Mapped Motor

Mapped motor and drive electronics operating in torque-control mode

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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
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.

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.

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 kwω2, where kw 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.

1. On the Electrical Losses tab, set Parameterize losses by to either:

   • Tabulated loss data

   • Tabulated loss data with temperature

2. 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.

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.

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.

$$BattAmp=\frac{MechPwr+PwrLoss}{BattVolt}$$

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	$$P_{mot}= -T_e\omega$$	W
		PwrBus	Electrical power	$P_{bus}= BattVolt\times BattAmp$	W
	PwrNotTrnsfrd Negative signals indicate power loss to heat.	PwrLoss	Motor power loss — includes electrical and mechanical losses	$\begin{array}{l}{P}_{loss,total}= PwrLoss+P_d\\ \text{Where }{P}_d=-b{\omega }^2\end{array}$	W
	PwrStored Positive value indicates kinetic energy increase.	PwrStoredShft	Rotor kinetic energy storage rate	$$P_{stored}= J\dot{\omega }\omega$$	W

The equations use these variables.

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

Ports

Input

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

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
		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

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.

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.

1. On the Electrical Losses tab, set Parameterize losses by to either:

   • Tabulated loss data

   • Tabulated loss data with temperature

2. 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

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.

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.

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
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.

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 kwω2, where kw 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.

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:

$$\eta =100\frac{\tau \omega }{\tau \omega +P_0+k{\tau }^2+k_w{\omega }^2}$$

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
$$k{\tau }^2$$	Torque-dependent electrical losses
kwω2	Speed-dependent iron losses, PIron = kwω2

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:

$$P_{Iron,0}=k_w{\omega }_0{}^2$$

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

$${\eta }_0=100\frac{{\tau }_0{\omega }_0}{{\tau }_0{\omega }_0+P_0+k{\tau }_0{}^2+k_w{\omega }_0{}^2}$$

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

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2017a

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.