【Advanced】Simulink Vehicle Simulation Example: Motor Model for Automotive Vehicles

# 2.1 Basic Principles of Motor Models

### 2.1.1 Operating Principle of Motors

A motor is a device that converts electrical energy into mechanical energy. Its operating principle is based on the law of electromagnetic induction, which states that when a conductor moves in a magnetic field, an induced electromotive force is generated in the conductor. In a motor, the stator windings produce a rotating magnetic field, and the rotor conductors move within this rotating magnetic field, thereby generating an electromagnetic torque that drives the rotor to rotate.

### 2.1.2 Types of Motor Models

Depending on the rotor structure, motors can be classified as DC motors, AC motors, and permanent magnet motors.

***DC Motor:** The stator windings produce a DC magnetic field, and a DC current flows through the rotor windings to generate an electromagnetic torque.
***AC Motor:** The stator windings produce a rotating magnetic field, and an AC current flows through the rotor windings to generate an electromagnetic torque.
***Permanent Magnet Motor:** The stator windings do not produce a magnetic field, and the rotor is made of permanent magnetic materials. It interacts with the rotating magnetic field produced by the stator windings to generate an electromagnetic torque.

# 2. Motor Model Theory and Practice

### 2.1 Basic Principles of Motor Models

#### 2.1.1 Operating Principle of Motors

A motor is a device that converts electrical energy into mechanical energy. The fundamental principle of operation is to utilize the law of electromagnetic induction to transform the current in the coils into a magnetic field, which then interacts with a magnetic field generated by a permanent magnet or electromagnet, creating torque to drive the rotor's rotation.

#### 2.1.2 Types of Motor Models

Motor models are primarily categorized based on their structure and operating principles:

- **DC Motor:** Composed of a stator and a rotor, the stator generates a magnetic field, and the rotor consists of a coil winding that produces a magnetic field upon electrification, interacting with the stator's magnetic field to generate torque.
- **AC Motor:** Both the stator and rotor consist of coil windings, which produce a rotating magnetic field upon electrification, interacting to generate torque.
- **Stepper Motor:** The stator is composed of multiple coils that, when energized, create multiple magnetic poles. The rotor is made of a permanent magnet, and by controlling the sequence of coil energization, the rotor rotates step by step.
- **Servo Motor:** A specialized type of AC motor characterized by high precision and responsiveness, often used in control systems.

### 2.2 Building a Motor Model in Simulink

#### 2.2.1 Components of a Simulink Motor Model

Building a motor model in Simulink requires the following components:

- **Mechanical Rotation Module:** Represents the mechanical part of the motor, including rotational inertia, friction, and gears.
- **Electrical Module:** Represents the electrical part of the motor, including voltage sources, resistors, inductors, and capacitors.
- **Magnetic Module:** Represents the magnetic part of the motor, including permanent magnets and electromagnets.

#### 2.2.2 Steps to Build a Simulink Motor Model

The steps to build a Simulink motor model are as follows:

1. **Create a New Model:** Open Simulink and create a new model.
2. **Add Components:** Drag and drop the necessary components from the Simulink library into the model.
3. **Connect Components:** Use connectors to link components together, forming the electrical and mechanical structure of the motor model.
4. **Set Parameters:** Configure appropriate parameters for the components, including mechanical rotational inertia, electrical impedance, and magnetic strength.
5. **Run Simu