Soft Real Time Simulation of a DC motor

considering Power Losses

M.T.A. Jorge Salvador Valdez Martnez
Dr. Pedro Guevara Lpez
Ing. Gustavo Delgado Reyes
if
ia
Rf Lf
Ra La
Vinduced
ARMOR
ea
J
b
I(t)
e(t)
Varmor
CONSTANT INDUCED
FIELD
MOTOR
e(t)
1.1 DC motor Fundamentals [Gue99]
( )
( )
( )
(

+ =
RJ
t i k
J
b
t Ea
RJ
t ki
t
) (
2 2
e e

(1)
) (
) (
t e
t
k R
ea
i
a
+
=
(2)
) ( ) (
2
t t
a
ki T =
(3)
) ( ) ( ) ( t t e t T P
m
- = (4)
) ( ) ( t t
a e
i ea P - =
(5)
) ( ) ( ) ( t t t
m e p
P P P =
(6)
) (
) (
) (
t
t
t q
e
m
P
P
=
(7)

Pcu
Copper Power
Loss
(Joule Effect )
Pf
Iron Power
Loss
(Eddy current)
ARMOR
Parmor
Magnetical Power
Pm
Mechanical Power
Friction and Ventilation
Power Losses
Po
Mechanical Power
(Output power)
Pe
Electrical Power
(Input power)
CONSTANT INDUCED
FIELD
Pcu
Copper Power Loss
(Joule Effect )
Pf
Iron Power Loss
(Eddy current)
1.2. Electric Motor Power Losses
1.2.1 Mechanical Power Losses [Var82]
Friction Power losses in the slip bearings
RC
P .
3
52 . 0
g g g RC
V l d P =

(8)

Brush friction power losses
RE
P .
col e e RE
V S P P 81 . 9 = (12)

Ventilation Power losses
V
P .
2
1 . 1
V V
V V P = (14)

Slip bearings
Brushes
Motors Fan
1.2.2 Electrical Power Losses
[Var82]
1.2.3 Magnetical Power Losses
[Var82]
Eddy current Power losses
f
P .
| |
( )
2
2 2
12 NA
ea w
P
f

=

(17)

Armature copper Power loss (Joule effect).
2
a cu
Ri P =
(18)

2.1 Previous Works
[Val09]
2.2 Real Time Simulation
Vel oci dad angul ar
Step
u(t)
Carga(t)
Pp(t)
wreal(t)
i(t)
R(t)
eao(t)
Si stema de Pri mer Orden
con perturbaci ones
u(t)
Pp(t)
wideal(t)
i(t)
R(t)
Si stema de Pri mer Orden
Ideal
Si ne Wave
w(t)
i(t)
R(t)
Pp(t)
Secci on
de prdi das
Resi stenci a de Armadura
Manual Swi tch1
Manual Swi tch
Grafi ca de potenci a el ectri ca
Grafi ca de Torque(t)
Grafi ca de Prdi da Total
Grafi ca de Potenci a mecani ca
Grafi ca de Potenci a de perdi da
Grafi ca de Efi ci enci a
Corri ente de Armadura
0
Constant
i(t)
w(t)
Torque(t)
Pm(t)
Pe(t)
Pp(t)
Eta(t)
Caracteri sti cas
compl ementari as
-K-
1/(2*pi )
Correct
Answers
Temporal
Constraints
Real
Process
STR
2.2.1 Real Time System
Classification (Time Constraints)
Hard Real Time System

In Real-time systems, the response times are always in synchrony with the dynamics of
the environment in all ranges of evolution, and the data set is always stable and
converges at every point to appropriate values [GMC07]. In these systems, it is absolutely
imperative that responses occur strictly within the time periods specified, otherwise there
is risk of causing a disaster or system instability. And they have the following
characteristics [GM03]:

Strict response deadline
Temporal behavior determined by the environment
Predictable behavior Overload
Critical security requirements
Active redundancy
Reduced data volume.
Soft Real Time Systems

Response times are in synchrony with the dynamic environment in intervals of evolution in
any sense of probability. The output is an interval bounded by minimum and maximum
range and the data set can be marginally stable and converges (probabilistically) to
appropriate values. They work correctly if a restriction is lost, the performance is degraded
but not destroyed the system because of failure in the delivery time information [GMC07].
These systems have the following characteristics [GM03]:

Flexible response deadline
Temporal behavior determined by computer
Degraded performance against overloads
Non-critical security requirements
Fail recovery
Large volume of data
2.2.1 Real Time System
Classification (Time Constraints)
Correct
Answers
Temporal
Constraints
Real
Process
STR
Firm Real Time Systems

Systems where high response times are not acceptable in any sense of probability in the
intervals of evolution, although the data set is always stable and have convergence at all
points to appropriate values when the environment gets steady [GMC07].
If do not respect the time constraint does not help the service it provides, and therefore
the real-time system is not functional.
2.2.1 Real Time System
Classification (Time Constraints)
Correct
Answers
Temporal
Constraints
Real
Process
STR
2.2.2 Real Time Simulation
Minimal Characteristics
A simulator can be considered to work in real-time, if it has the following characteristics
[BK08]:

Deterministic response to disruptions
Communication between processes
High-precision timers
Interrupt Handling

A real-time system provides to the user:
Synchronization services (The external real time with the Operative system time)
Capture and interruption treatment (it is a mechanism that is responsible for capturing
interrupts when occur, and advise models or tasks that interest them such disruption is
already present)
File management (It is required because of depending on the systems behavior,
sometimes is needed to get data or view data)
Measurement of real time: Because in the Mathematical models, should know the actual
time to do certain actions (Task).
2.2.3 Real Time Simulation
SIMULINK
In SIMULINK is possible to generate the asynchronous interruptions services (Warnings)
to the Operating System with Async IRQ Source block.

To manage files, SIMULINK has a number of blocks that allows observe the systems
behavior (with a Digital Oscilloscope) and is possible to save digital information obtained
in Digital SINKS.

To the deterministic response to disruptions, in SIMULINK there are blocks that help
to get information from external data (as well as interruptions), and there are blocks that
help to give certain response to the outside, using data acquisition cards.

With Measurement of real time, the minimum time constraints (based on taking digital
filtering according to [Gue04]) are the following:

1) The extraction and release of information observable and synchronized with the time
evolution of the process by considering the sampling criteria [Nyq28].
2) Correct answers and bounded in time according to the time constraints of the dynamic
system.
3) Ability to express recursively using models obtained from discretization methods (eg
finite differences)
4) The value of convergence is bounded within a finite interval on which it is oscillating.
2.2.4 On line Simulation
MATLAB (Command Line)
( )
( )
( )
F
t i
C
t
t
a
+
=
+
+
=
1
;
1

e |
e
.

( ) ( )
RJ
ea t ki
RJ
t i k Rb
C
a a
=
+
= | ,
2
2
.
( )
R
ea
R
t k
F = =
e
,
.
Table 1. MATLAB program (to determine execution times)
for MC=1:experimentos
for ejec=1:ejecuciones
omega(MC,1)=0;
tic;
for n=1:1000
F(MC,n)=(k*omega(MC,n))/R;
ia(MC,n)=gamma/(1+F(MC,n));

C(MC,n)=(R*b+k*k*ia(MC,n)*ia(MC,n))/(R*J);
beta(MC,n)=(k*ia(MC,n)*eao)/(R*J);

omega(MC,n+1)=(xi*beta(MC,n)+omega(MC,n))/(1+xi*
C(MC,n));
end
tiempodeejecucion(MC,ejec)=toc;
end
end
for tt=1:ejecuciones

ejecucionMontecarlo(tt)=sum(tiempodeejecucion(:,
tt))/numel(tiempodeejecucion(:,tt));
end

2.2.5 Soft Real Time Simulation
SIMULINK
Time execution
using an
Acquisition Card NI
PCI-1200
(Time execution
2.06e-006 sec.)
3 Soft Real Time Simulation
Mechanical Power Losses

Mechanical Total Power losses[Val09]

3 Soft Real Time Simulation
Magnetical Power Losses

Magnetic Power losses [Val09]

3 Soft Real Time Simulation
Electrical Power Losses

Electric Power Losses [Val09]

3 Soft Real Time Simulation
Total Power Losses
4 Conclusions
Simulation on Line (Fast Simulation)

Environment Multitasking: No good for Real
time

Recursive Form : Very important to Real Time

Power Losses: Electric Power Losses
Mechanical Power Losses
Magnetical Power Losses
[Val09]. Valdez Martnez J. S. Modelado discreto, Simulacin, y Control de un Motor de Corriente
Continua Tipo Serie Considerando: Prdidas Mecnicas, Elctricas y Magnticas. Tesis de Maestra,
CICATA Legaria, Mxico.
[MG03] Medel Jurez J. J. y Guevara Lpez P. Introduccin a los sistemas en tiempo real IPN
[MGC07] Medel Jurez J. J. Guevara Lpez P. y Cruz Lpez D. Temas Selectos de Sistemas en tiempo
Real IPN
[GVL09] Guevara Lpez P. Valdez Martnez J. S. y Lpez E. Un Prototipo Virtual para la Enseanza del
Funcionamiento del Motor de Corriente Continua Congreso Internacional de Innovacin Educativa,
Mxico
[Gue99] Guevara Lpez P. Control de motores de corriente continua con capacidad de telecontrol y tele
monitoreo. Tesis de Maestra, CIC IPN Mxico
[Var82] Vargas Prudente P. Problemas Resueltos de mquinas Sincronas: Conversin de Energa II
IPN, 1982
[BK08] Bergero F. y Kofman E. Desarrollo de un simulador de sistemas hbridos en tiempo real.
XXI Congreso Argentino de Control Automtico, Argentina
[Gue04] Guevara Lpez P. Filtrado Digital en Tiempo Real: Anlisis Computacional para Estimacin de
Parmetros en Sistemas Estocsticos Lineales Estacionarios. Tesis de Doctorado, CIC IPN Mxico
[Nyq28] Nyquist H. Certain Topics in Telegraph Transmission Theory. AIEE Transactions, EUA.

4 Bibliography