OpenModelica中为DCPM电机模型添加温度传感器报错求助

作为OpenModelica新手，我基于DCMachines的DCPM组件搭建直流永磁（DCPM）电机模型，想要添加温度传感器测量电机温度。现有模型包含速度传感器、惯量、PI控制器等组件，但尝试将温度传感器连接至电机热端口时，出现组件不兼容错误。

模型概述 #

• DC_PermanentMagnet Motor（motor）：已启用热端口，额定电压24V，Ra=0.5，La=0.01
• Speed Sensor（speedSensor）：测量电机转速
• Inertia（inertia）：转动惯量J=10，连接至电机轴
• PI Controller（PI）：增益k=1.5，时间常数T=0.05，控制扭矩输入
• Feedback Block（feedback1）：对比转速参考信号与实际转速
• Step Input（step）：1秒时提供24V阶跃电压作为转速参考
• Constant Voltage Source（constantVoltage）：为电机提供24V恒定电压
• Torque Source（torque）：施加由PI控制器输出的控制扭矩至电机轴

连接关系 #

• 阶跃信号输入反馈模块，与传感器采集的电机转速对比
• 反馈误差输入PI控制器，控制施加给电机的扭矩
• 电机电气接口连接恒压源，机械接口连接惯量模块

模型代码 #

Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor annotation(
    Placement(transformation(origin = {360, 42}, extent = {{-14, -14}, {14, 14}})));
    Modelica.Electrical.Machines.BasicMachines.DCMachines.DC_PermanentMagnet motor(useSupport =
    false, useThermalPort = true, VaNominal = 24, Ra = 0.5, La = 0.01) annotation(
    Placement(transformation(origin = {128, 40}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Continuous.PI PI(T = 0.05, x(start = 0.0, fixed = true), k = 1.5, initType =
    Modelica.Blocks.Types.Init.InitialOutput) annotation(
    Placement(transformation(origin = {54, 40}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Math.Feedback feedback1 annotation(
    Placement(transformation(origin = {-20, 40}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Sources.Step step(height = 24, startTime = 1, offset = 0) annotation(
    Placement(transformation(origin = {-84, 42}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Mechanics.Rotational.Components.Inertia inertia(J = 10) annotation(
    Placement(transformation(origin = {211, 41}, extent = {{-13, -13}, {13, 13}})));
    Modelica.Electrical.Analog.Sources.ConstantVoltage constantVoltage(V = 24) annotation(
    Placement(transformation(origin = {94, 72}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Mechanics.Rotational.Sources.Torque torque annotation(
    Placement(transformation(origin = {95, -21}, extent = {{-11, -11}, {11, 11}})));
  equation
    connect(feedback1.y, PI.u) annotation(
    Line(points = {{-11, 40}, {42, 40}}, color = {0, 0, 127}));
    connect(step.y, feedback1.u1) annotation(
    Line(points = {{-72, 42}, {-28, 42}, {-28, 40}}, color = {0, 0, 127}));
    connect(inertia.flange_b, speedSensor.flange) annotation(
    Line(points = {{224, 41}, {224, 42}, {346, 42}}));
    connect(speedSensor.w, feedback1.u2) annotation(
    Line(points = {{376, 42}, {394, 42}, {394, -72}, {-20, -72}, {-20, 32}}, color = {0, 0,127}));
    connect(constantVoltage.p, motor.pin_ap) annotation(
    Line(points = {{84, 72}, {62, 72}, {62, 90}, {134, 90}, {134, 50}}, color = {0, 0, 255}));
    connect(PI.y, torque.tau) annotation(
    Line(points = {{66, 40}, {66, 39}, {82, 39}, {82, -21}}, color = {0, 0, 127}));
    connect(torque.flange, motor.flange) annotation(
    Line(points = {{106, -21}, {106, 0.5}, {138, 0.5}, {138, 40}}));
    connect(constantVoltage.n, motor.pin_an) annotation(
    Line(points = {{104, 72}, {122, 72}, {122, 50}}, color = {0, 0, 255}));
    connect(inertia.flange_a, motor.flange) annotation(
    Line(points = {{198, 41}, {198, 40}, {138, 40}}));
    annotation(
    Diagram(coordinateSystem(extent = {{-200, -100}, {400, 100}})),
    Icon(coordinateSystem(extent = {{-200, -100}, {400, 100}})),
    version = "",
    uses(Modelica(version = "4.0.0")));
    end modelmotor;

补充说明 #

• 模型截图：展示现有组件的完整连接布局
• 问题截图：显示将温度传感器连接到电机热端口时出现的组件不兼容错误提示

请求协助定位组件不兼容问题，并指导如何正确添加温度传感器以测量电机温度。

内容的提问来源于stack exchange，提问作者Astha