoint, where motor torque is τ₀ and motor speed is ω₀: A torque-dependent electrical loss kτ², where k is a constant and τ is the torque. This term represents ohmic losses in the copper windings. A speed-dependent electrical loss k_wω², where k_w is a constant and ω is the speed. This term represents iron losses due to eddy currents.
`Tabulated loss data`	Loss calibration lookup table that is a function of motor speed and load torque. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 2-D lookup table using measured data.
`Tabulated loss data with temperature`	Loss calibration lookup table that is a function of motor speed, load torque, and operating temperature. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 3-D lookup table using measured data.
`Tabulated loss data with temperature and voltage`	Loss calibration lookup table that is a function of load torque, motor speed, voltage, and operating temperature. To directly import your own 4-D loss calibration table, click Import Loss Calibration.
`Tabulated efficiency data`	2-D efficiency calibration lookup table that is a function of motor speed and load torque. The block: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. Ignores efficiency values you provide for zero speed 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 speed and low torque values, 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`	3-D efficiency calibration lookup table that is a function of motor speed, load torque, and operating temperature. The block: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. Ignores efficiency values you provide for zero speed or zero torque. Losses are assumed zero when either torque or speed is zero. Uses linear interpolation to determine losses. Provide tabulated data at low speed and low torque values, 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.
`Tabulated efficiency data with temperature and voltage`	Efficiency calibration lookup table that is a function of load torque, motor speed, voltage, and operating temperature. To directly import your own 4-D efficiency calibration table, click Import Efficiency Calibration. The block: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. Ignores efficiency values you provide for zero speed 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 speed and low torque values, as required, to get the desired level of accuracy for lower power conditions. Does not extrapolate loss values for speed, torque, temperature, or voltage magnitudes that exceed the range of the table.

As a best practice, use Tabulated loss data, Tabulated loss data with temperature, or Tabulated loss data with temperature and voltage instead of Tabulated efficiency data, Tabulated efficiency data with temperature, or Tabulated efficiency data with temperature and voltage:

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

Virtual Calibration of Electrical Losses

If you have Model-Based Calibration Toolbox, you can virtually calibrate a 2-D or 3-D measured loss lookup table.

On the Electrical Losses tab, set Parameterize losses by to either:
- Tabulated loss data
- Tabulated loss data with temperature
Click Calibrate Maps.

The dialog box steps through these tasks.

Task

Description

Import loss data

Import loss data from a file, for example, open <matlabroot>/toolbox/autoblks/autoblksshared/mbctemplates/MappedMotorDataset.xlsx.

For more information, see Using 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, select Edit 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, select Edit in Application. The Model-Based Calibration Toolbox Model Browser opens. For more information, see Model Assessment (Model-Based Calibration Toolbox).

Generate calibration

Model-Based Calibration Toolbox calibrates the response model and generates the calibrated table.

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

Update block parameters

Update these parameters with the calibration.

Parameterize losses by	Parameters
`Tabulated loss data`	Speed breakpoints for losses, w_eff_bp Torque breakpoints for losses, T_eff_bp Loss table, losses_table
`Tabulated loss data with temperature`	Speed breakpoints for losses, w_eff_bp Torque breakpoints for losses, T_eff_bp Temperature breakpoints for losses, Temp_eff_bp Loss table, losses_table_3d

Direct Import of Electrical Losses

If you have your own loss calibration versus torque, speed, voltage, and temperature, you can directly import it. This table steps through the tasks.

Task	Description
Select parameterization	On the Electrical Losses tab, set Parameterize losses by to `Tabulated loss data with temperature and voltage`.
Select calibration data file	Navigate to the calibration data file folder, for example, `<matlabroot>/toolbox/autoblks/`. Select the calibration data file, for example, `MotorCalibrationImportData.xlsx`. Click Open.
Import loss data	Click Import Loss Calibration. The block reads and imports the data in the spreadsheet PowerLoss tab.

Task

Description

Select parameterization

On the Electrical Losses tab, set Parameterize losses by to Tabulated loss data with temperature and voltage.

Select calibration data file

Navigate to the calibration data file folder, for example, <matlabroot>/toolbox/autoblks/.

Select the calibration data file, for example, MotorCalibrationImportData.xlsx.

Click Open.

Import loss data

Click Import Loss Calibration. The block reads and imports the data in the spreadsheet PowerLoss tab.

Direct Import of Electrical Efficiency

If you have your own efficiency calibration versus torque, speed, voltage, and temperature, you can directly import it. This table steps through the tasks.

Task	Description
Select parameterization	On the Electrical Losses tab, set Parameterize losses by to `Tabulated efficiency data with temperature and voltage`.
Select calibration data file	Navigate to the calibration data file folder, for example, `<matlabroot>/toolbox/autoblks/`. Select the calibration data file, for example, `MotorCalibrationImportData.xlsx`. Click Open.
Import efficiency data	Click Import Efficiency Calibration. The block reads and imports the data in the spreadsheet Efficiency tab.

Task

Description

Select parameterization

On the Electrical Losses tab, set Parameterize losses by to Tabulated efficiency data with temperature and voltage.

Select calibration data file

Navigate to the calibration data file folder, for example, <matlabroot>/toolbox/autoblks/.

Select the calibration data file, for example, MotorCalibrationImportData.xlsx.

Click Open.

Import efficiency data

Click Import Efficiency Calibration. The block reads and imports the data in the spreadsheet Efficiency tab.

Battery Current

The block calculates the battery current using the 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 power accounting, the block implements these equations.

Bus Signal			Description	Definition	Units
`PwrInfo`	`PwrTrnsfrd` Positive signals indicate power flow into the block. Negative signals indicate power flow out of the block.	`PwrMtr`	Mechanical power	$P_{m o t} = - T_{e} ω$	W
		`PwrBus`	Electrical power	$P_{b u s} = B a t t V o l t \times B a t t A m p$	W
	`PwrNotTrnsfrd` Negative signals indicate power loss to heat.	`PwrLoss`	Motor power loss — includes electrical and mechanical losses	$\begin{array}{l} P_{l o s s, t o t a l} = P w r L o s s + P_{d} \\ Where P_{d} = - b ω^{2} \end{array}$	W
	`PwrStored` Positive value indicates kinetic energy increase.	`PwrStoredShft`	Rotor kinetic energy storage rate	$P_{s t o r e d} = J \dot{ω} ω$	W

The equations use these variables.

T_e	Motor torque applied to shaft, assuming constant rotor speed
ω	Rotor speed
b	Rotational damping coefficient
J	Rotor inertia
P_d	Damping loss separate from any in loss table
P_loss,total	Total losses to heat, equal to `PwrNotTrnsfrd`

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.

MtrSpd — Motor output shaft speed
scalar

Motor shaft speed, Mtr_spd, in rad/s.

Dependencies

To enable this port, set Port configuration to Speed.

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 enable this port, set Port configuration to Torque.

Parameters

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Block Options

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

This table summarizes the port configurations.

Port Configuration	Enables Ports
`Torque`	Outport `MtrSpd`
`Speed`	Input `MtrSpd`

Import Torque Limits Calibration — Method to directly import torque limits calibration tables
selection

If you have your own torque-speed-voltage envelope calibration, you can directly import it. This table steps through the tasks.

Task	Description
Select parameterization	On the Electrical Torque tab, set Parameterized by to `Tabulated torque-speed-voltage envelope`.
Select electrical torque calibration data file	Navigate to the calibration data file folder, for example, `<matlabroot>/toolbox/autoblks/`. Select the calibration data file, for example, `MotorCalibrationImportData.xlsx`. Click Open.
Import torque limits data	Click Import Torque Limits Calibration. The block reads and imports the data in the spreadsheet MaxTorque and MinTorque tabs.

Task

Description

Select parameterization

On the Electrical Torque tab, set Parameterized by to Tabulated torque-speed-voltage envelope.

Select electrical torque calibration data file

Navigate to the calibration data file folder, for example, <matlabroot>/toolbox/autoblks/.

Select the calibration data file, for example, MotorCalibrationImportData.xlsx.

Click Open.

Import torque limits data

Click Import Torque Limits Calibration. The block reads and imports the data in the spreadsheet MaxTorque and MinTorque tabs.

Calibrate Maps — Method to calibrate loss table with measured data
selection

If you have Model-Based Calibration Toolbox, you can virtually calibrate a 2-D or 3-D measured loss lookup table.

On the Electrical Losses tab, set Parameterize losses by to either:
- Tabulated loss data
- Tabulated loss data with temperature
Click Calibrate Maps.

The dialog box steps through these tasks.

Task

Description

Import loss data

Import loss data from a file, for example, open <matlabroot>/toolbox/autoblks/autoblksshared/mbctemplates/MappedMotorDataset.xlsx.

For more information, see Using 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, select Edit 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 model and generates the calibrated table.

Update block parameters

Update these parameters with the calibration.

Parameterize losses by	Parameters
`Tabulated loss data`	Speed breakpoints for losses, w_eff_bp Torque breakpoints for losses, T_eff_bp Loss table, losses_table
`Tabulated loss data with temperature`	Speed breakpoints for losses, w_eff_bp Torque breakpoints for losses, T_eff_bp Temperature breakpoints for losses, Temp_eff_bp Loss table, losses_table_3d

Import Loss Calibration — Method to directly import loss calibration table
selection

If you have your own loss calibration versus torque, speed, voltage, and temperature, you can directly import it. This table steps through the tasks.

Task	Description
Select parameterization	On the Electrical Losses tab, set Parameterize losses by to `Tabulated loss data with temperature and voltage`.
Select calibration data file	Navigate to the calibration data file folder, for example, `<matlabroot>/toolbox/autoblks/`. Select the calibration data file, for example, `MotorCalibrationImportData.xlsx`. Click Open.
Import loss data	Click Import Loss Calibration. The block reads and imports the data in the spreadsheet PowerLoss tab.

Task

Description

Select parameterization

On the Electrical Losses tab, set Parameterize losses by to Tabulated loss data with temperature and voltage.

Select calibration data file

Navigate to the calibration data file folder, for example, <matlabroot>/toolbox/autoblks/.

Select the calibration data file, for example, MotorCalibrationImportData.xlsx.

Click Open.

Import loss data

Click Import Loss Calibration. The block reads and imports the data in the spreadsheet PowerLoss tab.

Import Efficiency Calibration — Method to directly import efficiency calibration table
selection

If you have your own efficiency calibration versus torque, speed, voltage, and temperature, you can directly import it. This table steps through the tasks.

Task	Description
Select parameterization	On the Electrical Losses tab, set Parameterize losses by to `Tabulated efficiency data with temperature and voltage`.
Select calibration data file	Navigate to the calibration data file folder, for example, `<matlabroot>/toolbox/autoblks/`. Select the calibration data file, for example, `MotorCalibrationImportData.xlsx`. Click Open.
Import efficiency data	Click Import Efficiency Calibration. The block reads and imports the data in the spreadsheet Efficiency tab.

Task

Description

Select parameterization

On the Electrical Losses tab, set Parameterize losses by to Tabulated efficiency data with temperature and voltage.

Select calibration data file

Navigate to the calibration data file folder, for example, <matlabroot>/toolbox/autoblks/.

Select the calibration data file, for example, MotorCalibrationImportData.xlsx.

Click Open.

Import efficiency data

Click Import Efficiency Calibration. The block reads and imports the data in the spreadsheet Efficiency tab.

Electrical Torque

Parameterized by — Parameterization method for torque envelope
`Tabulated torque-speed envelope` (default) | `Maximum torque and power` | `Tabulated torque-speed-voltage envelope`

Setting Block Implementation

Setting	Block Implementation
`Tabulated torque-speed envelope`	Range specified as a set of shaft speed data points with corresponding maximum torque values. Minimum torque is set to the negative of maximum torque.
`Maximum torque and power`	Range specified using the maximum torque and maximum power values.
`Tabulated torque-speed-voltage envelope`	Range specified as a set of speed and voltage data points with their corresponding maximum and minimum torque values. To directly import your own torque-limits calibration tables, click Import Torque Limits Calibration.

Tabulated torque-speed
                                                  envelope

Range specified as a set of shaft speed data points with corresponding maximum torque values. Minimum torque is set to the negative of maximum torque.

Maximum torque and
                                                  power

Range specified using the maximum torque and maximum power values.

Tabulated torque-speed-voltage
                                                  envelope

Range specified as a set of speed and voltage data points with their corresponding maximum and minimum torque values.

To directly import your own torque-limits calibration tables, click Import Torque Limits Calibration.

Plot of torque envelope versus speed, indicating permissible steady-state operation

Speed breakpoints for maximum torque, w_t — Rotational speeds
`[0 375 750 800]` (default) | vector

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

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed envelope.

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

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

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed envelope.

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

The maximum permissible motor torque, in N·m.

Dependencies

To create this parameter, for Parameterized by, select Maximum torque and power.

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

The maximum permissible motor power, in W.

Dependencies

To create this parameter, for Parameterized by, select Maximum 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.

Maximum torque as a function of speed and voltage, Tmax_w_V — Torque
`[0.09 0.09 0.09;0.08 0.08 0.08;0.07 0.07 0.07;0 0 0` (default) | vector

Maximum permissible torque, including sign, at a given set of speed and voltage breakpoints, in N·m.

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed-voltage envelope.

Speed breakpoints for maximum torque, w_Tmax_bp — Rotational speeds
`[ 0 375 750 800 ]` (default) | vector

Speed at each value of maximum torque, in rad/s.

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed-voltage envelope.

Voltage breakpoints for maximum torque, V_Tmax_bp — Voltage
`[ 500 750 900 ]` (default) | vector

Voltage at each value of maximum torque, in rad/s.

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed-voltage envelope.

Minimum torque as a function of speed and voltage, Tmin_w_V — Torque
`[-0.09 -0.09 -0.09;-0.08 -0.08 -0.08;-0.07 -0.07 -0.07;0 0 0` (default) | vector

Minimum permissible torque, including sign, at a given set of speed and voltage breakpoints, in N·m.

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed-voltage envelope.

Speed breakpoints for minimum torque, w_Tmin_bp — Rotational speeds
`[ 0 375 750 800 ]` (default) | vector

Speed at each value of minimum torque, in rad/s.

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed-voltage envelope.

Voltage breakpoints for minimum torque, V_Tmin_bp — Voltage
`[ 500 750 900 ]` (default) | vector

Voltage at each value of minimum torque, in rad/s.

Dependencies

To create this parameter, for Parameterized by, select Tabulated torque-speed-voltage envelope.

Electrical Losses

Parameterize losses by — Parameterization method for electrical losses
`Single efficiency measurement` (default) | `Tabulated loss data` | `Tabulated loss data with temperature` | `Tabulated loss data with temperature and voltage` | `Tabulated efficiency data` | `Tabulated efficiency data with temperature` | `Tabulated efficiency data with temperature and voltage`

Setting	Block Implementation
`Single efficiency measurement`	Efficiency calculated using three loss terms. One term is constant, and measured at zero speed and torque: Fixed losses independent of torque and speed, P₀. Use P₀ to account for fixed converter losses. Two terms depend on operating conditions. The block determines their coefficients from the efficiency η₀ measured at an efficiency setpoint, where motor torque is τ₀ and motor speed is ω₀: A torque-dependent electrical loss kτ², where k is a constant and τ is the torque. This term represents ohmic losses in the copper windings. A speed-dependent electrical loss k_wω², where k_w is a constant and ω is the speed. This term represents iron losses due to eddy currents.
`Tabulated loss data`	Loss calibration lookup table that is a function of motor speed and load torque. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 2-D lookup table using measured data.
`Tabulated loss data with temperature`	Loss calibration lookup table that is a function of motor speed, load torque, and operating temperature. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 3-D lookup table using measured data.
`Tabulated loss data with temperature and voltage`	Loss calibration lookup table that is a function of load torque, motor speed, voltage, and operating temperature. To directly import your own 4-D loss calibration table, click Import Loss Calibration.
`Tabulated efficiency data`	2-D efficiency calibration lookup table that is a function of motor speed and load torque. The block: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. Ignores efficiency values you provide for zero speed 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 speed and low torque values, 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`	3-D efficiency calibration lookup table that is a function of motor speed, load torque, and operating temperature. The block: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. Ignores efficiency values you provide for zero speed or zero torque. Losses are assumed zero when either torque or speed is zero. Uses linear interpolation to determine losses. Provide tabulated data at low speed and low torque values, 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.
`Tabulated efficiency data with temperature and voltage`	Efficiency calibration lookup table that is a function of load torque, motor speed, voltage, and operating temperature. To directly import your own 4-D efficiency calibration table, click Import Efficiency Calibration. The block: Converts the efficiency values you provide into losses and uses the tabulated losses for simulation. Ignores efficiency values you provide for zero speed 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 speed and low torque values, as required, to get the desired level of accuracy for lower power conditions. Does not extrapolate loss values for speed, torque, temperature, or voltage magnitudes that exceed the range of the table.

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

Motor and drive overall efficiency, eff — Combined efficiency η₀ of the motor and motor drive, measured at the efficiency setpoint, in percent
`100` (default) | scalar

At the efficiency setpoint, the motor torque is τ₀ and motor speed is ω₀. The efficiency measured in this condition is η₀.

The block defines overall efficiency percentage during operation as:

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

The equation uses these variables.

τ	Motor torque
ω	Motor speed
P₀	Fixed losses independent of torque or speed, measured as the base loss at zero motor torque and speed
$k τ^{2}$	Torque-dependent electrical losses
k_wω²	Speed-dependent iron losses, P_Iron = k_wω²

At initialization, the block sets the value for k_w from the iron-loss equation, using the iron losses measured at the efficiency setpoint torque τ₀ and speed ω₀:

$P_{I r o n, 0} = k_{w} ω_{0}^{2}$

The block then sets the value for k from the efficiency equation, using the value for efficiency η₀ measured at the efficiency setpoint:

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

The block neglects losses associated with rotor damping.

Dependencies

To create this parameter, for Parameterize losses by, select Single efficiency measurement.

Speed at which efficiency is measured, w_eff — Speed
`375` (default) | scalar

Motor speed ω₀ at the efficiency setpoint, in rad/s.

Dependencies

To create this parameter, for Parameterize losses by, select Single efficiency measurement.

Torque at which efficiency is measured, T_eff — Torque
`0.08` (default) | scalar

Torque τ₀ at the efficiency setpoint, in N·m.

Dependencies

To create this parameter, for Parameterize losses by, select Single efficiency measurement.

Iron losses, Piron — Power
`0` (default) | scalar

Iron losses P_Iron_,0 at the efficiency setpoint, in W.

Dependencies

To create this parameter, for Parameterize losses by, select Single efficiency measurement.

Fixed losses independent of torque and speed, Pbase — Power
`0` (default) | scalar

Constant component P₀ of power loss associated with the motor drive, evaluated at zero torque and speed, in W.

Dependencies

To create this parameter, for Parameterize losses by, select Single efficiency measurement.

Speed breakpoints for losses, w_eff_bp — Breakpoints
`[-800 -400 0 400 800]` (default) | `1`-by-`M` vector

Speed breakpoints for loss lookup table, in rad/s. Array dimensions are 1 by the number of speed breakpoints M.

Dependencies

To create this parameter, for Parameterize losses by, select one of these options:

Tabulated loss data
Tabulated loss data with temperature
Tabulated loss data with temperature and voltage
Tabulated efficiency data
Tabulated efficiency data with temperature
Tabulated efficiency data with temperature and voltage

Torque breakpoints for losses, T_eff_bp — Breakpoints
`[0 0.03 0.06 0.09]` (default) | `1`-by-`N` vector

Torque breakpoints for loss lookup table, in N·m. Array dimensions are 1 by the number of torque breakpoints N.

Dependencies

To create this parameter, for Parameterize losses by, select one of these options:

Tabulated loss data
Tabulated loss data with temperature
Tabulated loss data with temperature and voltage
Tabulated efficiency data
Tabulated efficiency data with temperature
Tabulated efficiency data with temperature and voltage

Temperature breakpoints for losses, Temp_eff_bp — Breakpoints
`[233.15 293.15 373.15]` (default) | `1`-by-`L` vector

Temperature breakpoints for loss lookup table, in K. Array dimensions are 1 by the number of temperature breakpoints L.

Dependencies

To create this parameter, for Parameterize losses by, select one of these options:

Tabulated loss data with temperature
Tabulated loss data with temperature and voltage
Tabulated efficiency data with temperature
Tabulated efficiency data with temperature and voltage

Voltage breakpoints for losses, V_eff_bp — Breakpoints
`[500 700 900]` (default) | `1`-by-`K` vector

Voltage breakpoints for loss lookup table, in volts. Array dimensions are 1 by the number of voltage breakpoints K.

Dependencies

To create this parameter, for Parameterize losses by, select one of these options:

Tabulated loss data with temperature and voltage
Tabulated efficiency data with temperature and voltage

Loss table, losses_table — 2-D lookup table
`M`-by-`N` matrix

Array of values for electrical losses as a function of speed and torque, in W. Each value specifies the losses for a specific combination of speed and torque. The array dimensions must match the breakpoint vector dimensions for speed M and torque N.

Dependencies

To create this parameter, for Parameterize losses by, select Tabulated loss data.

Loss table, losses_table_3d — 3-D lookup table
`M`-by-`N`-by-`L` array

Array of values for electrical losses as a function of speed, torque, and temperature, in W. Each value specifies the losses for a specific combination of speed, torque, and temperature. The array dimensions must match the breakpoint vector dimensions for speed M, torque N, and temperature L.

Dependencies

To create this parameter, for Parameterize losses by, select Tabulated loss data with temperature.

Loss table, losses_table_4d — 4-D lookup table
`N`-by-`M`-by-`K`-by-`L` array

Array of values for electrical losses as a function of speed, torque, temperature, and voltage, in W. Each value specifies the losses for a specific combination of speed, torque, temperature, and voltage. The array dimensions must match the breakpoint vector dimensions for torque N, speed M, voltage K, and temperature L.

Dependencies

To create this parameter, for Parameterize losses by, select Tabulated loss data with temperature and voltage.

Efficiency table, efficiency_table — 2-D lookup table
`M`-by-`N` matrix

Array of efficiency as a function of speed and torque, in percent. Each value specifies the losses for a specific combination of speed and torque. The array dimensions must match the breakpoint vector dimensions for speed M, and torque N.

The block ignores efficiency values for zero speed or zero torque. Losses are zero when either torque or speed is zero. The block uses linear interpolation.

To get the desired level of accuracy for lower power conditions, you can provide tabulated data for low speed and low torque values.

Dependencies

To create this parameter, for Parameterize losses by, select Tabulated efficiency data.

Efficiency table, efficiency_table_3d — 3-D lookup table
`M`-by-`N`-by-`L` array

Array of efficiency as a function of speed, torque, and temperature, in percent. Each value specifies the losses for a specific combination of speed, torque, and temperature. The array dimensions must match the breakpoint vector dimensions for speed M, torque N, and temperature L.

The block ignores efficiency values for zero speed or zero torque. Losses are zero when either torque or speed is zero. The block uses linear interpolation.

To get the desired level of accuracy for lower power conditions, you can provide tabulated data for low speed and low torque values.

Dependencies

To create this parameter, for Parameterize losses by, select Tabulated efficiency data with temperature.

Efficiency table, efficiency_table_4d — 4-D lookup table
`N`-by-`M`-by-`K`-by-`L` array

Array of efficiency as a function of speed, torque, temperature, and voltage, in percent. Each value specifies the losses for a specific combination of speed, torque, temperature, and voltage. The array dimensions must match the breakpoint vector dimensions for torque N, speed M, voltage K, and temperature L.

The block ignores efficiency values for zero speed or zero torque. Losses are zero when either torque or speed is zero. The block uses linear interpolation.

To get the desired level of accuracy for lower power conditions, you can provide tabulated data for low speed and low torque values.

Dependencies

To create this parameter, for Parameterize losses by, select Tabulated efficiency data with temperature and voltage.

Mechanical

Rotor inertia, J — Inertia
`5e-6` (default) | scalar

Rotor resistance to change in angular velocity, in kg·m². You can set the value to zero.

Dependencies

To create this parameter, set Port configuration to Torque.

Rotor damping, b — Damping
`1e-5` (default) | scalar

Rotor damping, in N·m/(rad/s). You can set the value to zero.

Dependencies

To create this parameter, set Port configuration to Torque.

Initial rotor speed, omega_o — Speed
`0` (default) | scalar

Rotor speed at the start of the simulation, in rad/s.

Dependencies

To create this parameter, set Port configuration to Torque.

Extended Capabilities

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Version History

Introduced in R2017a

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R2024b: Calibration: Directly import calibration tables for mapped motors

Starting in R2024b, to improve calibration workflows, you can directly import mapped motor calibration tables into a Mapped Motor block as a function of four parameters:

Motor torque
Motor speed
Supplied voltage
Motor temperature

On the block mask, set Port Configuration to Torque, click the Electrical Losses tab, and set Parameterize losses by: to Tabulated loss data with temperature and voltage. Then, click Import Calibration.

Mapped Motor

Description

Electrical Torque

Direct Import of Electrical Torque

Electrical Losses

Virtual Calibration of Electrical Losses

Direct Import of Electrical Losses

Direct Import of Electrical Efficiency

Battery Current

Power Accounting

Ports

Input

BattVolt — Battery voltage scalar

TrqCmd — Commanded motor torque scalar

MtrSpd — Motor output shaft speed scalar

Dependencies

Output

Info — Bus signal bus

BattCurr — Battery current scalar

MtrTrq — Motor torque scalar

MtrSpd — Motor shaft speed scalar

Dependencies

Parameters

Port configuration — Port configuration Torque (default) | Speed

Import Torque Limits Calibration — Method to directly import torque limits calibration tables selection

Calibrate Maps — Method to calibrate loss table with measured data selection

Import Loss Calibration — Method to directly import loss calibration table selection

Import Efficiency Calibration — Method to directly import efficiency calibration table selection

Parameterized by — Parameterization method for torque envelope Tabulated torque-speed envelope (default) | Maximum torque and power | Tabulated torque-speed-voltage envelope

Speed breakpoints for maximum torque, w_t — Rotational speeds [0 375 750 800] (default) | vector

Dependencies

Maximum torque values, T_t — Torque [0.09 0.08 0.07 0] (default) | vector

Dependencies

Maximum torque, torque_max — Torque 0.1 (default) | scalar

Dependencies

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

Dependencies

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

Maximum torque as a function of speed and voltage, Tmax_w_V — Torque [0.09 0.09 0.09;0.08 0.08 0.08;0.07 0.07 0.07;0 0 0 (default) | vector

Dependencies

Speed breakpoints for maximum torque, w_Tmax_bp — Rotational speeds [ 0 375 750 800 ] (default) | vector

Dependencies

Voltage breakpoints for maximum torque, V_Tmax_bp — Voltage [ 500 750 900 ] (default) | vector

Dependencies

Minimum torque as a function of speed and voltage, Tmin_w_V — Torque [-0.09 -0.09 -0.09;-0.08 -0.08 -0.08;-0.07 -0.07 -0.07;0 0 0 (default) | vector

Dependencies

Speed breakpoints for minimum torque, w_Tmin_bp — Rotational speeds [ 0 375 750 800 ] (default) | vector

Dependencies

Voltage breakpoints for minimum torque, V_Tmin_bp — Voltage [ 500 750 900 ] (default) | vector

Dependencies

Motor and drive overall efficiency, eff — Combined efficiency η0 of the motor and motor drive, measured at the efficiency setpoint, in percent 100 (default) | scalar

Dependencies

Speed at which efficiency is measured, w_eff — Speed 375 (default) | scalar

Dependencies

Torque at which efficiency is measured, T_eff — Torque 0.08 (default) | scalar

Dependencies

Iron losses, Piron — Power 0 (default) | scalar

Dependencies

Fixed losses independent of torque and speed, Pbase — Power 0 (default) | scalar

Dependencies

Speed breakpoints for losses, w_eff_bp — Breakpoints [-800 -400 0 400 800] (default) | 1-by-M vector

Dependencies

Torque breakpoints for losses, T_eff_bp — Breakpoints [0 0.03 0.06 0.09] (default) | 1-by-N vector

Dependencies

Temperature breakpoints for losses, Temp_eff_bp — Breakpoints [233.15 293.15 373.15] (default) | 1-by-L vector

Dependencies

Voltage breakpoints for losses, V_eff_bp — Breakpoints [500 700 900] (default) | 1-by-K vector

Dependencies

Loss table, losses_table — 2-D lookup table M-by-N matrix

Dependencies

Loss table, losses_table_3d — 3-D lookup table M-by-N-by-L array

Dependencies

Loss table, losses_table_4d — 4-D lookup table N-by-M-by-K-by-L array

Dependencies

Efficiency table, efficiency_table — 2-D lookup table M-by-N matrix

Dependencies

Efficiency table, efficiency_table_3d — 3-D lookup table M-by-N-by-L array

Dependencies

Efficiency table, efficiency_table_4d — 4-D lookup table N-by-M-by-K-by-L array

Dependencies

BattVolt — Battery voltage
scalar

TrqCmd — Commanded motor torque
scalar

MtrSpd — Motor output shaft speed
scalar

Info — Bus signal
bus

BattCurr — Battery current
scalar

MtrTrq — Motor torque
scalar

MtrSpd — Motor shaft speed
scalar

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

Import Torque Limits Calibration — Method to directly import torque limits calibration tables
selection

Calibrate Maps — Method to calibrate loss table with measured data
selection

Import Loss Calibration — Method to directly import loss calibration table
selection

Import Efficiency Calibration — Method to directly import efficiency calibration table
selection

Parameterized by — Parameterization method for torque envelope
`Tabulated torque-speed envelope` (default) | `Maximum torque and power` | `Tabulated torque-speed-voltage envelope`

Speed breakpoints for maximum torque, w_t — Rotational speeds
`[0 375 750 800]` (default) | vector

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

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

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

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

Maximum torque as a function of speed and voltage, Tmax_w_V — Torque
`[0.09 0.09 0.09;0.08 0.08 0.08;0.07 0.07 0.07;0 0 0` (default) | vector

Speed breakpoints for maximum torque, w_Tmax_bp — Rotational speeds
`[ 0 375 750 800 ]` (default) | vector

Voltage breakpoints for maximum torque, V_Tmax_bp — Voltage
`[ 500 750 900 ]` (default) | vector

Minimum torque as a function of speed and voltage, Tmin_w_V — Torque
`[-0.09 -0.09 -0.09;-0.08 -0.08 -0.08;-0.07 -0.07 -0.07;0 0 0` (default) | vector

Speed breakpoints for minimum torque, w_Tmin_bp — Rotational speeds
`[ 0 375 750 800 ]` (default) | vector

Voltage breakpoints for minimum torque, V_Tmin_bp — Voltage
`[ 500 750 900 ]` (default) | vector

Motor and drive overall efficiency, eff — Combined efficiency η₀ of the motor and motor drive, measured at the efficiency setpoint, in percent
`100` (default) | scalar

Speed at which efficiency is measured, w_eff — Speed
`375` (default) | scalar

Torque at which efficiency is measured, T_eff — Torque
`0.08` (default) | scalar

Iron losses, Piron — Power
`0` (default) | scalar

Fixed losses independent of torque and speed, Pbase — Power
`0` (default) | scalar

Speed breakpoints for losses, w_eff_bp — Breakpoints
`[-800 -400 0 400 800]` (default) | `1`-by-`M` vector

Torque breakpoints for losses, T_eff_bp — Breakpoints
`[0 0.03 0.06 0.09]` (default) | `1`-by-`N` vector

Temperature breakpoints for losses, Temp_eff_bp — Breakpoints
`[233.15 293.15 373.15]` (default) | `1`-by-`L` vector

Voltage breakpoints for losses, V_eff_bp — Breakpoints
`[500 700 900]` (default) | `1`-by-`K` vector

Loss table, losses_table — 2-D lookup table
`M`-by-`N` matrix

Loss table, losses_table_3d — 3-D lookup table
`M`-by-`N`-by-`L` array

Loss table, losses_table_4d — 4-D lookup table
`N`-by-`M`-by-`K`-by-`L` array

Efficiency table, efficiency_table — 2-D lookup table
`M`-by-`N` matrix

Efficiency table, efficiency_table_3d — 3-D lookup table
`M`-by-`N`-by-`L` array

Efficiency table, efficiency_table_4d — 4-D lookup table
`N`-by-`M`-by-`K`-by-`L` array

Rotor inertia, J — Inertia
`5e-6` (default) | scalar

Rotor damping, b — Damping
`1e-5` (default) | scalar

Initial rotor speed, omega_o — Speed
`0` (default) | scalar

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Generate C and C++ code using Simulink® Coder™.