20.6.13.2. DC Drive

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

Dialog box

Figure 20.190 DC Drive dialog box

Table 20.124 Parameters of Current Controller

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

Table 20.125 Parameters of Speed Controller

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

Table 20.126 Parameters of Position Controller

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

20.6.13.2.1. Input Port and Output Port of DC Drive

• Input signals

Table 20.127 1st Port

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

Table 20.128 2nd Port

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

• Output signals

Table 20.129 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	\({{I}_{f}}\)	Is the field current	A
5	\({{T}_{e}}\)	Is the generated electrical torque	N.m

Table 20.130 2nd Port

ControllerMode	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 20.131 3rd Port

Input dataMode	Output signal of 3rd Port
Rotor Speed	Driving Torque
Load Torque	Rotor Rotational Velocity

20.6.13.2.2. DC Controller

Figure 20.191 Current Controller

Figure 20.192 Speed + Current Controller

Figure 20.193 Position Controller

20.6.13.2.3. Design of Controller