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采用Modelica语言进行单环位置式直流电机伺服控制系统的建模和仿真工作,所建模的系统由伺服电机、电机驱动装置、传动装置、PID控制装置等部分组成。在仿真环境OpenModelica中,根据各部分的数学模型和数据变量分别对各元部件建模并建立对应的MO文件,最后将所有建模后的模块整体连接进行系统仿真。通过对仿真结果图形进行分析可知,建立的模型是正确的,结果满足单环位置式直流电机伺服控制系统的基本控制要求,将该仿真方法与传统的使用仿真工具Matlab的方法相比较,这种使用Modelica语言进行仿真的方法模块化更好,从物理角度理解起来更容易,故在虚拟实验教学中值得推广。
Modelica language is used to model and simulate single-loop position servo motor control system. The system is composed of servo motor, motor drive, transmission and PID control device. In the simulation environment OpenModelica, according to each part of the mathematical model and data variables, respectively, each component modeling and the establishment of the corresponding MO file, and finally all the modules are modeled after the overall system simulation. Through the analysis of the simulation results, we can see that the model is correct and the results meet the basic control requirements of the single loop position servo motor control system. Compared with the traditional method using Matlab simulation tool, this method The method of using the Modelica language to simulate is better, and it is easier to understand from a physical point of view. Therefore, it is worth promoting in the virtual experiment teaching.