This page includes the following components, configurable at edit-time only: Mechanical Model | Name | Specifies the name of the model. | Description | Specifies a description for the model. | Initial Values | | Symbol | Units | Default Value | Description | Initial Rotor Angle | θ0 | deg | 0 | Initial position of the mechanical rotor. To monitor the rotor position at execution time, use the Mechanical Angle channel. | Configuration | | Symbol | Units | Default Value | Description |
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Viscous Damping | Fv | Nm·s/rad | 0.00190986 | Combined viscous damping of the rotor and load, proportional to the angular velocity of the machine. | Static Friction | Tf | Nm | 0.3665 | Static friction resisting initial rotation when the machine is at rest. | Inertia | J | Kg·m2 | 0.0167309 | Moment of inertia of the rotor and load. |
Mechanical Model Section ChannelsThis section includes the following custom device channels. The value of an input channel can be modified dynamically at execution time. Channel Name | Symbol | Type | Units | Default Value | Description |
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Mechanical Model Mode | | Input |
| 0 (Speed Controlled) | Set this channel to one of the following values: 0 - Sets the mechanical model to Speed Controlled mode. The mechanical parameters Viscous Damping, Static Friction, and Inertia are ignored in this case. 1 - Sets the mechanical model to Torque Controlled mode.
See the Mechanical Model ModeDescription section for more information. | User-Defined Speed | ωuser | Input | RPM | 0 | Forces In Speed Controlled mode, the machine speed of the machine is forced to the defined value. This This parameter is used in Speed Controlled mode, and ignored in Torque Controlled mode. | Load Torque | TL | Input | Nm | 0 | Torque applied to the shaft of the machine in Torque Controlled mode. This parameter is used in Torque Controlled mode, and ignored in Speed Controlled mode. | Mechanical Angle | θm | Output | deg | 0 | Mechanical rotor position. | Info |
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If this signal is routed to a Waveform Channel or an Analog Output Channel, its value is expressed in Turns. The The signal ranges in value from 0 to 1, with 1 representing a full rotation. |
| Speed | ωm | Output | RPM | 0 | Rotation speed of the machine rotor in RPM. | Total Torque | Ttotal | Output | Nm | 0 | | Mathinline |
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| body | --uriencoded--T_%7Btotal%7D = T_%7Be%7D - T_%7BL%7D - T_%7Bf%7D |
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Mechanical Model DescriptionAttached to the machine model's shaft is a basic mechanical model. This This model was chosen due to its common application, and the ability to extend its functionality. The behavior of the model varies depending upon whether the Mechanical Model Mode is set to Torque Controlled (1) or Speed Controlled (0). Torque ControlledWhen the Mechanical Model Mode is set to Torque Controlled (1), the equation of the mechanical model can be expressed as follows: | Mathblock |
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| anchor | mech_speed |
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| alignment | center |
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| \frac{\partial ω_m}{\partial t} = \frac{1}{J} * (T_{total} - F_v ω_m) |
where | Mathblock |
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| anchor | TTotal |
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| alignment | center |
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| T_{total}=T_e-T_L-T_f |
There is a dead-zone implementation with the static friction torque; if the Electromagnetic Torque (Te) does not exceed the Static Friction (Tf) torque, the speed remains at zero.  Note that in equation , the value of the mechanical speed (ωm) is in radians per second, while the output of the Mechanical Speed channel is in RPM. The The equation for the Electromagnetic Torque (Te) of the machine can be found on its description page under the Machine Section.The following equation is used to calculate the machine power: | Mathblock |
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| anchor | Power |
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| alignment | center |
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| P_{m} = T_{total} * ω_m |
Speed ControlledWhen the Mechanical Model Mode is set to Speed Controlled (0), the mechanical parameters (Viscous Damping, Static Friction, Inertia) are ignored. Instead, the rotor speed is directly set using the User-Defined Speed parameter, ωuser. Choosing a Mechanical Model ModeSelect Speed Controlled mode if: Your project requires you to manually set the speed of the machine Your project has a mechanical model that requires you to input the speed of the machine in to the model
Select Torque Controlled mode if: Your project requires you to manually set the load torque of the machine Your project has a mechanical model that requires you to input the load toque of the machine in to the model
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