How to implement Induction motor to a system?

Hello;

I'm trying to simulate a single axis of a stacker crane. I've generated the transfer function of the system. You can see the simple schematic from the paper [1]. There is a base drive which drives a wheel that acts as a force input for the system. The goal is to reduce the vibrations at the tip of the stacker crane. I've already implemented the design from force input to tip vibration as you can see below in simulink diagram.

My problem is that I can't find a way to implement the motor to the system. What I need is to model from voltage input to force output of the motor. Any help would be great.

Cheers.

1)ACTIVE VIBRATION CONTROL OF STORAGE AND RETRIEVAL MACHINES. Daniel G¨orges, Jens Kroneis, and Steven Liu

Answer 1

[Joel Van Sickel]

Hello Ozan,

the best way to do this is to start over and use simscape to model the whole physical system so that you don't have to derive your own equations.

Are you using a linear motor? It says you want force from a motor but your schematic looks like it would use a rotary motor and therefore be looking for torque which you then need to convert to force based on your wheel radius.

Otherwise, you ened to create your own mathematical transfer function of a motor model. There may be some examples you can find by searching on google. In general, a simple model would use a torque constant to calculate torque from current, and you'd need a transfer function to determine current from the input voltage. This isn't that hard, but it isn't trivial for most people as it does require some hand written analysis of circuits and derivation of ODE's/ transfer functions. If this is something you are comfortable with, you can look up the basic equivalent circuit schematic for your motor and derive the equations yourself. However, if you use simscpae you don't need to do this.

Please start here if you want to use simscape: https://www.mathworks.com/learn/tutorials/simscape-onramp.html

Regards,

Joel