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 and includes a motor-response and drive-response time constant. Use the block for fast system-level simulations when you do not know detailed motor parameters, for example, for motor power and torque tradeoff studies. The block assumes that the speed fluctuations due to mechanical load do not affect the motor torque tracking.

You can specify:

• Port configuration — Input torque or speed.

• Electrical torque range — Torque speed envelope or maximum motor power and torque.

• Electrical loss — Single operating point, measured efficiency, or measured loss. If you have Model-Based Calibration Toolbox™, you can virtually calibrate the measured loss tables.

Electrical Torque

To specify the range of torque and speed 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 speed data points and corresponding maximum torque values.
Maximum torque and power	Range specified with maximum torque and maximum power.

For either method, the block implements an envelope similar to this.

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	Sum of these terms, measured at a single measurement point: Fixed losses independent of torque and speed, P0. Use P0 to account for fixed converter losses. A torque-dependent electrical loss kτ2, where k is a constant and τ is the torque. Represents ohmic losses in the copper windings. A speed-dependent electrical loss kwω2, where kw is a constant and ω is the speed. Represents iron losses due to eddy currents.
Tabulated loss data	Loss lookup table that is a function of motor speeds and load torques. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 2-D lookup tables using measured data.
Tabulated loss data with temperature	Loss lookup table that is a function of motor speeds, load torques, and operating temperature. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 3-D lookup tables using measured data.
Tabulated efficiency data	2-D efficiency lookup table that is a function of motor speeds and load torques: 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 speeds and low torques, 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 lookup table that is a function of motor speeds, load torques, and operating temperature: 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 speeds and low torques, 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.

For best practice, use Tabulated loss data instead of Tabulated efficiency data:

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

Virtual Calibration

If you have Model-Based Calibration Toolbox, you can virtually calibrate the measured loss lookup tables.

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 this 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 models and generates calibrated tables. 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

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 the power accounting, the block implements these equations.

Bus Signal			Description	Variable	Equations
PwrInfo	PwrTrnsfrd Positive signals indicate power flow into the block. Negative signals indicate power flow out of the block.	PwrMtr	Mechanical power	Pmot	$P_{mot}= {\omega }_m{T}_e$
		PwrBus	Electrical power	Pbus	$P_{bus}= P_{mot}+P_{loss}$
	PwrNotTrnsfrd Negative signals indicate power loss.	PwrLoss	Motor power loss	Ploss	$$P_{stored}= {\omega }_m{\dot{\omega }}_{m}J$$
	PwrStored Positive signals indicate power gain.	PwrStoredShft	Motor power stored	Pstr	$P_{loss}= -(P_{mot}+P_{loss}- P_{stored})$

The equations use these variables.

Te	Motor output shaft torque
ω	Motor shaft speed
J	Motor inertia

Ports

Input

BattVolt — Battery voltage

scalar

Battery voltage, BattVolt, in V.

TrqCmd — Commanded motor torque

scalar

Commanded motor torque, Trq_cmd, in N·m.

Dependencies

To create this input port, for the Port configuration, select Torque.

MtrSpd — Motor output shaft speed

scalar

Motor shaft speed, Mtr_spd, in rad/s.

Dependencies

To create this input port, for the Port configuration, select 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 create this output port, for the Port configuration, select Torque.

Parameters

Block Options

Port configuration — Select port configuration

Torque (default) | Speed

This table summarizes the port configurations.

Port Configuration	Creates Ports
Torque	Outpost MtrSpd
Speed	Input MtrSpd

Calibrate Maps — Calibrate tables with measured data

selection

If you have Model-Based Calibration Toolbox, you can virtually calibrate the measured loss lookup tables.

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 this 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 models and generates calibrated tables. 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

Electrical Torque

Parameterized by — Select type

Tabulated torque-speed envelope (default) | Maximum torque and power

Setting	Block Implementation
Tabulated torque-speed envelope	Range specified as a set of speed data points and corresponding maximum torque values.
Maximum torque and power	Range specified with maximum torque and maximum power.

For either method, the block implements an envelope similar to this.

Speed breakpoints for maximum torque, w_t — Rotational speeds

[0 375 750 800] (default) | vector

Rotational speeds for permissible steady-state operation, 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 the Parameterized by parameter, select Tabulated torque-speed envelope.

Maximum torque values, T_t — Torque

[0.09 0.08 0.07 0] (default) | vector

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

Dependencies

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

Maximum torque, torque_max — Torque

.1 (default) | scalar

The maximum permissible motor torque, in N·m.

Dependencies

To create this parameter, for the Parameterized by parameter, 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 the Parameterized by parameter, 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.

Electrical Losses

Parameterize losses by — Select type

Single efficiency measurement (default) | Tabulated loss data | Tabulated efficiency data

Setting	Block Implementation
Single efficiency measurement	Sum of these terms, measured at a single measurement point: Fixed losses independent of torque and speed, P0. Use P0 to account for fixed converter losses. A torque-dependent electrical loss kτ2, where k is a constant and τ is the torque. Represents ohmic losses in the copper windings. A speed-dependent electrical loss kwω2, where kw is a constant and ω is the speed. Represents iron losses due to eddy currents.
Tabulated loss data	Loss lookup table that is a function of motor speeds and load torques. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 2-D lookup tables using measured data.
Tabulated loss data with temperature	Loss lookup table that is a function of motor speeds, load torques, and operating temperature. If you have Model-Based Calibration Toolbox, click Calibrate Maps to virtually calibrate the 3-D lookup tables using measured data.
Tabulated efficiency data	2-D efficiency lookup table that is a function of motor speeds and load torques: 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 speeds and low torques, 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 lookup table that is a function of motor speeds, load torques, and operating temperature: 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 speeds and low torques, 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.

For best practice, use Tabulated loss data instead of Tabulated efficiency data:

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

Motor and drive overall efficiency, eff — Efficiency

100 (default) | scalar

The block defines overall efficiency as:

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

The equation uses these variables.

τ0	Torque at which efficiency is measured
ω0	Speed at which efficiency is measured
P0	Fixed losses independent of torque or speed
$$k{\tau }_0^2$$	Torque-dependent electrical losses
kwω2	Speed-dependent iron losses

At initialization, the block solves the efficiency equation for k. The block neglects losses associated with the rotor damping.

Dependencies

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

Speed at which efficiency is measured, w_eff — Speed

375 (default) | scalar

Speed at which efficiency is measured, in rad/s.

Dependencies

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

Torque at which efficiency is measured, T_eff — Torque

0.08 (default) | scalar

Torque at which efficiency is measured, in N·m.

Dependencies

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

Iron losses, Piron — Power

0 (default) | scalar

Iron losses at the speed and torque at which efficiency is defined, in W.

Dependencies

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

Fixed losses independent of torque and speed, Pbase — Power

0 (default) | scalar

Fixed electrical loss associated with the driver when the motor current and torque are zero, in W.

Dependencies

To create this parameter, for the Parameterize losses by parameter, 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 lookup table when calculating losses, in rad/s. Array dimensions are 1 by the number of speed breakpoints, M.

Dependencies

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

• Tabulated loss data

• Tabulated loss data with temperature

• Tabulated efficiency data

• Tabulated efficiency data with temperature

Torque breakpoints for losses, T_eff_bp — Breakpoints

[0 0.03 0.06 0.09] (default) | 1-by-N vector

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

Dependencies

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

• Tabulated loss data

• Tabulated loss data with temperature

• Tabulated efficiency data

• Tabulated efficiency data with temperature

Temperature breakpoints for losses, Temp_eff_bp — Breakpoints

[233.15 293.15 373.15] (default) | 1-by-L vector

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

Dependencies

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

• Tabulated loss data with temperature

• Tabulated efficiency data with temperature

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 speed, M, and torque, N, breakpoint vector dimensions.

Dependencies

To create this parameter, for the Parameterize losses by parameter, 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 speed, M, torque, N, and temperature, L, breakpoint vector dimensions.

Dependencies

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

Efficiency table, efficiency_table — 2-D lookup table

M-by-N matrix

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

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 speeds and low torques.

Dependencies

To create this parameter, for the Parameterize losses by parameter, 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 and torque, in %. Each value specifies the losses for a specific combination of speed and torque. The array dimensions must match the speed, M, torque, N, and temperature, L, breakpoint vector dimensions.

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 speeds and low torques.

Dependencies

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

Mechanical

Rotor inertia, J — Inertia

5e-6 (default) | scalar

Rotor resistance to change in angular velocity, in kg*m². The value can be zero.

Dependencies

To create this parameter, for the Port configuration parameter, select Torque.

Rotor damping, b — Damping

1e-5 (default) | scalar

Rotor damping, in N·m/(rad/s). The value can be zero.

Dependencies

To create this parameter, for the Port configuration parameter, select 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, for the Port configuration parameter, select Torque.

Extended Capabilities

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

Version History

Introduced in R2017a