20.6.13.1. PMDC Drive

PMDC Drive block is the block to model PMDC Machine and Controller to control PMDC Machine. Refer to PMDC.

Dialog Box

Figure 20.186 PMDC Drive dialog box

Table 20.116 Parameters of Current Controller

Parameter(s)	Description
Kcp	Proportional gain of PMDC Current Controller.
Kci	Integral gain of PMDC Current Controller.
Kca	Anti-Windup gain of PMDC Current Controller.
Lower Limit	Output minimum value (Voltage) of PMDC Current Controller.
Upper Limit	Output maximum value (Voltage) of PMDC Current Controller.

Table 20.117 Parameters of Speed Controller

Parameter(s)	Description
Ksp	Proportional gain of PMDC Speed Controller.
Ksi	Integral gain of PMDC Speed Controller.
Ksa	Anti-Windup gain of PMDC Speed Controller.
Lower Limit	Output minimum value (Current) of PMDC Speed Controller.
Upper Limit	Output maximum value (Current) of PMDC Speed Controller.

Table 20.118 Parameters of Position Controller

Parameter(s)	Description
Kpp	Proportional gain of PMDC Position Controller.
Kpi	Integral gain of PMDC Position Controller.
Kpa	Anti-Windup gain of PMDC Position Controller.
Lower Limit	Output minimum value (Speed) of PMDC Position Controller.
Upper Limit	Output maximum value (Speed) of PMDC Position Controller.

20.6.13.1.1. Input Port and Output Port of PMDC Drive

• Input signals

Table 20.119 1st Port

Input data Mode	Input signal of 1st Port
Rotor Speed	Rotor Angle, Rotor Speed
Load Torque	Load Torque

Table 20.120 2nd Port

Controller Mode	Input signal of 2nd Port
None	Armature Voltage
Current	Current Reference
Speed	Speed Reference
Speed + Current	Speed Reference
Position + Speed	Position Reference
Position + Speed + Current	Position Reference

• Output signals

Table 20.121 1st Port

No	Signal	Description	Unit
1	\(\theta\)	Is the rotor angle	rad
2	\(\omega\)	Is the rotor angular speed	rad/s
3	\({{I}_{a}}\)	Is the armature current	A
4	\({{T}_{e}}\)	Is the generated electrical torque	N.m

Table 20.122 2nd Port

Controller Mode	Output signals of 2nd Port
None	None
Current	Armature Voltage
Speed	Armature Voltage
Speed + Current	Reference Current, Armature Voltage
Position + Speed	Reference Speed, Armature Voltage
Position + Speed + Current	Reference Speed, Reference Current, Armature Voltage

Table 20.123 3rd Port

Input data Mode	Output signal of 3rd Port
Rotor Speed	Driving Torque
Load Torque	Rotor rotational Velocity

20.6.13.1.2. PMDC Controller

Figure 20.187 Current Controller

Figure 20.188 Speed + Current Controller

Figure 20.189 Position Controller

20.6.13.1.3. Design of Controller