Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain...
Transcript of Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain...
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1© 2015 The MathWorks, Inc.
Developing Fit-for-Purpose
Simscape™ Models to Support System and Control Design
Rick Hyde
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Overview
Matching engineering design tasks to models
Examples
– Hybrid vehicle powertrain - with focus on need for multiple models
– Photovoltaic system - with focus on plant design and control
Tutorial – faulted DC motor
![Page 3: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/3.jpg)
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Models must be matched to the engineering design task
Design task: Predict & optimize system performance
Model requirements:• Faster than real-time for drive cycle analysis• Component efficiency information as function of operating point
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Models must be matched to the engineering design task
Design task: Assess a
disruptive/novel actuation technology
Model requirements:• Torque-speed characteristics• Linearizable->frequency
response• Predict losses and heat
• Assess failure modes
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Models must be matched to the engineering design task
Design task: control
system design
Model requirements:• Linearizable• Include relevant
dynamics• Key tolerances &
uncertainties defined• Physics readily
understandable (no black boxes)
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Models must be matched to the engineering design task
Design task: reliability
assessment
Model requirements:• Operating limits• Tolerances• Fault behaviours• Behavioural fault triggering
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MathWorks is committed to supporting diverse modelling requirements
Linearizable
Deployable
Architecturally reconfigurable
Abstractable to mapped model
Configurable fidelity
FaultableCapture operating limits and apply tolerances
Datasheet-driven parameterization
Measurement-based parameterization
Design data import from specialist tool
![Page 8: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/8.jpg)
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Overview
Matching models to engineering design tasks
Examples
– Hybrid vehicle powertrain - with focus on need for multiple models
– Photovoltaic system - with focus on plant design and control
Tutorial – faulted DC motor
![Page 9: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/9.jpg)
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Hybrid vehicle powertrain example1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
Architecture selection
Compare series, parallel and power-split
Re-use same set of subsystems (battery, motor, engine etc)
i.e. an architecturally
reconfigurable model
Enabled by Simscape™ physical connections
![Page 10: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/10.jpg)
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Battery
Datasheet-driven blocks from Simscape Electrical™
Option to model temperature & cooling
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
>>sscfluids_ev_battery_cooling
200 x real-time
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DC-DC Converter
Datasheet-driven blocks from Simscape Electrical™
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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PMSM Motor and PMSM Generator
Datasheet-driven blocks from Simscape Electrical™
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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Power-Split (planetary gear)
Datasheet-driven blocks from Simscape Driveline™
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
“A Review of Formulas for the Mechanical Efficiency
Analysis of Two Degrees-of-Freedom Epicyclic GearTrains“, Pennestri, Valentini
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Vehicle and Drive Cycle
System-level blocks from Simscape Driveline™
Automotive-specific blocks from Powertrain Blockset™
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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Hybrid vehicle powertrain example1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
Optimize selected architecture
Sensitivity of drive cycle efficiency to key design parameters e.g. battery weight
Direct optimization of key design parameters
Enabled by MATLAB® scripting and Optimization and Global Optimization Toolboxes
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Battery
Measurement-based blocks from Simscape Electrical™
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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PMSM Drives
Three constituent parts
Modelling fidelity must be sufficient to:
– Predict overall drive efficiency
– Predict electrical harmonics at DC supply
– Predict torque ripple applied to load
– Ensure components stay within operating limits
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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PMSM Motor
Magnetic finite element level model required to:
– Determine flux linkage as function of currents and rotor angle
– Determine iron losses as function of load and speed
Import into Simscape using the Simscape Electrical™ FEM-Parameterized PMSM block (Design data import from
specialist tool)
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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Simscape ElectricalImport from Maxwell (ANSYS)
>> elec_import_fem_maxwell
Data inANSYS Format
Maxwell
Export
Restructure intoMATLAB variables
>> elec_import_fem_motorcad
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Semiconductor switching devices
Artefacts that must be modelled to predict timing and losses:
– Non-linear I-V characteristics
– Non-linear charge characteristics
Modelling options
– Tabulated I-V and capacitance
– Imported SPICE subcircuits
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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Simscape ElectricalSPICE Import
Convert SPICE models into Simscape components
– Command subcircuit2ssc
– Converts subcircuit definition to a
Simscape Language component
R2008a
Library
R2018b
Language
Netlist
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PMSM Drive Test Harness
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
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Vehicle
Simscape Multibody™
– Steering and suspension design
– Determine torque ripple coupling to steering and chassis
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
>> sm_double_wishbone_suspension
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Design validation
Revise system-level model (Abstractable to mapped model)
– Update drive cycle efficiencies, predicted range etc.
Validate detailed components deployed in full vehicle simulation
– Components must stay within permitted operating points (Capture
operating limits and apply tolerances)
– Assess impact of detailed component behaviour at system level
(Configurable fidelity)
HIL and simulator testing
– Simulink Coder deploys controllers and physical models to hardware
(Deployable)
– Abstraction of chassis if needed using Vehicle Dynamics Blockset™
(Configurable fidelity)
Hybrid vehicle powertrain example
1.Trade-off studies/select architecture
2. Optimize selected architecture
3. Detailed component design
4. Design validation
![Page 25: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/25.jpg)
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Overview
Matching models to engineering design tasks
Examples
– Hybrid vehicle powertrain - with focus on need for multiple models
– Photovoltaic system - with focus on plant design and control
Tutorial – faulted DC motor
![Page 26: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/26.jpg)
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MathWorks is committed to supporting diverse modelling requirements
Linearizable
Deployable
Architecturally reconfigurable
Abstractable to mapped model
Configurable fidelity
FaultableCapture operating limits and apply tolerances
Datasheet-driven parameterization
Measurement-based parameterization
Design data import from specialist tool
![Page 27: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/27.jpg)
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Overview
Matching models to engineering design tasks
Examples
– Hybrid vehicle powertrain - with focus on need for multiple models
– Photovoltaic system - with focus on plant design and control
Tutorial – faulted DC motor
![Page 28: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/28.jpg)
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Photovoltaic generator
Task: Assess/check stability margins
Solution #1: Linearize and view Bode plot using Simulink Control Design
Solution #2: Run a frequency-response identification exercise
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Photovoltaic generatorSolution #1: Linearize and view Bode plot using Simulink Control Design
1. Remove switching
– Simscape Electrical
average-value converters
2. Add linearization I/O
– Simulink Control Design
analysis points
3. Define operating point
– Simulate to desired
operating point
4. Linearize
– Launch Simulink Control
Design UI
![Page 30: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/30.jpg)
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Photovoltaic generatorSolution #1: Linearize and view Bode plot using Simulink Control Design
1. Remove switching
– Simscape Electrical
average-value converters
2. Add linearization I/O
– Simulink Control Design
linear analysis points
3. Define operating point
– Simulate to desired
operating point
4. Linearize
– Launch Simulink Control
Design UI
![Page 31: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/31.jpg)
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Photovoltaic generatorSolution #1: Linearize and view Bode plot using Simulink Control Design
1. Remove switching
– Simscape Electrical
average-value converters
2. Add linearization I/O
– Simulink Control Design
analysis points
3. Define operating point
– Simulate to desired
operating point
4. Linearize
– Launch Simulink Control
Design Model Linearizer UI
![Page 32: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/32.jpg)
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Photovoltaic generatorSolution #1: Linearize and view Bode plot using Simulink Control Design
1. Remove switching
– Simscape Electrical
average-value converters
2. Add linearization I/O
– Simulink Control Design
analysis points
3. Define operating point
– Simulate to desired
operating point
4. Linearize
– Launch Simulink Control
Design Model Linearizer UI
![Page 33: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/33.jpg)
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Photovoltaic generatorSolution #2: Run a frequency-response identification exercise
1. Add a Simulink Control Design Frequency
Response Estimator
block.
2. Configure for frequency points and sample time.
3. Run the model.
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Photovoltaic generatorSolution #2: Run a frequency-response identification exercise
1. Add a Simulink Control Design Frequency
Response Estimator
block.
2. Configure for frequency points and sample time.
3. Run the model.
![Page 35: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/35.jpg)
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Overview
Matching models to engineering design tasks
Examples
– Hybrid vehicle powertrain - with focus on need for multiple models
– Photovoltaic system - with focus on plant design and control
Tutorial – faulted DC motor
![Page 36: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/36.jpg)
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Faultable DC Motor
Requirements
– Normal behaviour as example ssc_dcmotor
– Faulted behaviour: one winding open-circuit
Non-requirements
– Transients and electrical noise due to brushing
Solution
1. Convert DC Motor subsystem to a Simscape component
2. Modify the component to be faultable
![Page 37: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/37.jpg)
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Add
mask
Convert subsystem to Simscape componentsubsystem2ssc Function
subsystem2ssc(gcb)
![Page 38: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/38.jpg)
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Convert subsystem to Simscape component
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Convert subsystem to Simscape component
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Convert subsystem to Simscape component
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Convert subsystem to Simscape componentUse Simscape Component block to instantiate
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Convert subsystem to Simscape componentLabel and order the ports
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Faultable DC Motor
Requirements
– Normal behaviour as example ssc_dcmotor
– Faulted behaviour: one winding open-circuit
Non-requirements
– Transients and electrical noise due to brushing
Solution
1. Convert DC Motor subsystem to a Simscape component
2. Modify the component to be faultable
![Page 44: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/44.jpg)
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Faultable DC Motor
Requirements
– Normal behaviour as example ssc_dcmotor
– Faulted behaviour: one winding open-circuit
Non-requirements
– Transients and electrical noise due to brushing
Solution
1. Convert DC Motor subsystem to a Simscape component
2. Modify the component to be faultable
![Page 45: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/45.jpg)
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Modify the custom component to be faultableRequirements & functional design
Fault behaviour
– Path seen by brushes goes open
circuit for 120 degrees of rotation
Implementation
– Represent this with a custom resistor
with resistance dependent on rotor
angle
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Custom resistor
>> sscnewfile(‘FaultableResistor’,’foundation.electrical.elements.resistor’)
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Custom resistor
To do:
1. Add a variable for rotor
angle.
2. Add a parameter for faulted
resistance.
3. Make resistance a function
of rotor angle.
4. Add logic to enable the
fault.
![Page 48: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/48.jpg)
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Custom resistor
To do:
1. Add a variable for rotor
angle.
2. Add a parameter for faulted
resistance.
3. Make resistance a function
of rotor angle.
4. Add logic to enable the
fault.
![Page 49: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/49.jpg)
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Custom resistor
To do:
1. Add a variable for rotor
angle.
2. Add a parameter for faulted
resistance.
3. Make resistance a function
of rotor angle.
4. Add logic to enable the
fault.
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Custom resistor
To do:
1. Add a variable for rotor
angle.
2. Add a parameter for faulted
resistance.
3. Make resistance a function
of rotor angle.
4. Add logic to enable the
fault.
open_circuit is zero for 1/3 of a revolution, otherwise one.
Switch between armature resistance and faulted resistance values
Advanced: note use of “gt” rather than “>” in conditional.
This takes out zero crossings which would cause numeric issues around zero speed.
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Custom resistor
To do:
1. Add a variable for rotor
angle.
2. Add a parameter for faulted
resistance.
3. Make resistance a function
of rotor angle.
4. Add logic to enable the
fault.
![Page 52: Developing Fit-for-Purpose Simscape™ Models to Support ...€¦ · Hybrid vehicle powertrain example 1.Trade-off studies/select architecture 2. Optimize selected architecture 3.](https://reader033.fdocuments.net/reader033/viewer/2022042605/5f44dd23c0868367e1701ebc/html5/thumbnails/52.jpg)
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Custom resistor
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Integrate custom resistor into custom DC motor
To do:
1. Replace standard resistor
with the faultable resistor.
2. Pass faultable resistor
parameters to DC motor
interface.
3. Add an equation that
defines rotor angle.
4. Create a test harness and
validate.
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Faultable DC Motor – Test Harness
Test:
– Drive motor at fixed 5rpm
– Measure torque
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Summary
Matching models to engineering design tasks
Examples
– Hybrid vehicle powertrain - with focus on need for multiple models
– Photovoltaic system - with focus on plant design and control
Tutorial – faulted DC motor
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How to find out more
MathWorks physical modelling page:– https://www.mathworks.com/solutions/physical-modeling.html
Steve Miller’s introduction video– https://www.mathworks.com/videos/physical-modeling-introduction-75883.html
MATLAB Central File Exchange– https://www.mathworks.com/matlabcentral/fileexchange/
Hybrid vehicle example:– https://uk.mathworks.com/matlabcentral/fileexchange/28441-hybrid-electric-vehicle-model-in-simulink