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Annex60.Fluid.Actuators.Motors

Package with motor models for valves and dampers

Information

This package contains components models for motors that may be used with the actuator models in Annex60.Fluid.Actuators.Dampers or Annex60.Fluid.Actuators.Valves.

Extends from Modelica.Icons.VariantsPackage (Icon for package containing variants).

Package Content

Name Description
Annex60.Fluid.Actuators.Motors.IdealMotor IdealMotor Ideal motor model with hysteresis
Annex60.Fluid.Actuators.Motors.Examples Examples Collection of models that illustrate model use and test models

Annex60.Fluid.Actuators.Motors.IdealMotor Annex60.Fluid.Actuators.Motors.IdealMotor

Ideal motor model with hysteresis

Annex60.Fluid.Actuators.Motors.IdealMotor

Information

Ideal actuator motor model with hysteresis and finite actuation speed. If the current actuator position y is below (or above) the input signal u by an amount bigger than the hysteresis delta, then the position y is increased (decreased) until it reaches u. The output y is bounded between 0 and 1.

Note: This model can introduce state events which increase the computation time. For a more efficient implementation that approximates a motor, set in the valve or damper model the parameter filteredOpening=true instead of using this motor model. See also Annex60.Fluid.Actuators.UsersGuide.

Extends from Modelica.Blocks.Interfaces.SISO (Single Input Single Output continuous control block).

Parameters

TypeNameDefaultDescription
Realdelta0.05Hysteresis
TimetOpe120Opening time [s]
TimetClotOpeClosing time [s]
Realy_start0.5Start position

Connectors

TypeNameDescription
input RealInputuConnector of Real input signal
output RealOutputyConnector of Real output signal

Modelica definition

model IdealMotor "Ideal motor model with hysteresis" extends Modelica.Blocks.Interfaces.SISO; parameter Real delta(min=0, max=0.5) = 0.05 "Hysteresis"; parameter Modelica.SIunits.Time tOpe(min=0) = 120 "Opening time"; parameter Modelica.SIunits.Time tClo(min=0) = tOpe "Closing time"; parameter Real y_start(min=0, max=1) = 0.5 "Start position"; Modelica.Blocks.Logical.Hysteresis uppHys(final uLow=0, uHigh=delta, final pre_y_start=false); Modelica.Blocks.Logical.Hysteresis lowHys(uLow=-delta, final uHigh=0, final pre_y_start=true) "Lower hysteresis"; Modelica.Blocks.Logical.Switch uppSwi; Modelica.Blocks.Continuous.LimIntegrator int( final y_start=y_start, final k=1, outMax=1, outMin=0, initType=Modelica.Blocks.Types.Init.InitialState, limitsAtInit=true, y(stateSelect=StateSelect.always)) "Integrator for valve opening position"; protected final Modelica.Blocks.Sources.Constant zer(final k=0) "Zero signal"; Modelica.Blocks.Sources.Constant vOpe(final k=1/tOpe) "Opening speed"; Modelica.Blocks.Sources.Constant vClo(final k=-1/tClo) "Closing speed"; Modelica.Blocks.Logical.Switch lowSwi; Modelica.Blocks.Math.Add add; Modelica.Blocks.Math.Feedback feeBac "Feedback to compute position error"; equation connect(zer.y, uppSwi.u3); connect(uppHys.y, uppSwi.u2); connect(vOpe.y, uppSwi.u1); connect(lowHys.y, lowSwi.u2); connect(vClo.y, lowSwi.u3); connect(zer.y, lowSwi.u1); connect(add.y, int.u); connect(uppSwi.y, add.u1); connect(u, feeBac.u1); connect(feeBac.y, uppHys.u); connect(feeBac.y, lowHys.u); connect(lowSwi.y, add.u2); connect(int.y, y); connect(int.y, feeBac.u2); end IdealMotor;
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