Drivetrain Modeling

Scope

This library has models that were used to validate multi-domain drivetrain behavior. It consists of multiple model variants for:

• Machines
• Controllers
• Batteries

Goals

The goals of this library is to perform multi-domain analysis on a drivetrain for a quadcopter at varying degrees of modeling fidelity. These models are also developed for integration with other software tools as an FMU.

Contents

All sub-systems and simulation cases are contained within the ./DrivetrainValidation/package.mo package. Each model is saved individually as its own file. The Dassault Brushless DC Drives and Dassault Battery libraries are required to run models with non-ideal power systems using batteries and certain DC motor configurations. These examples are also configured to run with speed control and torque input from the Rensselaer Multicopter Analysis Code (RMAC): https://move.rpi.edu/publications/conference-papers/development-and-validation-rensselaer-multicopter-analysis-code-rmac

This library is divided into sub-packages as follows:

• Examples
  • Multi-rotor configuration examples
• Machines
  • Simplified DC
  • Brushless DC
• Templates
• Records
• FMU

Simulating the system

1. Open ./DrivetrainValidation/package.mo
2. Set as Simulation model the model under DrivetrainValidation.Examples.CompareAllMotors
3. Go to the Simulation tab and simulate the model for 10 seconds.
4. This model should compare the results of the 4 drivetrain configurations, the torque produced by the trapezoidal motor drivetrain models are shown below.

FMU Generation

It is possible to generate an FMU from the Modelica model to simulate the drivetrain with other software tools. Under the 'FMU' sub-package, the any model configuration in the package can be used. For this example, we will use the model DrivetrainValidation.FMU.Drive_45_FMU. To generate the FMU using Dymola 2019 FD01 (64-bit) under Windows 10, follow the next steps:

1. Open ./DrivetrainValidation/package.mo
2. Set as Simulation model the model under DrivetrainValidation.FMU.Drive_45_FMU

3. Go to the Simulation Setup menu Simulation>Translate>FMU... and provide the following configurations in the different tabs shown below:

This can then be integrated into Simulink with RMAC using the FMI Toolbox.