Adams Car Package > Shared Material > Dialog Box - F1 Help > Create Motor

Create Motor

(Template builder) Build → Motor → New/Modify

Creates or modifies a motor

For the option	Do the following
Tips on Entering Object Names in Text Boxes.
Motor Name	If creating a Motor, enter a name for it. If modifying a Motor, enter its database name.
Method	Select one of the following ■Analytical ■Curve based ■External Note: Inputs in the parameters tab vary for each method.
Motor type	Select one of the following ■AC Synchronous ■DC ■Brushless DC ■Stepper Note: Motor type option is available only for analytical method.
Direction	Select one of the following ■Clockwise: The rotor part of the motor rotates in clockwise direction ■Counter-clockwise: The rotor part of the motor rotates in the counter-clockwise direction.
Attachment tab
Rotor Attach Part	Enter a part of the model to connect with the rotor part, via a fixed joint. Note: Rotor cannot be attached to the Ground as it cannot be stationary.
Stator Attach Part	Enter a part of the model to connect with the stator part, via a fixed joint.
Force Display	Select the part(s) on which a force vector should be displayed.
Type	Define the motor as left, right, or single.
Location Dependency	Select one of the following: ■Delta Location From Coordinate ■Centered Between Coordinates ■Located Along An Axis ■Located On A Line ■Location Input Communicator
Orientation Dependency	Select one of the following: ■Delta Orientation From Coordinate ■Parallel To Axis ■Oriented In Plane ■Orient To Zpoint-Xpoint ■Orient Axis Along Line ■Orient Axis To Point ■User entered values ■Orientation Input Communicator ■Toe/Camber
Mass/Inertia
Create Rotor Stator Parts	Select to create Rotor and Stator Parts. If turned off, parts are not created and hence an SFORCE is created between Rotor and Stator Attach Part.
Rotor Length	Enter the length of the cylinder geometry to be created on the rotor part. This parameter is for visualization purpose.
Rotor Radius	Enter the radius of the cylinder geometry to be created on the rotor part. This parameter is for visualization purpose.
Stator Length	Enter the length of the box geometry to be created on the stator part (that is, the dimension parallel to the rotor axis of rotation). This parameter is for visualization purpose.
Stator Width	Enter the width of the box geometry to be created on the stator part. (Note cross-section will be a square: this value will be used for both dimensions perpendicular to the rotor axis of rotation). This parameter is for visualization purpose.
Define Mass By	Select one of the following options for mass and inertia properties of rotor/stator: ■Geometry and Material Type ■Geometry and Density ■User Input
If you selected Geometry and Material Type, the following option appears:
Material Type	Enter the type of material for the rigid body. Learn about Standard Material Properties.
If you selected Geometry and Density, the following option appears:
Density	Enter the density of the part. Your template-based product uses the part's density and the volume of the geometry to calculate its mass and inertia.
If you selected User Input, the following options appear:
Mass	Enter the mass of the part.
Ixx/Iyy/Izz	Enter the values that define the moments of inertia components of the part. The inertia reference frame is parallel to BCS at the center of mass (CM) location.
Off-Diagonal Terms	Select to display and undisplay the Ixy/Izx/Iyz fields.
If you select Off-Diagonal Terms, your template-based product displays the following option:
Ixy/Izx/Iyz (optional)	Enter the values that define the products of inertia components of the part. The inertia reference frame is parallel to BCS at the center of mass (CM) location.

For the option	Do the following
Parameters
Curve Based Method
Spline File name	Provide a file that contains a curve of torque vs. speed. Note: In .mtr file, the independent axis (angular velocity) should be in RPM units. The ordinate axis (torque) units must be as per the model units.
Analytical Method
AC Synchronous The torque for a AC Synchronous motor is calculated as, Please see the Torque Angle Calculation () and Pole Slipping adjustment for Torque angle calculation and pole slipping details. Note: In actual implementation Er is calculated as magnitude (Er = SQRT (Re(Er) ^2 + Im(Er) ^2)) and not as complex number. Where:
■T = Motor Torque ■V = Supply voltage ■K = BEMF constant ■φ = Power Factor Angle ■δΕ = ElectricalTorque Angle ■δ = Torque Angle ■X = Reactance ■E = Back EMF ■ωr = Rotor angular velocity ■f = Supply Frequency ■L = Inductance	■P = Poles ■Er = Rated Back EMF ■s = Angular velocity ■Vr = Rated Voltage ■Ir = Rated Current ■Ra = Armature Resistance ■φ = Rated Power Factor Angle ■Xr = Rated Reactance ■fr = Rated Frequency ■PFr = Rated Power Factor
Supply Voltage (V)	Enter the supply voltage.
Rated Current (A)	Enter the value of current that flows through the motor circuit.
Resistance (Ohms)	Enter the resistance value of the windings in the motor.
Power Factor	Enter the power factor. The power factor of an AC system is defined as the ratio between the real power flowing to the load and the apparent power in the circuit. It is a dimensionless number between -1 and 1.
Frequency (Hz)	Enter the AC frequency.
Inductance (mH)	Enter the inductance. Inductance is the behavior of a coil in resisting any change of electric current through it. According to Faraday's law, inductance has an influence on the emf generated to oppose a given change in current.
Poles	Enter the number of poles in the stator field.
Synchronous Speed (RPM)	Enter the initial speed of the rotor in which it rotates in step with the rotating magnetic field of the stator.
DC Shunt Motor The torque for a D.C. Shunt motor is calculated as Where ■T = Torque developed in N-m ■K = Torque constant ■= Flux per pole in Webers ■Ia = Armature current in Amps ■Z = Number of conductors ■P = Number of Poles ■a = Number of parallel paths in the Armature. ■Es = Source Voltage in Volts ■Eb = Back emf induced in Volts ■Ra= Armature resistance in ohms ■N = Revolutions per Minute
DC Series Motor The torque for a DC Series motor is calculated as: Where ■T = Torque developed in N-m ■K = Torque constant ■K1 = Series motor constant ■= Flux per pole in Webers ■I = Armature current in Amps ■Z = Number of conductors ■P = Number of Poles ■a = Number of parallel paths in the Armature. ■Es = Source Voltage in Volts ■Eb = Back emf induced in Volts ■Ra= Armature resistance in ohms ■N = Revolutions per Minute
No. of conductors	Enter the number of conductors.
Flux Per Pole (Wb)	Enter the flux per pole. It is the measure of the quantity of magnetism, that is, the total number of magnetic lines of force passing through a specified area in a magnetic field.
Source Voltage (V)	Enter the source voltage.
No. of Paths	Enter the number of parallel armature winding paths.
Armature Resistance (Ohms)	Enter the armature resistance, the resistance offered by the windings in the moving part of the motor to current flow in the coils.
No. of Poles (P)	Enter the number of poles in the stator field.
DC Type	■Shunt A shunt wound DC motor connects the armature and field windings in parallel or shunt with a common DC power source. ■Series Enter Series Motor Constant. A series wound DC motor connects the armature and field windings in series with a common DC power source.
If you selected Series, the following option appears:
Series Motor Constant	Enter torque constant for the motor. This represents the proportionality between motor torque and motor current.
Brushless DC The torque for a BLDC motor is calculated as Where ■kd = Distribution Factor ■kp = Coil pitch Factor ■ks = Slot Skew Factor ■m = Number of Teeth per phase ■n = Number of Turns per phase ■B = Strength of the permanent Magnetic field ■L = Length of rotor windings ■R = Radius of Armature ■I = Current in the Motor winding ■T = Torque developed in N-m ■φ = Flux per pole in Webers ■Z = Number of conductors ■P = Number of Poles ■a = Number of parallel paths in the Armature ■Es = Source Voltage in Volts ■Eb = Back emf induced in Volts ■Ra = Armature resistance in ohms ■N = Revolutions per Minute
Distribution Factor	Enter the distribution factor. The distribution factor kd reflects the fact that the winding coils of each phase are distributed in a number of slots.
Coil Pitch Factor	Enter the coil pitch factor. The pitch factor kp reflects the fact that windings are often not fully pitched, that is, the individual turns are reduced in order to decrease the length of the end-turns and do not cover a full pole-pitch (also called chorded).
Slot Skew Factor	Enter the skew factor. The skew factor ks reflects the fact that the winding is angularly twisted, which results in an angular spread and reduced emf.
Teeth per Phase Count	Enter the number of teeth per phase present in the motor.
No. of Turns per Phase	Enter the number of turns per phase in the armature winding.
Armature Resistance (Ohms)	Enter the armature resistance, the resistance offered by the windings in the moving part of the motor to current flow in the coils.
No. of Poles	Enter the number of poles in the stator field.
Strength of PM Field (T)	Enter the strength of permanent magnetic field of the stator.
Length of the Rotor Windings	Enter the effective length of rotor windings.
Radius of Armature	Enter the radius of the armature winding.
Flux Per Pole (Wb)	Enter the flux per pole. It is the measure of the quantity of magnetism, that is, the total number of magnetic lines of force passing through a specified area in a magnetic field.
No. of Conductors	Enter the number of conductors.
No. of Paths	Enter the number of parallel armature winding paths.
Maximum Torque	The maximum torque indicated by the user within which the output torque of the motor is to be controlled.
Max. Ang. Velocity	The Max. Angular velocity indicated by the user such that Rated Torque = Tmax - Tmax * (Actual Angular Velocity/ Max. Angular Velocity).
Control Method	■Speed Control - Controls output speed of the rotor shaft based on user spline input. ■Position Control - Controls angular displacement of the rotor shaft based on user spline input.
Enter Spline File	Provide a file which contains a curve of speed vs time or angle vs time based on control method.
Friction Torque	Enter a constant opposing torque that does not vary with velocity.
Damping Coefficient	Specify a constant which is multiplied by angular velocity to define a damping torque. It represents the combined electromagnetic and viscous damping.
Gain	Specify the gain value used to calculate the speed gain. This speed gain is used in the PID controller.
P Gain	Specify the proportional gain applied to the input signal.
I Gain	Specify the gain applied to the integral of the input signal.
D Gain	Specify the gain applied to the derivative of the input signal.
Stepper The torque for a Stepper motor is calculated as, Where ■T1 = Torque on the first winding. ■T2 = Torque on the Secondary winding. ■H = Holding Torque in N-m. ■S = Step Angle in radians. ■θ = Shaft Angle in radians.
Holding Torque	Enter holding torque. The amount of torque required to keep the motor shaft in a particular position.
Control Type	■One Phase On-Full Step Drive ■Two Phase On-Full Step Drive
Step Angle (Degrees)	Enter the step angle by which the rotor will rotate when a signal is passed.
Friction Torque	Enter a constant opposing torque that does not vary with velocity.
Damping Coefficient	Enter a constant damping coefficient which is multiplied by angular velocity to define a damping torque. It represents the combined electromagnetic and viscous damping.
Input Type	To indicate the type of data in the input file. ■PPS vs Time - Pulse per second vs time. The Stepper motor rotates by its step angle when a pulse is received. ■Target Angle vs Time - Target angle is the end position of rotor shaft where the user desires the motor to stop.
Input File	Provide a file which contains a curve of speed vs time or angle vs time based on input type.
External Method
External Method	■External System Library Import ■Co-Simulation
If External System Library Import is selected, the following options will be displayed:
Plant Input/Output	■Standard Standard method creates the GSE equation, by importing the External System Library and using the default input and output state variables. ■User Defined User-Defined method follows the same method as that of Standard method except it allows the user to select input and output state variables.
If Standard is selected, the following options will be displayed:
General State Equation Name	Enter the name of the GSE to be created.
External System Library	Enter the name of the external system library. If the extension entered is .fmu, Adams will expect an FMU that conforms to the FMI standard.
Generate External Model Specifications	Click this button to do a plant export using whatever is specified for plant i/o above, for the controls software of your choice: ■Easy5 ■MATLAB ■FMU
If User Defined is selected, the following options will be displayed:
General State Equation Name	Enter the name of the GSE to be created.
External System Library	Enter the name of the external system library. If the extension entered is .fmu, Adams will expect an FMU that conforms to the FMI standard.
Import I/O Signals from Existing Controls Plant	Select to display the Database Navigator, where you can select an existing controls plant from which output and input signals are to be imported.
Input Signal(s)	Enter names of state variables that you want to use as plant inputs. Select From Pinput to use state variables from existing plant inputs.
Output Signal(s)	Enter names of state variables that you want to use as plant outputs. Select From Poutput to use state variables from existing plant outputs.
Static Hold	Select one of the following: ■Off: Turns static hold off. ■On: Turns static hold on.
Generate External Model Specifications	Click this button to do a plant export using whatever is specified for plant i/o above, for the controls software of your choice: ■Easy5 ■MATLAB ■FMU
Use External Library Error Tolerance	Check to apply the error tolerance values of the continuous states of ESL to the GSE during integration. The ESL error tolerance values change the computation of the local integration error that is computed after the corrector as converged. If the estimated error is greater than the specified integration ERROR the integrator rejects the solution. See the INTEGRATOR statement for more details about ERROR. You may want to use this feature to help refine the accuracy of your ESL states, but just like any INTEGRATOR setting, this may require tuning. This feature only applies to the C++ Solver, and only Easy5 models currently report error tolerance values. Error Scale Factor: ■Values > 0 will scale all of the ESL error tolerance values in order to tighten or loosen these values, that is, Final GSE error tolerance = Error Scale Factor * ESL error tolerance ■Values <= 0 will disable using the ESL error tolerance values, and the default computation for the local integration error will be used.
Information	Check to display verbose information about the general state equation (GSE) that the controls system import created.
Visibility	This option is only available for External System Libraries of type FMU. Visibility means the FMU runs in interactive mode. Turn it off if you want to run it in batch mode. In order for this option to work in Adams, visibility needs to be supported by the specified FMU.
Communication Interval	This option is only available for External System Libraries of type FMU. To co-simulate with the FMU you need to specify the communication interval. Sample the FMU at least two times faster than the highest frequency of interest (refer to Nyquist frequency).
If Co-Simulation is selected, the following options will be displayed:
Plant Input/Output	■Standard Standard method creates the GSE by importing the External System Library and using the default input and output state variables. ■User Defined User-Defined method follows the same method as that of Standard method except it allows the user to select input and output state variables.
If Standard is selected, the following option will be displayed:
Target Software	Select one of the following: ■Easy5 ■MATLAB ■FMU
If User Defined is selected, the following options will be displayed:
Controls Plant Name	Enter the name of the Controls Plant to be created
File Prefix	Enter the prefix for the .adm, .cmd, .acf, .m, and .inf files that Adams Controls creates.
Initial Static Analysis	Select one of the following: ■Yes: Performs initial static analysis. ■No: Does not perform initial static analysis. Note: If Initial Static Analysis is set to Yes and Analysis Type is set to linear, Adams Controls performs a static analysis before the linear analysis. Otherwise, Adams Controls performs an initial conditions analysis.
Initialization Command	Check if you want to enter Adams View or Adams Solver non-time advancing (NTA) commands that you want to execute before the co-simulation or function evaluation starts. In the text box that appears, enter one NTA command. To execute more than one NTA command, create an .acf file and refer to it using the FILE/COMMAND = command_file_name string in this text box.
Import Settings From Existing Controls Plant	Select to display the Database Navigator, where you can choose an existing controls plant whose settings you want to use in your current plant.
Input Signal (s)	Enter names of state variables that you want to use as plant inputs. Select From Pinput to enter state variables from existing plant inputs.
Output Signal (s)	Enter names of state variables that you want to use as plant outputs. Select From Poutput to enter state variables from existing plant outputs
Target Software	Select one of the following: ■Easy5 ■MATLAB ■FMU
Analysis Type	Select one of the following: ■linear - Creates a linearized representation of the model in terms of (A, B, C, D) matrices. A linear analysis is performed. For Target Software of FMU, this option is not supported. ■non_linear - Exports plant for dynamic analysis.
User Defined Library Name	Enter the name of the user-defined library.
Adams Host Name	Enter the name of the host machine from which the Adams plant is being exported. This host name is used if you choose TCP/IP-based communication to perform co-simulation or function evaluation between Adams and MATLAB, Easy5 or FMU.
Multiplication factor
Multiply	Select one of the following: ■Scale Factor ■Step Function ■Expression
If Scale Factor is selected, the following option is displayed:
Scale Factor	Enter a constant scale factor to apply to the motor torque.
If Step Function is selected, the following options are displayed:
Start Time	Enter start time.
End Time	Enter end time.
Start Value	Enter start value.
End Value	Enter end value.
If Expression is selected, the following option is displayed:
Expression	Enter a run-time expression to scale the motor torque.