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PSIM User Manual

1. j ie B G Brushless DC Motor ee n dhe che pee Oe UT aur vate H LI ie vas EH cl F a aa i Eptpgimrnti rreh n a E a a E i a mE e A m amp 0 00 5 Fem ym 15 00 20 00 E z 2 32 PSIM User Manual Motor Drive Module 2 5 1 5 Permanent Magnet Synchronous Machine A 3 phase permanent magnet synchronous machine has 3 phase windings on the stator and permanent magnet on the rotor The difference between this machine and the brush less dc machine is that the machine back emf is sinusoidal The image and parameters of the machine are shown as follows Image a b o o Shaft Node c Attributes Parameters Description R stator resistance Lq d axis ind L q axis ind Vpk krpm No of Poles P Moment of Inertia Mech Time Constant Torque Flag Stator winding resistance in Ohm Stator d axis inductance in H Stator q axis inductance in H The d q coordinate is defined such that the d axis passes through the center of the magnet and the q axis is in the middle between two magnets The q axis is leading the d axis Peak line to line back emf constant in V krpm mechanical speed The value of Vpk krpm should be available from the machine data sheet If this data is not available it can be obtained through an experiment by operati
2. 10 00 vin i Ge v Vin Vo sos a ZOH 0 00 s J Lo ii 5 00 OY 10 00 _ 0 00 5 00 70 00 15 00 20 00 Time ms Note that in above circuit a continuous domain integrator is also connected to the input sine source This makes it a mixed continuous discrete circuit and a simulation time step selected for the continuous circuit will be used With this time step the familiar staircase like waveform can be observed at the zero order hold output Without the integrator the circuit becomes a discrete circuit In this case since only the calculation at the discrete sampling points is needed the simulation time step will be equal to the sampling period and the results at only the sampling points are available The waveforms as shown below appear continuous In fact the waveforms are discrete and the connection between two sampling points makes it look like continuous O_O OH L 5 00 Win Vo 5 00 40 00 15 00 20 00 Time ms 3 6 2 z Domain Transfer Function Block A z domain transfer function block is expressed in polynomial form as 3 24 PSIM User Manual Digital Control Module N N 1 N 1 If ag 1 the expression Y z H z U z can be expressed in difference equation as y n by u n b u n 1 by u n N a y n 1 a4 y n 2 ay y n N Image TFCTN_D O H z D
3. Images VGNL VGNL_1 IGNL IGNL_1 v t Attributes For VGNL IGNL Parameters Description Frequency Frequency of the waveform in Hz No of Points n No of points Values V1 Vn Values at each point Time T1 Tn Time at each point in sec For VGNL_1 IGNL_1 Parameters Description Frequency Frequency of the waveform in Hz Times Values t1 v1 Time and value at each point The time and value pair must be enclosed by left and right brackets The time and value PSIM User Manual 4 7 Chapter 4 Other Components 4 4 7 can be separated by either a comma such as 1 2m 5 5 or a space such as 1 2m 5 5 or both such as 1 2m 5 5 Example The following is a non periodic piecewise linear source It has 3 segments which can be defined by four points marked in the figure A 34 a 1 0 0 1 rine see 3 The specifications for VGNL will be Frequency 0 No of Points n 4 Values V1 Vn l 1 3 3 Times T1 Tn 0 0 1 0 2 0 3 The specifications for VGNL_1 will be Frequency 0 Times Values tl v1 0 1 0 1 1 0 2 3 0 3 3 Random Source The amplitude of a random voltage source VRAND or a current source IRAND is determined randomly at each simulation time step A random source is defined as Vo Vn n V agree where V is the peak to peak amplitude of the source n is a random number in the rang
4. Diode Jz Ea E Induction Bridge Motor en IM n POTALA i bo ee as a db amp PERME de See ee Speed ae 150k i r H i H A A 100K F t t nat ee a A i i i i 050K p 4 2 nraeet TT AE Y i i i z SPWM O 00K vam iMa Tioad 600 00 i 400 00 A 200 00 4 OOA 7 ints 0 00 0 10 0 20 0 30 0 40 Time 5 PSIM User Manual 2 25 Chapter 2 Power Circuit Components 2 5 1 3 Switched Reluctance Machine PSIM provides the model for 3 phase switched reluctance machine with 6 stator teeth and 4 rotor teeth The images and parameters are shown as follows Image SRM3 at ied ke Switched A ele Reluctance Shaft Node c o Motor 6 4 C H C1C2C3C4 Cp C4 Ci C4 Phase a Phase b Phase c Attributes Parameters Description Resistance Stator phase resistance R in Ohm Inductance Lj jn Minimum phase inductance in H Inductance Lina Maximum phase inductance in H 0 Duration of the interval where the inductance increases in deg Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal torque 7 When the flag is set to 1 the output of the internal torque is requested Master Slave Flag Flag for the master slave mode
5. To facilitate the creation of three phase circuits a symmetrical three phase Y connected sinusoidal voltage module VSIN3 is provided The dotted phase of the module refers to Phase A Image VSIN3 Hey a HO b es a Attributes Parameters Description V line line rms Frequency Init Angle phase A Line to line rms voltage amplitude Frequency f in Hz Initial angle for Phase A Square Wave Source A square wave voltage source VSQU or current source ISQU is defined by its peak to peak amplitude frequency duty cycle and DC offset The duty cycle is defined as the ratio between the high potential interval versus the period 4 4 PSIM User Manual Independent Voltage Current Sources 4 4 4 Images VSQU ISQU o t Attributes Parameters Description Vpeak peak Peak to peak amplitude V Frequency Frequency in Hz Duty Cycle Duty cycle D of the high potential interval DC Offset DC offset Voffset The specifications of a square wave source are illustrated as follows A Yop gt D T e Voffset y 0 E 7 e at e Triangular Source A triangular wave voltage source VTRI or current source ITRI is defined by its peak to peak amplitude frequency duty cycle and DC offset The duty cycle is defined as the ratio between the rising slope interval versus the period Images
6. T More Explanation on the Hall Effect Sensor A hall effect position sensor consists of a set of hall switches and a set of trigger magnets The hall switch is a semiconductor switch e g MOSFET or BJT that opens or closes when the magnetic field is higher or lower than a certain threshold value It is based on the hall effect which generates an emf proportional to the flux density when the switch is car rying a current supplied by an external source It is common to detect the emf using a sig nal conditioning circuit integrated with the hall switch or mounted very closely to it This provides a TTL compatible pulse with sharp edges and high noise immunity for connec tion to the controller via a screened cable For a three phase brushless dc motor three hall switches are spaced 120 electrical deg apart and are mounted on the stator frame The set of trigger magnets can be a separate set of magnets or it can use the rotor magnets of the brushless motor If the trigger magnets are separate they should have the matched pole spacing with respect to the rotor magnets and should be mounted on the shaft in close proximity to the hall switches If the trigger magnets use the rotor magnets of the machine the hall switches must be mounted close enough to the rotor magnets where they can be energized by the leakage flux at the appropriate rotor positions Example Start Up of an Open Loop Brushless DC Motor The figure below shows an open
7. Names Description NANDGATE NAND gate NORGATE NOR gate NOTGATE NOT gate NPN NPN_1 npn bipolar junction transistor ONCTRL On off switch controller OP_AMP Operational amplifier OP_AMP_1 OP_AMP_2 Op amp with floating reference ground ORGATE OR gate ORGATE3 3 input OR gate P Proportional controller PATTCTRL PWM lookup table controller PI Proportional Integral controller PMSM3 3 phase permanent magnet synchronous machine PNP PNP_1 pnp bipolar junction transistor POWER Power function block PWCT Pulse width counter R Resistor R3 3 phase resistor branch RC Resistor capacitor branch RC3 3 phase resistor capacitor branch RESETI Resettable integrator RL Resistor inductor branch RL3 3 phase resistor inductor branch RLC3 3 phase resistor inductor capacitor branch RMS Root mean square function block ROUNDOFF Round off function block SAMP Sampling hold block SFRA Simulated Frequency Response Analyzer SIGN Sign function block SIN Sine function block SRFF Set Reset Flip Flop B 4 PSIM User Manual Names Description SRM3 3 phase switched reluctance machine 6 stator and 4 rotor teeth SQROT Square root function block SSWI Simple bi directional switch SUM1 l input summer SUM2 2 input summer one positive and the other negative SUM2P 2 input summer both positive SUM3 3 input summer TDELAY Time delay block TF_1F Single phase transformer TF_1F_3W Single phase transformer with 1 primary and 2 secondary windings TF
8. SE CLE LE poe Joa _ _w hae P CSI p S c H E m DC s rec 4 6 2 Be H nS H I ct DC wy wy ut Attributes Parameters Description On Resistance Saturation Voltage Diode Voltage Drop Init Position_i Current Flag_i On resistance of the MOSFET switch during the on state in Ohm for VSI3 only Conduction voltage drop of the IGBT switch in V for VSI3_1 only Conduction voltage drop of the anti parallel diode in V for VSI3 and VSI3_1 only Initial position for Switch i Current flag for Switch i PSIM User Manual 2 11 Chapter 2 Power Circuit Components 2 3 Similar to single phase modules only the gatings for Switch 1 need to be specified for the three phase modules Gatings for other switches will be automatically derived For the half wave thyristor bridge BTHY3H the phase shift between two consecutive switches is 120 For all other bridges the phase shift is 60 Thyristor bridges BTHY3 BTHY3H BTHY6H can be controlled by an alpha controller Similarly PWM voltage current source inverters VSI3 CSI3 can be controlled by a PWM lookup table controller PATTCTRL The following examples illustrate the control of a three phase voltage source inverter module Examples Control of a Three Phase VSI Module Ae x S ma H Vac A PWM Con
9. 3 6 7 3 6 8 If A 1 2 3 and B 4 5 we have m 3 n 2 and the convolution of A and B as C 4 13 22 15 Memory Read Block A memory read block can be used to read the value of a memory location of a vector Image MEMREAD AUP Attribute Parameters Description Memory Index Offset Offset from the starting memory location This block allows one to access the memory location of elements such as the convolution block vector array and circular buffer The index offset defines the offset from the start ing memory location Example Let a vector be A 2 4 6 8 if index offset is 0 the memory read block output is 2 If the index offset is 2 the output is 6 Data Array This is a one dimensional array The output is a vector Image ARRAY ARRAY1 Attributes Parameters Description Array Length The length of the data array N for ARRAY only Values Values of the array for ARRAY only File for Coefficients Name of the file storing the array for ARRAY1 only 3 34 PSIM User Manual Digital Control Module 3 6 9 If the array is read from a file the file will have the following format N where N is the length of the array and a ay are the array values Example To define an array A 2 4 6 8 we will have Array Length 4 Values 2 4 6 8 If the array is to be read from a file the file will be 4 we Oe E Multi Rat
10. By default the schematic image is saved in monochrome in order to save memory space One can save the image in color by selecting Edit Copy to Clipboard Color Editing SIMCAD Library The SIMCAD library can be edited by choosing Edit Library in the Edit menu The library editor allows one to edit the existing elements or to create new elements Note that new types of elements will not be recognized by PSIM simulator as it only recognizes the existing elements provided in the SIMCAD library Editing an Element To edit an element go to the specific element and double click on the element name The image of the element will appear Use the drawing tools on the left to modify the element image Click on the zoom in icon to zoom in the element To change the attribute settings choose Attributes in the View menu Double click on a parameter For each parameter if Display as Text Link is checked the display of this parameter can be enabled or disabled in the attribute pop up window and the value of this parameter will appear in the list of elements when List Elements in the View menu is selected If Initial Display State is checked the display will be on by default Creating a New Element The following is the procedure to create a new element Choose New Element in the Library menu Specify the netlist name Modify the width and the height of the element by selecting Set Size in the Edit menu PSIM User Manua
11. After one cycle the FFT block output reaches the steady state with the amplitude of 100 V and the phase angle of 0 f 1 1 1 15 00 20 00 25 00 30 00 34 00 Time ims 0 00 5 00 10 00 3 3 Other Function Blocks 3 3 1 Comparator The output of a comparator is high when the positive input is higher than the negative input When the positive input is low the output is zero If the two input are equal the out put is undefined and it will keep the previous value Image 3 10 PSIM User Manual Other Function Blocks 3 3 2 3 3 3 COMP i Note that the comparator image is similar to that of the op amp For the comparator the noninverting input is at the upper left and the inverting input is at the lower left For the op amp however it is the opposite Limiter The output of a limiter is clamped to the upper lower limit whenever the input exceeds the limiter range If the input is within the limit the output is equal to the input Image LIM Attributes Parameters Description Lower Limit Lower limit of the limiter Upper Limit Upper limit of the limiter Look up Table There are two types of lookup tables one dimensional lookup tables LKUP and 2 dimensional lookup tables LKUP2D The one dimensional lookup table has one input and one output Two data arrays corresponding to the input and the output are stored in the loo
12. If the flag is 0 the diode is open If it is 1 the diode is closed Flag for the diode current printout If the flag is 0 there is no current output If the flag is 1 the diode current will be saved to the output file for display A zener diode is modelled by a circuit as shown below Image ZENER K Circuit Model K L V A Al Attributes Parameters Description Breakdown Voltage Breakdown voltage Vp of the zener diode in V Forward Voltage Drop Voltage drop of the forward conduction diode voltage drop from anode to cathode Current Flag Flag for zener current output from anode to cathode If the zener diode is positively biased it behaviors as a regular diode When it is reverse biased it will block the conduction as long as the cathode anode voltage Vx is less than the breakdown voltage Vp When Vx exceeds Vp the voltage Vx will be clamped to Vp Note when the zener is clamped since the diode is modelled with an on resistance of 10 10 the cathode anode voltage will in fact be equal to Ve Vg t 10UQ Iga There fore depending on the value of Ip 4 Vga will be slightly higher than Vp If I is very large Vx can be substantially higher than Vp 2 2 2 Thyristor A thyristor is controlled at turn on The turn off is determined by circuit conditions PSIM User Manual 2 3 Chapter 2 Power Circuit Components 2 2 3 Image THY
13. PSIM User Manual 3 17 Chapter 3 Control Circuit Components C Vb Vo Leta 3 4 Subcircuit Blocks 3 4 1 Operational Amplifier An ideal operational amplifier op amp is modelled using the PSIM power circuit ele ments as shown below Image OP_AMP OP_AMP_ 1 Circuit Model of the Op Amp V A tober gnd OP_AMP_2 V4 Vo ee gnd where V V noninverting and inverting input voltages Vo output voltage A op amp gain A is set to 100 000 Ro output resistance R is set to 80 Ohms Attributes Parameters Description Voltage Vs Upper voltage source level of the op amp Voltage Vs Lower voltage source levels of the op amp 3 18 PSIM User Manual Subcircuit Blocks The difference between OP_AMP and OP_AMP_1 and OP_AMP 2 is that for OP_AMP the reference ground node of the op amp model is connected to the power ground whereas in OP_AMP_1 and OP_AMP_ 2 the reference ground node of the model is acces sible and can be floating Note that the image of the op amp OP_AMP is similar to that of the comparator For the op amp the inverting input is at the upper left and the noninverting input is at the lower left For the comparator it is the opposite Example A Boost Power Factor Correction Circuit The figure below shows a boost power factor correction circuit It has the inner current loop and the outer voltage loop The P
14. the unit delay block is a discrete element and it delays the sampled points by one sampling period whereas TDELAY is a continuous element and it delays the whole waveform by the delay time specified Quantization Block The quantization block is used to simulate the quantization error during the A D conver sion Image DIGIT 2 Attribute Parameters Description No of Bits Number of bits N Vin_min Lower limit of the input value Vin min Vin_max Upper limit of the input value Vin ma Vo_min Lower limit of the output value V min Vo_max Upper limit of the output value V max Sampling Frequency Sampling frequency in Hz The quantization block performs two functions scaling and quantization The input value V in following sampled at the given sampling frequency is first scaled based on the PSIM User Manual 3 31 Chapter 3 Control Circuit Components 3 6 5 v Vin min V2 Vi e y Ox in min V V o max in min V E 0 min in max The number of bits determines the output resolution AV which is defined as V Vo min AV o max Pai The output V will be equal to the truncated value of V based on the resolution AV Example IfN 4 V in min 0 V 10 V 5 V in max o min o min 5 and V 3 2 then V 5 3 2 0 5 05 10 0 1 8 AV 5 5 24 1 0 66667 The value 1 8 is between 2 33332 and 1 6666
15. Attributes Parameters Description Order N Order N of the transfer function Coeff Do by Coefficients of the nominator from bg to by Coeff dp dy Coefficients of the nominator from dg to ay Sampling Frequency Sampling frequency in Hz Example The following is a second order transfer function 3 400 e H z oe ee z 1200 z 400 e with a sampling frequency of 3 kHz In SIMCAD the specifications are Order N 2 Coeff bo by 0 0 400 e3 Coeff do dy 1 1200 400 e3 Sampling Frequency 3000 3 6 2 1 Integrator There are two types of integrators One is the regular integrator I_D The other is the PSIM User Manual 3 25 Chapter 3 Control Circuit Components resettable integrator ILRESET_D Images LD I RESET_D z Z A_I op Attribute Parameters Description Algorithm Flag Flag for integration algorithm 0 trapezoidal rule 1 backward Euler 2 forward Euler Initial Output Value Initial output value Reset Flag Reset flag 0 edge reset 1 level reset Sampling Frequency Sampling frequency in Hz The output of the resettable integrator can be reset by an external control signal at the bot tom of the block For the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal For the level reset reset flag 1 the integrator out put is reset to zero as long as the control signal is hig
16. For all the sources except VPOWERS Parameters Description Gain Gain k of the source For VPOWERS Parameters Description Gain Gain k of the source Coefficient k Coefficient k PSIM User Manual 4 11 Chapter 4 Other Components Coefficient kv Coefficient kz For VNOND INOND Input 1 is on the side of the division sign 4 7 Voltage Current Sensors Voltage current sensors measure the voltages currents of the power circuit and send the value to the control circuit The current sensor has an internal resistance of 1 uQ Images VSEN ISEN De an Attribute Parameters Description Gain Gain of the sensor 4 8 Speed Torque Sensors A speed sensor WSEN or a torque sensor TSEN can be used to measure the mechani cal speed or torque They are available in the Motor Drive Module only Images WSEN TSEN Attribute Parameters Description Gain Gain of the sensor If the reference direction of a mechanical system enters the dotted side of the sensor it is said that the sensor is along the reference direction Refer to Section 2 5 1 1 for more details Note that the output of the speed sensor is in rpm The torque sensor measures the torque transferred from the dotted side of the sensor to the 4 12 PSIM User Manual Probes and Meters 4 9 other side alone the positive speed direction To illustrate this the following mechanical s
17. Open from the File menu to load the file chop sch From the Simulate menu choose Run PSIM PSIM simulator will read the netlist file and start simulation The simulation results will be saved to File chop txt Any warning messages occurred in the simulation will be saved to File message doc If the option Auto run SIMVIEW is not selected in the Options menu from the Simulate menu choose Run SIMVIEW to start SIMVIEW and select curves for display If the option Auto run SIMVIEW is selected SIMVIEW will be launched automatically 1 6 Component Parameter Specification and Format The parameter dialog window in each component in PSIM has two tabs Parameters and Other Info as shown below Parameters Other Info Parameters Other Info Resistor Help Resistor Help Display Display Name Fi E Name mooo Resistance ot E Power Rating 124W E Current Flag bo Manufacturer Company ABC Part No 0123456 The parameters in the Parameters tab are used to perform the simulation The informa tion in the Other Info tab on the other hand is not used in the simulation It is for report PSIM User Manual 1 3 Chapter 1 General Information ing purposes and will appear in the parts list in View Element List in SIMCAD Information such as device rating manufacturer and part no can be stored under the Other Info tab The parameters under the Parameters tab can be a
18. The DLL file will be stored under the directory C ms_user4 release After the DLL file ms_user4 dll is generated backup the default file into another file ordirectory and copy your DLL file into the PSIM directory and overwriting the existing file You are then ready to run PSIM with your DLL This sample program implement the control of the circuit pfvi dll sch in a C routine Input in 0 Vin in 1 iL in 2FVo Output Vm out 0 iref out 1 Activate enable the following line if the file is a C file e g ms_user4 cpp extern C You may change the variable names say from t to Time But DO NOT change the function name number of variables variable type and sequence Variables t Time passed from PSIM by value delt Time step passed from PSIM by value in input array passed from PSIM by reference out output array sent back to PSIM Note the values of out can be modified in PSIM The maximum length of the input and output array in and out is 20 Warning Global variables above the function ms_user4 t delt in out are not allowed include lt math h gt __declspec dllexport void ms_user4 t delt in out Note that all the variables must be defined as double double t delt double in out PSIM User Manual 4 25 Chapter 4 Other Components 4 14 Place your code here begin
19. ack K Gate Attributes Parameters Description Voltage Drop Thyristor conduction voltage drop in V Initial Position Flag for the initial switch position Current Flag Flag for switch current output There are two ways to control a thyristor One is to use a gating block GATING and the other is to use a switch controller The gate node of a thyristor therefore must be con nected to either a gating block or a switch controller The following examples illustrate the control of a thyristor switch Examples Control of a Thyristor Switch Gating Block This circuit on the left uses a switching gating block see Section 2 2 5 The switching gating pattern and the frequency are pre defined and will remain unchanged throughout the simulation The circuit on the right uses an alpha controller see Section 4 7 2 The delay angle alpha in deg is specified through the dc source in the circuit GTO Transistors and Bi Directional Switch Self commutated switches in the switchmode are turned on when the gating is high a voltage of 1V or higher is applied to the gate node and the switch is positively biased collector emitter or drain source voltage is positive It is turned off whenever the gating is low or the current drops to zero For PNP pnp bipolar junction transistor and MOSFET_P p channel MOSFET switches are turned on when the gating is low and switches are negatively biased collector e
20. block are connected to one of these discrete ele ments zero order hold unit delay discrete integrators and differentiators z domain trans fer function blocks and digital filters the DLL block is called only at the discrete sampling times Sample files are provided for Microsoft C C Borland C and Fortran routines Users can use these files as the template to write their own Procedures on how to compile the DLL routine and link with PSIM are provided in these files and in the on line help Example The following shows a power factor correction circuit with the inductor current and the load voltage feedback The input voltage is used to generate the current reference The control scheme is implemented in a digital environment with a sampling rate of 30 kHz The control scheme is implemented in an external C code and is interfaced to the power circuit through the DLL block PSIM User Manual 4 23 Chapter 4 Other Components The input of the DLL block are the sampled input voltage inductor current and output voltage One of the DLL block outputs is the modulation wave V which is compared with the carrier wave to generate the PWM gating signal for the switch The other output is the inductor current reference for monitoring purpose ii Ann EIMI H amp A diz gt a 30k 20H 30k gt 20H 30k iL Ok J
21. can be either connected or discrete To change the settings of a curve first select the curve using the left mouse then choose the proper settings and click on Apply After all the settings are selected Click on OK The dialog box of the Set Curves function is shown below Select Curve Style Ea Curves m Style f Dot Circle Rectangle C Triangle C Plus Star Cancel M Connect PSIM User Manual 6 7 Chapter 6 Waveform Processing Using SIMVIEW 6 7 6 8 Once Color is de selected the display becomes black and white If the waveform screen is copied to the clipboard the bitmap image will be in monochrome This will result a much smaller memory size as compared to the image in color display Label Menu Function Description Text Place text on the screen Line Draw a line Dotted Line Draw a dotted line Arrow Draw a line with arrow To draw a line first select Line from the Label menu Then click the left mouse at the position where the line begins and drag the mouse while keeping the left button pressed Dotted lines and lines with arrows are drawn in the same way If one is in the Zoom or Measure mode and wishes to edit a text or a label one should first escape from the Zoom Measure mode by selecting Escape in the View menu Exporting Data As stated in Section 6 1 FFT results can be saved to a text file Therefore both simul
22. cut off frequency fc 1 kHz assuming the sampling frequency fs 10 kHz using MATLAB we have Nyquist frequency fn fs 2 5 kHz Normalized cut off frequency fc fc fn 1 5 0 2 B A butter 2 fc which will give B 0 0201 0 0402 0 0201 b b bo MATLAB is a registered trademark of MathWorks Inc PSIM User Manual 3 29 Chapter 3 Control Circuit Components 3 6 3 A 1 1 561 0 6414 a 9 a a The transfer function is 0 0201 0 0402 z 0 0201 z H z 1 2 1 1 561 z 0 6414 z The input output difference equation is y n 0 0201 u n 0 0402 u n 1 1 561 y n 1 0 6414 y n 2 The parameter specification of the filter in SIMCAD will be Order N 2 Coeff bo by 0 0201 0 0402 0 0201 Coeff dg dy 1 1 561 0 6414 Sampling Frequency 10000 If the coefficients are stored in a file the file content will be 2 0 0201 0 0402 0 0201 1 1 561 0 6414 Or the file can also have the content as follows 2 0 0201 1 0 0402 1 561 0 0201 0 6414 Unit Delay The unit delay block provides one sampling period delay of the input signal Image 3 30 PSIM User Manual Digital Control Module 3 6 4 UDELAY Attribute Parameters Description Sampling Frequency Sampling frequency in Hz The difference between the unit delay block and the time delay block TDELAY is that
23. exceeds m the last pattern will be selected 4 18 PSIM User Manual Switch Controllers The following table shows an example of a PWM pattern file with five modulation index levels and 14 switching points 5 0 901 0 910253 0 920214 1 199442 1 21 14 7 736627 72 10303 80 79825 99 20176 107 8970 172 2634 180 187 7366 252 1030 260 7982 279 2018 287 8970 352 2634 360 14 7 821098 72 27710 80 72750 99 27251 107 7229 172 1789 180 187 8211 252 2771 260 7275 279 2725 287 7229 352 1789 360 14 7 902047 72 44823 80 66083 99 33917 107 5518 172 0979 180 187 9021 252 4482 260 6608 279 3392 287 5518 352 0980 360 14 10 186691 87 24225 88 75861 91 24139 92 75775 169 8133 180 190 1867 267 2422 268 7586 271 2414 272 7578 349 8133 360 14 10 189426 87 47009 88 97936 91 02065 92 52991 169 8106 180 190 1894 267 4701 268 9793 271 0207 272 5299 349 8106 360 In this example if the modulation index input is 0 8 the output will select the first gating pattern If the modulation index is 0 915 the output will select the third pattern Example This example shows a three phase voltage source inverter file vsi3pwm sch The PWM for the converter uses the selected harmonic elimination The gating patterns are described above and are pre stored in File vsi3pwm tbl The gating pattern is selected based on the modulation index The waveforms of the line to line voltage and the three phase load currents are shown below
24. i Current Flag_i Current flag for Switch i Node Ct at the bottom of the thyristor module is the gating control node for Switch 1 For the thyristor module only the gatings for Switch 1 need to be specified The gatings for other switches will be derived internally in the program Similar to the single thyristor switch a thyristor bridge can also be controlled by either a gating block or an alpha controller as shown in the following examples Examples Control of a Thyristor Bridge The gatings for the circuit on the left are specified through a gating block and on the right are controlled through an alpha controller A major advantage of the alpha controller is 2 10 PSIM User Manual Switches 22 that the delay angle alpha of the thyristor bridge in deg can be directly controlled Three Phase Switch Modules The following figure shows three phase switch modules and the internal circuit connec tions The three phase voltage source inverter module VSI3 consists of MOSFET type switches and the module VSI3_1 consists of IGBT type switches Images BDIODE3 BTHY3 pcr AoH be DC A oH be DC IK 3K 5 Af sd A sd 2 t cf Ca Le DC CH fs DC Fa cz ct DC BTHY3H BTHY6H 1 Ct a oH Aly 2 B o N H Dr J De Hx i C o Ct A6 o 6 Lot VSB VSIB VSB_1 DC m CSB _7F 7 DC
25. indicated by the arrow For current controlled sources VCCVS_1 ICCCS_1 the controlling current flows into one control node and out of the other A 10 uOhm resistor is used to sense the controlling current PSIM User Manual 4 9 Chapter 4 Other Components For variable gain controlled voltage current sources Input 1 is on the side with the multi plication sign and Input 2 is on the side with the letter k For the controlled voltage current sources the output is equal to the gain multiplied by the controlling voltage or current respectively For the variable gain controlled voltage cur rent sources however the output is equal to the following Vo k Vin2 Vint io k Ving Vint The difference between the variable gain controlled sources and the nonlinear sources VNONM INONM described in the following section is that for VNONM INONM values of both v and vip at the current time step are used to calculate the output and are updated in each iteration But for the variable gain controlled sources it is assumed that the change of v 2 is small from one time step to the next and the value of v 2 at the previ ous time step is used at the current time step This assumption is valid as long as v 9 changes at a much slower rate as compared to v and the time step is small as compared to the change of v 2 The variable gain controlled sources can be used in circuits which may otherwise have convergence p
26. is set at 20 Hz The simulation results are shown on the right A Han 2 x iHe M alpha 30 deg s THD THD je ig 0 00 0 02 0 04 0 06 0 08 0 10 0 12 Time s One of the THD block output is the input current fundamental component i By compar ing the phase difference between the input voltage v and the current i one can calculate the input displacement power factor This together with the THD value can be used to calculate the input power factor 3 20 PSIM User Manual Logic Components 35 3 5 1 3 5 2 Logic Components Logic Gates Basic logic gates are AND OR XORGATE exclusive OR NOT NAND and NOR gates Images ANDGATE ORGATE NOTGATE XORGATE ANDGATE3 ORGATE3 NANDGATE NORGATE Set Reset Flip Flop There are two types of set reset flip flops One is edge triggered and the other is level trig gered Attributes Parameters Description Trigger Flag Trigger flag 0 edge triggered 1 level triggered The edge triggered flip flop only changes the states at the rising edge of the set reset input The truth table of an edge triggered flip flop is S R Q Q 0 0 no change 0 T 0 1 T 0 1 0 T T not used The level triggered flip flop on the other hand changes the states based on the input level The
27. loop brushless dc motor drive system The motor is fed by a 3 phase voltage source inverter The outputs of the motor hall effect position sensors are used as the gatings signals for the inverter resulting a 6 pulse operation The simulation waveforms show the start up transient of the mechanical speed in rpm developed torque T and 3 phase input currents PSIM User Manual 2 31 Chapter 2 Power Circuit Components Brushless DC Motor BEDCOM VDC 7p ji 2 200 F L L E ER Q i 1 i 1 i 1 l a Tem_BDCM41 t L or om r Time ms Example Brushless DC Motor with Speed Feedback The figure below shows a brushless dc motor drive system with speed feedback The speed control is achieved by modulating sensor commutation pulses Vgs for Phase A in this case with another high frequency pulses Vgfb for Phase A The high frequency pulse is generated from a dc current feedback loop The simulation waveforms show the reference and actual mechanical speed in rpm Phase A current and signals Vgs and Vgfb Note that Vgfb is divided by half for illustra tion purpose
28. red are the connection nodes of the subcir cuit block in exactly the same positions as appearing in the main circuit Use the drawing tool to create edit the image for the subcircuit block If the draw ing tool is not already displayed go to the View menu and check Drawing Tools Click on Zoom In and Zoom Out icons on the toolbar to adjust the size of the image working area After the image is created the pop out window will appear as follows 5 8 PSIM User Manual Subcircuit E SIMCAD Subcircuit Image C psim5 0 sub SCH File Edit View Window Hwa SB Oe Files a eje c m kibi Subcircuit Image C psim5 0 sub SCH O xi N QO C A gt med if BN Zi Go back to the subcircuit window sub sch in this case and save the subcir cuit The new subcircuit block image should appear in the main circuit 5 3 4 3 Including Subcircuits in the SIMCAD Element List If you create a directory called User Defined under the PSIM directory and place sub circuits inside this directory subcircuits will appear as an item in the Elements menu in SIMCAD under Elements User Defined just like any other SIMCAD elements You can also create subdirectories under the directory User Defined and place subcircuits inside the subdirectories For example the Elements menu may look like this Power Control Other Sources Symbols User Defined Subcircuit 1 Project A Subci
29. the SIMCAD environment fi SIMCAD D PSIM Thy_3f sch Ol x 3 Fie Edit View Subcircuit Elements Simulate Options Window Help x Dieta S 5 sizi alels n a m In SIMCAD all the PSIM components are stored under the menu Elements The structure of the PSIM component library is as follows Library Elements Description Power Power circuit elements RLC Branches R L C lumped RLC branches and coupled inductors Switches Switches switch modules and the gating element Transformers 1 phase and 3 phase transformers Motor Drive Electric machines and mechanical loads Control Control circuit elements Filters Built in filter blocks Function Blocks Function blocks Logic Elements Logic gates and other digital elements PSIM User Manual 5 1 Chapter 5 Circuit Schematic Design Using SIMCAD 5 1 Discrete Elements Discrete elements Other Elements shared by power and control circuits Switch Controllers Switch controllers Sensors Voltage current and speed torque sensors Probes Voltage current probes and meters and power meters Sources Voltage Voltage sources Current Current sources Creating a Circuit The following functions are provided in the SIMCAD for circuit creation Get Place Rotate Wire Label To get an element from the component library click on the Elements menu Choose the sub
30. the following format 2 8 PSIM User Manual Switches where G1 G2 Gn are the switching points Example Assume that a switch operates at 2000 Hz and has the following gating pattern in one period 35 92 175 187 345 357 0 180 360 deg In SIMCAD the specifications of the gating block GATING for this switch will be Frequency 2000 No of Points 6 Switching Points 35 92 175 187 345 357 The gating pattern has 6 switching points 3 pulses The corresponding switching angles are 35 92 175 187 345 and 357 respectively If the gating block GATING _1 is used instead the specification will be Frequency 2000 File for Gating Table test tbl The file test tbl will contain the following 6 35 92 175 187 345 357 PSIM User Manual 2 9 Chapter 2 Power Circuit Components 2 2 6 Single Phase Switch Modules Built in single phase diode bridge module BDIODE 1 and thyristor bridge module BTHY 1 are provided in PSIM The images and the internal connections of the modules are shown below Images BDIODE1 BTHY1 DC 1 3K Ato DC At FDC ogg A os A Alabe 4 2k A o De De Ct Attributes Parameters Description Diode Voltage Dropor Forward voltage drop of each diode or thyristor in V Voltage Drop Init Position_i Initial position for Switch
31. the pulse width counter output remains unchanged Image PWCT Digital Control Module The Digital Control Module as an add on option to the standard PSIM program provides discrete elements such as zero order hold z domain transfer function blocks digital fil ters etc for studies of digital control schemes As compared to a s domain circuit which is continuous a z domain circuit is discrete Cal culation is therefore only performed at the discrete sampling points and there is no calcu lation between two sampling points Zero Order Hold A zero order hold samples the input at the point of sampling The output remains unchanged between two sampling points Image ZOH ZOH j Attribute Parameters Description Sampling Frequency Sampling frequency in Hz of the zero order hold Like all other discrete elements the zero order hold has a free running timer which deter mines the moment of sampling The sampling moment therefore is synchronized with the PSIM User Manual 3 23 Chapter 3 Control Circuit Components origin of the simulation time For example if the zero order hold has a sampling fre quency of 1000 Hz the input will be sampled at 0 1 msec 2 msec 3 msec and so on Example In the following circuit the zero order hold sampling frequency is 1000 Hz The input and output waveforms are shown on the left
32. y pane 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time m PSIM User Manual 4 19 Chapter 4 Other Components 4 11 Control Power Interface Block A control power interface block passes a control circuit value to the power circuit It is used as a buffer between the control and the power circuit The output of the interface block is treated as a constant voltage source when the power circuit is solved With this block some of the functions that can only be generated in the control circuit can be passed to the power circuit Image CTOP Example A Constant Power Load Model For a constant power dc load the voltage V current Z and power P have the relationship as P V I Given the voltage and the power the current can be calculated as P V This can be implemented using the circuit as shown below The load voltage is measured through a voltage sensor and is fed to a divider The output of the divider gives the current value Z Since the voltage could be zero or a low value at the initial stage a limiter is used to limit the current amplitude This value is converted into the load current quantity through a voltage controlled current source LOAD P AANA tz Ze e co Or gt I JA Di Example The following circuit illustrate
33. 1 master 0 slave The master slave flag defines the mode of operation for the machine Please refer to Sec tion 2 5 1 1 for detailed explanation The node assignments are Nodes a a b b and c c are the stator winding terminals for Phase a b and c respectively The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit Node cj C9 C3 and c4 are the control signals for Phase a b and c respectively The con trol signal value is a logic value of either 1 high or O low Node is the mechanical rotor angle They are all control nodes and should be connected to the control circuit 2 26 PSIM User Manual Motor Drive Module The equation of the switched reluctance machine for one phase is d L i SRE v l dt where v is the phase voltage i is the phase current R is the phase resistance and L is the phase inductance The phase inductance L is a function of the rotor angle 9 as shown in the following figure oe ising Flat Top Fallin Flat Bottom a ime t a gt a gt a a ae L 4 gt 0 The rotor angle is defined such that when the stator and the rotor teeth are completely out of alignment 0 The value of the inductance can be in either rising stage flat top stage falling stage or flat bottom stage If we define the constant k as we can express the inductanc
34. 5 Therefore the lower value is selected that is V 1 66665 Circular Buffer A circular buffer is a memory location that can store an array of data Image C_BUFFER Ler Attribute Parameters Description Buffer Length The length of the buffer Sampling Frequency Sampling frequency in Hz The circular buffer stores data in a buffer When the pointer reaches the end of the buffer it will start again from the beginning The output of the circular buffer is a vector To access to each memory location use the memory read block MEMREAD 3 32 PSIM User Manual Digital Control Module Example If a circular buffer has a buffer length of 4 and sampling frequency of 10 Hz we have the buffer storage at different time as follows Value at Memory Location Time Input i 2 3 4 0 0 11 0 11 0 0 0 0 1 0 22 0 11 0 22 0 0 0 2 0 33 0 11 0 22 0 33 0 0 3 0 44 0 11 0 22 0 33 0 44 0 4 0 55 0 55 0 22 0 33 0 44 3 6 6 Convolution Block A convolution block performs the convolution of the two input vectors The output is also a vector Image CONV Let the two input vectors be A an Oat Imo Oy B ba by 1 uae wee b We have the convolution of A and B as C A B Cm n 1 Cm n 2 C1 where ci L ayy bjakl K 0 m n 1 j 0 m n 1 i 1 m n 1 Example PSIM User Manual 3 33 Chapter 3 Control Circuit Components
35. 85E 18 0 123120E 01 0 100000E 01 0 5000000E 04 0 000000E 00 0 114138E 17 0 153897E 01 0 100000E 01 0 6000000E 04 0 000000E 00 0 141920E 17 0 184671E 01 0 100000E 01 0 7000000E 04 0 000000E 00 0 169449E 17 0 215443E 01 0 100000E 01 0 8000000E 04 0 000000E 00 0 196681E 17 0 246212E 01 0 100000E 01 0 9000000E 04 0 000000E 00 0 223701E 17 0 276978E 01 0 100000E 01 0 1000000E 03 0 000000E 00 0 250468E 17 0 307739E 01 0 100000E 01 Functions in each menu are explained below PSIM User Manual 6 1 Chapter 6 Waveform Processing Using SIMVIEW 6 1 File Menu Function Description Open Load text data file Open Binary Load SIMVIEW binary file Merge Merge another data file with the existing data file for display Re Load Data Re load data from the same text file Save In the time display save waveforms to a SIMVIEW binary file with the smv extension In the FFT display save the FFT results to a text file with the fft extension The data range saved will be the same as shown on the screen Save As In the time display save waveforms to a SIMVIEW binary file spec ified by the user In the FFT display save the FFT results to a text file specified by the user Print Print the waveforms Print Setup Set up the printer Print Page Setup Set up the hardcopy printout size Print Preview Preview the printout Exit Quit SIMVIEW When the data of a text file are currently being dis
36. Chapter 4 Other Components 4 2 4 3 Time The Time element is a special case of the piecewise linear voltage source It is treated as a grounded voltage source and the value is equal to the simulation time in sec Images Parameter File The parameter file element FILE defines the name of the file that stores the component parameters and limit settings For example the resistance of a resistor can be specified as R1 and in the parameter file the value of R1 is defined Image FILE File The parameter file is a text file created by the user The format of the parameter file is lt name gt lt value gt lt name gt lt value gt LIMIT lt name gt lt lower limit gt lt upper limit gt A comment line The field lt value gt can be either a numerical number e g R1 12 3 or a mathematical expression e g R3 R1 R2 2 The name and the value can be separated by either an equation sign e g R1 12 3 or a space e g R1 12 3 Text from the character to the end of the line is treated as comments e g R3 is the load resistance For example a parameter file may look like the following R1 12 3 R1 is defined as 12 3 R2 23 40hm Equation sign can be replaced by space R3 is the load resistance This line is comments R3 R1 R2 2 Math expression is allowed L1 3m power of ten suffix is allowed L1 0 003 C1 100uF 4 2
37. E PE bios oo i i i Woen HoR 120 00 i I i BUDD P eT 42 2 n ene n nee i Generator voltage 40 e aE E E eeece rede ee o oo 0 00 0 20 0 40 0 60 0 80 Time 2 2 5 1 2 Induction Machine PSIM provides the model for 3 phase squirrel cage induction machines The model comes in two versions one with the stator winding neutral accessible INDM_3SN and the other without the neutral INDM_3S The images and parameters are shown as follows Image PSIM User Manual 2 21 Chapter 2 Power Circuit Components INDM_3S INDM_3SN a IM ao IM b b c c neutral Attributes Parameters Description R stator Stator winding resistance in Ohm L stator R rotor L rotor Lm magnetizing R common mode L common mode C common mode No of Poles Moment of Inertia Torque Flag Master Slave Flag Stator winding leakage inductance in H Rotor winding resistance in Ohm Rotor winding leakage inductance in H Magnetizing inductance in H Common mode resistance in Ohm for INDM_3SN only Common mode inductance in H for INDM_3SN only Common mode capacitance in F for INDM_3SN only Number of poles P of the machine an even integer Moment of inertia J of the machine in kg m Flag for internal torque T output When the flag is set to 1 the output of the internal t
38. F DLL gt iref ms_user4 dll 2 3uk Voa The source code which is stored in the file ms_user4 c is shown below Both the inner current loop and the outer voltage loop use a PI controller Trapezoidal rule is used to dis cretize the controllers Discretization using Backward Euler is also implemented but the codes are commented out 4 24 PSIM User Manual External DLL Block This is a sample C program for Microsoft C C which is to be linked to PSIM via DLL To compile the program into DLL For Microsoft Visual C 5 0 or 6 0 Create a directory called C ms_user4 and copy the file ms_user4 c that comes with the PSIM software into the directory C ms_user4 Start Visual C From the File menu choose New In the Projects page select Win32 Dynamic Link Library and set Project name as II ms_user4 and Location as C ms_user4 Make sure that Create new workspace is selected and under Platform Win32 is selected for Version 6 0 When asked What kind of DLL would you like to create select An empty DLL project From the Project menu go to Add to Project Files and select ms_user4 c From the Build menu go to Set Active Configurations and select Win32 Release From the Build menu choose Rebuild All to generate the DLL file ms_user4 dll
39. I regulators of both loops are implemented using op amp Vin Tin nena x Vo Comparatpr Id ref 7 vo ref x z Iia i F P n g 3 4 2 THD Block For an ac waveform that contains both the fundamental and harmonic components the total harmonic distortion of the waveform is defined as V y2 v THD rms Vi Vi where V is the fundamental component rms V is the harmonic rms value and V is the overall rms value of the waveform The THD block is modelled as shown below Image PSIM User Manual 3 19 Chapter 3 Control Circuit Components THD Circuit Model of the THD Block o THD Vin t rns df V t v t A second order band pass filter is used to extract the fundamental component The center frequency and the passing band of the band pass filter need to be specified Attributes Parameters Description Fundamental Fundamental frequency of the input in Hz Frequency Passing Band Passing band of the band pass filter in Hz Example In the single phase thyristor circuit below a THD block is used to measure the THD of the input current The delay angle of the thyristor bridge is chosen as 30 For the THD block the fundamental frequency is set at 60 Hz and the passing band of the filter
40. If the file exists select Load Subcircuit instead A subcircuit block rectangle will appear on the screen Place the subcircuit Once the subcircuit is placed connect the wires to the border of the subcircuit Note that the nodes at the four corners of the subcircuit block can not be used for connection 5 3 2 Creating Subcircuit Inside the Subcircuit To enter the subcircuit double click on the subcircuit block Create edit the content of the subcircuit circuit exactly the same way as in the main circuit To specify the subcircuit size select Set Size in the Subcircuit menu In this example the size is set to 4x7 width of 4 divisions and height of 7 divisions Note that the size of the subcircuit should be chosen such that it gives the proper appearance and allows easy wire connection in the main circuit Once the subcircuit is complete define ports to connect the subcircuit nodes with the corresponding nodes in the main circuit Choosing Place Port in the Subcir cuit menu and a port image will appear After the port is placed in the circuit a pop up window shown on the left below will appear Subcircuit port assignments The diamonds on the four sides represent the connection nodes and the positions of the subcircuit They correspond to the connection nodes of the subcircuit block on the right There are no diamonds at the four corners since connections to the corners are not permitted When a dia
41. Moreover the amplitude of the sinusoidal excitation source needs to be properly selected to maintain the small signal linearity of the system Example The following example illustrates the use of the simulated frequency response analyzer in a one quadrant chopper circuit A simulated frequency response analyzer is used to mea sure the frequency response of the output voltage versus the reference voltage The dc duty cycle is chosen as 0 7 An ac perturbation with the amplitude of 0 1 is generated through an ac source The load filter cut off frequency is 291 Hz In this example the per turbation source frequency is also chosen as 291 Hz The simulated frequency response results are Gain 13 7 dB and Phase 90 05 at the frequency of 291 Hz KA o 2 Wy I o 8 uo wear Ym E Fs 1 00 E 0 60 ih l Mu na 0 00 250 5 00 7 50 10 00 L ohv amp 10 kHz 2 0 20 i ini j ji o S FR A Time m The simulated waveforms of the load voltage modulation wave and the carrier wave are shown on the right PSIM User Manual 4 27 Chapter 4 Other Components 4 28 PSIM User Manual Chapter 5 Circuit Schematic Design Using SIMCAD SIMCAD provides interactive and user friendly interface for the circuit schematic design The following figure shows a rectifier circuit in
42. Next Min can be used to evaluate the curve Note that these four functions are only enabled in the Measure mode and after a curve is selected In the zoom in mode waveforms can be shifted horizontally or vertically There are left and right arrows below the x axis and up and down arrows in the far right axis By click PSIM User Manual Option Menu 6 6 ing on the arrow the waveforms will be shifted by one division Option Menu Set Text Fonts Set Curves Set Background Grid Color Function Description FFT Perform the Fast Fourier Transform analysis Time Switch from the frequency spectrum display to time domain display Change the text font type and size Change the display of curves Set the screen background to be either Black default or White Enable or disable the grid display Set the curves to be either Color default or Black and White By selecting FFT the harmonic amplitudes of time domain waveforms can be calculated and displayed Note that in order to obtain correct FFT results the simulation should reach the steady state and the simulation data should be restricted using the manual range setting in the X Axis function to have the integer number of the fundamental period The display of a curve can be changed through Set Curves The data points of a curve can have either no symbol or one of the following symbols Circle Rectangle Triangle Plus and Star Also data points
43. ONSQ Nonlinear voltage source square root VP Voltage probe node to ground VP2 Voltage probe between two nodes VSI3 VSL_ 3 3 phase PWM voltage source inverter VSIN Sinusoidal voltage source VSIN3 3 phase sinusoidal voltage source VSQU Square wave voltage source VSTEP VSTEP_1 Step voltage source VTRI Triangular wave voltage source VVCVS Voltage controlled voltage source VVCVSV Variable gain voltage controlled voltage source WwW Wattmeter W3 3 phase wattmeter XORGATE exclusive OR gate ZENER Zener diode B 6 PSIM User Manual Names Description ZOH Zero order hold PSIM User Manual Appendix B List of Elements B 8 PSIM User Manual
44. PSIM User Manual Powersim Inc PSIM User Manual PSIM Version 5 0 with Motor Drive Module Version 3 0 and Digital Control Module Version 2 0 May 2001 Copyright 2001 Powersim Inc All rights reserved No part of this manual may be photocopied or reproduced in any form or by any means without the written permission of Powersim Inc Disclaimer Powersim Inc Powersim makes no representation or warranty with respect to the adequacy or accuracy of this documentation or the software which it describes In no event will Powersim or its direct or indirect suppliers be lia ble for any damages whatsoever including but not limited to direct indirect incidental or consequential damages of any character including without limitation loss of business profits data business information or any and all other commercial damages or losses or for any damages in excess of the list price forthe licence to the software and docu mentation Powersim Inc email info powersimtech com http www powersimtech com Table of Contents Chapter 1 General Information 1 1 1 2 1 3 1 4 1 5 1 6 Introduction 1 1 Circuit Structure 1 1 Software Hardware Requirement 1 2 Installing the Program 1 2 Simulating a Circuit 1 3 Component Parameter Specification and Format 1 3 Chapter 2 Power Circuit Components 2 1 2 2 2 3 2 4 2 5 Resistor Inductor Capacitor Branches RLC 2 1 Switches 2 2 2 2 1 Diode and Zener Di
45. PSIM User Manual Independent Voltage Current Sources 4 4 4 4 1 4 4 2 LIMIT R3 5 25 R3 is limited between 5 and 25 The names R1 R2 R3 L1 and C1 can be used in SIMCAD to define component parame ters and the actual values are defined here Independent Voltage Current Sources Several types of independent voltage current sources are available in PSIM The notation of the current source direction is defined as the current flows out of the higher potential node through the external circuit and back into the lower potential node of the source Note that current sources regardless of the type can be used in the power circuit only DC Source A dc source has a constant amplitude One side of the dc voltage VDC_GND is grounded Images VDC VDC_CELL VDC_GND IDC Attributes Parameters Description Amplitude Amplitude of the source Sinusoidal Source A sinusoidal source is defined as v Va sin 27 f t 0 V offset oO The specifications can be illustrated as follows V A T pa T E gt 0 27f PSIM User Manual 4 3 Chapter 4 Other Components 4 4 3 Images VSIN ISIN t Attributes Parameters Description Peak Amplitude Peak amplitude V Frequency Frequency f in Hz Phase Angle Initial phase angle 9 in deg DC Offset DC offset Voffset Tstart Starting time in sec Before this time the source is 0
46. Power Circuit Components currents of the master machine are positive Based on this notation if the speed sensor is along the reference direction of the mechani cal system a positive speed produced by the master machine will give a positive speed sensor output Otherwise the speed sensor output will be negative For example if the speed of the master machine in example above is positive Speed Sensor 1 reading will be positive and Speed Sensor 2 reading will be negative The reference direction also determines how a mechanical load interacts with the machine In this system there are two constant torque mechanical loads with the amplitudes of 77 and 77 gt respectively Load 1 is along the reference direction and Load 2 is opposite to the reference direction Therefore the loading torque of Load 1 to the master machine is T7 whereas the loading torque of Load 2 to the master machine is T7 gt The operation of a dc machine is described by the following equations la dt d ip v BAL RPL E k 0 Q where v vs iq and ir are the armature and field winding voltage and current respectively E is the back emf is the mechanical speed in rad sec T is the internal developed torque and 7 is the load torque The back emf and the internal torque can also be expressed as E Laf i 0 T em Laf ip la where L pis the mutual inductance between the armature and the field windings It c
47. SIM User Manual Examples A l A 2 Appendix A Examples Examples are included in this Appendix to illustrate the use of the program Phase Controlled Rectifier thy 3f sch The following is a phase controlled rectifier system with feedback control 5 10 15 20 25 30 35 40 45 Bie ms The rectifier is controlled through an alpha controller The synchronization of the control ler is provided by the zero crossing of the line voltage Vac The alpha value is created through the load voltage feedback loop The simulation waveforms of the PI output after the limiter the rectifier output voltage and the load voltage are shown on the right SPWM Three Phase Voltage Source Inverter vsi3spwm sch The following is a three phase voltage source inverter The gatings are generated through sinusoidal pulse width modulation The simulated waveforms of the Phase A modulation wave the triangular carrier and the three phase load currents are shown below PSIM User Manual A 1 Examples J RL4a IRL4b AA IRL4c A 3 Phase Controlled Magnet Power Supply Using A Series Active Filter rec pwm sch The following is a phase controlled magnet power supply In this system a PWM con verter connected in series with the rectifier is used as an active filter for harmonic cance
48. VTRI ITRI t Attributes Parameters Description Vpeak peak Peak to peak amplitude V PSIM User Manual 4 5 Chapter 4 Other Components Frequency Duty Cycle DC Offset Frequency in Hz Duty cycle D of the rising slope interval DC offset Vig set The specifications of a triangular wave source are illustrated as y p 0 T 4 Voffset i T 1 4 4 5 Step Source A step voltage current source changes from one level to another at a given time Images VSTEP VSTEP_1 ISTEP ISTEP_1 o t Attributes For VSTEP ISTEP Parameters Description Vstep Value Vstep after the step change Tstep Time Trey at which the step change occurs For VSTEP_1 ISTEP_1 Parameters Description Vstep1 Value Vstep before the step change Vstep2 Value Vstep2 after the step change Tstep Time Tytep at which the step change occurs 4 6 PSIM User Manual Independent Voltage Current Sources 4 4 6 T_transition Transition time T ansition from Vstep t0 Vstep2 The specifications of the voltage step sources are illustrated as follows VSTEP VSTEP_1 Vs tep A V step2 Vstep1 T m transition gt p 0 Tstep t 0 T step i Piecewise Linear Source The waveform of a piecewise linear source consists of many linear segments It is defined by the number of points the values and the corresponding time in sec
49. _1F_4W Single phase transformer with 2 primary and 2 secondary windings TF_1F_5W Single phase transformer with 1 primary and 4 secondary windings TF_1F_7W Single phase transformer with 1 primary and 6 secondary windings TF_1F_8W Single phase transformer with 2 primary and 6 secondary windings TF_3F 3 phase transformer windings unconnected TF_3F_3W 3 phase 3 winding transformer windings unconnected TF _3DD 3 phase D D transformer TF 3YD 3 phase Y D transformer TF 3YDD 3 phase Y D D transformer TF 3YY 3 phase Y Y transformer TF 3YYD 3 phase Y Y D transformer TF_3F_4W 3 phase 4 winding transformer windings unconnected TF_IDEAL Single phase ideal transformer TFCTN s domain transfer function block TFCTN_D z domain transfer function block TG_1 Arc tangent function block THD Total Harmonic Distortion block PSIM User Manual B 5 Appendix B List of Elements Names Description THY Thyristor switch Time Time element in sec UDELAY Unit delay V_AC AC voltmeter VA_PF VA power factor meter VA_PF3 3 phase VA power factor meter VAR VAR meter VAR3 3 phase VAR meter VCCVS VCCVS_ 1 Current controlled voltage source VDC DC voltage source VDC_CELL DC voltage source with the battery cell image V_DC DC voltmeter VDC_GND Grounded DC voltage source VGNL VGNL_1 Piecewise linear voltage source VNOND Nonlinear voltage source multiplication VNONM Nonlinear voltage source division VN
50. _7W Transformer with 1 primary and 6 secondary windings TF_1F_ 8W Transformer with 2 primary and 6 secondary windings A single phase two winding transformer is modelled as 2 14 PSIM User Manual Transformers Rp Lp Rs Ls Np Ns Primary Lm Secondary Ideal where Rp and Rs are the primary secondary winding resistances Lp and Ls are the pri mary secondary winding leakage inductances and Lm is the magnetizing inductance All the values are referred to the primary side Images TF_IF TF_IF_3W TF_IF_5W_1 TF_IF_7W Me TN eu Ea E E JE E E 2 AE 5 TF_1F_5W TF_1F_8W o p TE f TF_1F_1 TF_1F_4W rey Is mit PIT s_6 JE gE In the images p refers to primary s refers to secondary and f refers to tertiary The winding with the larger dot is the primary winding or the first primary winding for the 2 primary 2 secondary winding transformer TF_1F_4W For the multiple winding transformers the sequence of the windings is from the top to the bottom For the transformers with 2 or 3 windings the attributes are as follows Attributes Parameters Description Rp primary Resistance of the primary secondary tertiary winding in Rs secondary Ohm Rt tertiary Lp pri leakage Ls sec leakage Lt ter leakage Lm magnetizing Leakage inductance of the primary secondary tertiary winding in H seen from the primary Ma
51. _GND 4 3 4 4 2 Sinusoidal Source VSIN VSIN3 ISIN 4 3 4 4 3 Square Wave Source VSQU ISQU 4 4 4 4 4 Triangular Source VTRI ITRI 4 5 4 4 5 Step Source VSTEP ISTEP 4 6 4 4 6 Piecewise Linear Source VGNL IGNL 4 7 4 4 7 Random Source VRAND IRAND 4 8 PSIM User Manual 4 5 Voltage Current Controlled Sources 4 9 4 6 Nonlinear Voltage Controlled Sources 4 11 4 7 Voltage Current Sensors VSEN ISEN 4 12 4 8 Speed Torque Sensors WSEN TSEN 4 12 4 9 Probes and Meters 4 13 4 10 Switch Controllers 4 16 4 10 1 On Off Switch Controller ONCTRL 4 16 4 10 2 Alpha Controller ACTRL 4 17 4 10 3 PWM Lookup Table Controller PATTCTRL 4 18 4 11 Control Power Interface Block CTOP 4 20 4 12 ABC DQO Transformation Block ABC2DQO DQO2ABC 4 21 4 13 External DLL Block 4 22 4 14 Simulated Frequency Response Analyzer SFRA 4 26 Chapter 5 Circuit Schematic Design Using SIMCAD 5 1 Creating a Circuit 5 2 5 2 Editing a Circuit 5 3 5 3 Subcircuit 5 3 5 3 1 5 3 2 5 3 3 5 3 4 Creating Subcircuit In the Main Circuit 5 4 Creating Subcircuit Inside the Subcircuit 5 5 Connecting Subcircuit In the Main Circuit 5 6 Other Features of the Subcircuit 5 7 5 3 4 1 Passing Variables from the Main Circuit to Subcircuit 5 7 5 3 4 2 Customizing the Subcircuit Image 5 8 5 3 4 3 Including Subcircuits in the SIMCAD Element List 5 9 5 4 Other Options 5 10 5 4 1 5 4 2 5 4 3 5 4 4 5 4 5 Simulation Control 5 10 Runn
52. able list inside the subcircuit is not saved to the netlist and is not used for simulation PSIM User Manual 5 7 Chapter 5 Circuit Schematic Design Using SIMCAD This feature allows the parameters of a subcircuit to be defined at the main circuit level In the case where the same subcircuit is used several times in one main circuit different parameters can be assigned to the same variable For example if the subcircuit sub sch is used two times in above example in one subcircuit L can be defined as 3mH and in another subcircuit L can be defined as 1mH Note that this example also illustrates the feature that parameters can be defined as a vari able for example Vin for the input dc voltage source or a mathematical expression for example R1 R2 for the load resistance The variables Vin R1 and R2 are defined in the parameter file para main txt For more details see Section 4 3 of the PSIM User Manual 5 3 4 2 Customizing the Subcircuit Image The following are the procedures to customize the subcircuit image of sub sch In the subcircuit select Edit Image in the Subcircuit menu A window will pop up as shown below ff SIMCAD Subcircuit Image C psim5 0 sub SCH File Edit View Window Bee Healelal prshs Zist lt alele c mi AE Subcircuit Image C psim5 0 sub SCH O x as El O E Zz 4 VW T SS X In the window the diamonds marked
53. an be calculated based on the rated operating conditions as V zly R L af I m Note that the dc machine model assumes magnetic linearity Saturation is not considered 2 20 PSIM User Manual Motor Drive Module Example A DC Motor with a Constant Torque Load The circuit below shows a shunt excited dc motor with a constant torque load Ty Since the load is along the reference direction of the mechanical system the loading torque to the machine is Tz Also the speed sensor is along the reference direction It will give a positive output for a positive speed The simulation waveforms of the armature current and the speed are shown on the right Ia s d la ee 250 00 ofA P LA Sensor 200 00 Tis T 450 00 2 imo 50 00 4 Constant oo L Torque 100K J Load 0 80K O 60K O 40kK 0 20K 0 00K L 000 0 20 040 060 080 Time 3 Example A DC Motor Generator Set The circuit below shows a dc motor generator set The motor on the left is set to the mas ter mode and the generator on the right is set to the slave mode The simulation waveforms of the motor armature current and the generator voltage show the start up transient la Ta Motor Generator ae ofA z 2 DOOD EE Pag ee E E E p Mons armature current 150 00 g eo ee ee anM N 1 2 E 100 00 H F PEENE REANA R ARRA AN RERARERAR ESA SOD EE eo ec a ee pute
54. and should be connected to the con trol circuit The equations of the 3 phase brushless dc machine are v di R i L M gt E a dt a di v Bei Po Ms FE di v R i aM E where v4 vp and v are the phase voltages iq ip and i are the phase currents R L and M are the stator phase resistance self inductance and mutual inductance and E E b and E are the back emf of Phase A B and C respectively The back emf voltages are a function of the rotor mechanical speed and the rotor elec trical angle 0 that is E ke a On E ke p On E ke c On The coefficients ke a ke p and k are dependent on the rotor angle 0 In this model an ideal trapezoidal waveform profile is assumed as shown below for Phase A Also shown is the Phase A current ke a A Kok 180 360 P where Kok is the peak trapezoidal value in V rad sec which is defined as i A E pk 2 1000 27 60 angle amp is determined automatically in PSIM Given the values of Vpk krpm and Vrms krpm the The developed torque of the machine is 2 30 PSIM User Manual Motor Drive Module Toy E i E i E i OQ The mechanical equations are where B is a coefficient Tioaq is the load torque and P is the no of poles The coefficient B is calculated from the moment of inertia J and the mechanical time constant Trech as below J mech B
55. as Vi ki Vi k V3 k Vn If the input is a vector the output of a two input summer will also be a vector which is defined as Vi la ay ay V3 b b gt eee bal Yo Vi Vz a b ayt b gt aad a tb For a one input summer the output will still be a scalar which is equal to the summation 3 6 PSIM User Manual Computational Function Blocks 3 2 2 3 2 3 3 2 4 of the input vector elements that is V aj aj ap Multiplier and Divider The output of a multipliers MULT or dividers DIVD is equal to the multiplication or division of two input signals Images o xI Nominator Denominator For the divider the dotted node is for the nominator input The input of a multiplier can be either a vector or a scalar If the two inputs are vectors their dimensions must be equal Let the two inputs be Vi ay ay ay V b b gt by The output which is a scalar will be V V Vo a b ay b a b Square Root Block A square root function block calculates the square root of the input quantity Image SQROT Fal Exponential Power Function Blocks Images EXP POWER a PSIM User Manual 3 7 Chapter 3 Control Circuit Components 3 2 5 3 2 6 Attributes Parameters Description Coefficient k Coefficient k Coefficient ky Coefficient ky For the exponent
56. ation results txt and FFT results fft are in text format and can be edited using a text editor such as Microsoft NotePad or exported to other software such as Microsoft Excel For example to load a simulate result file chop 1q txt in Microsoft Excel follow these steps In Microsoft Excel select Open from the File menu Open the file chop 1q txt In the dialog window Text Import Wizard Step 1 of 3 under Original data type choose Delimited Click on Next In the dialog window Text Import Wizard Step 2 of 3 under Delimiters choose Space Click on Next In the dialog window Text Import Wizard Step 3 of 3 under Column data format choose General Click on Finish 6 8 PSIM User Manual Simulation Issues Chapter 7 Error Warning Messages and General Simula 7 1 7 1 1 tion Issues Simulation Issues Time Step Selection PSIM uses the fixed time step in the simulation In order to assure accurate results the simulation time step should be properly chosen The factors that limit the time step in a circuit include the switching period widths of pulses or square waveforms and intervals of fast transients It is recommended that the time step should be at least one magnitude smaller than the smallest of the above Propagation Delays in Logic Circuits The logic elements in PSIM are ideal i e there is no propagation delay For a logic circuit that utilizes the pr
57. aveform which resets the integrator output at the end of each cycle The reset flag is set to 0 Vd Vo 15 00 10 00 l ae le al 150 0 00 1 00 2 00 3 00 4 00 Time ms 3 1 3 Differentiator The transfer function of a differentiator is G s sT PSIM User Manual 3 3 Chapter 3 Control Circuit Components A differentiator is calculated as follows v t v t At in v t T ie where Af is the simulation time step v t and v t At are the input values at the present and the previous time step Image DIFF Ea Attribute Parameters Description Time Constant Time constant T of the differentiator in sec Since sudden changes of the input will generate spikes at the output it is recommended that a low pass filter be placed before the differentiator Proportional Integral Controller The transfer function of a proportional integral PI controller is defined as l sT k G s sT Image PI Ea Attributes Parameters Description Gain Gain k of the PI controller Time Constant Time constant T of the PI controller To avoid over saturation a limiter should be placed at the PI output 3 4 PSIM User Manual Transfer Function Block 3 1 5 Built in Filter Blocks Four second order filters are provided as built in modules in PSIM The transfer function of these filter
58. cients dp ay are not zero this type of filter is called infinite impulse response IIR filter The transfer function of the FIR filter is expressed in polynomial form as N 1 If ag 1 the output y and input u can be expressed in difference equation form as y n by u n b u n 1 by u n N Filter coefficients can be specified either directly or through a file The following are the filter images and attributes when filter coefficients are specified directly Images FILTER_D FILTER_FIR i Attributes Parameters Description Order N Order N of the transfer function Coeff Do by Coefficients of the nominator from b to by Coeff do dy Coefficients of the nominator from dg to ay Sampling Frequency Sampling frequency in Hz The following are the filter images and attributes when filter coefficients are specified through a file Images FILTER_D1 FILTER_FIR1 he 3 28 PSIM User Manual Digital Control Module Attributes Parameters Description File for Coefficients Name of the file storing the filter coefficients Sampling Frequency Sampling frequency in Hz The coefficient file has the following format For Filter_FIR1 For Filter_D1 the format can be either one of the following N or N bo bo ag b by ay by by an ag ay an Example To design a 2nd order low pass Butterworth digital filter with the
59. cles Select the subcircuit block and select Show Subcircuit Ports in the Subcircuit menu to display the port names as defined inside the subcircuit Connect the wires to the connection points accordingly 5 6 PSIM User Manual Subcircuit 5 3 4 Other Features of the Subcircuit This section describes other features of the subcircuit through another example as shown below ff C psimdemo main sch IOl x File Subcircuit Parameter File Help Name FILET File C psimdemo p Inside the subcircuit L in Ot c 4 File sub sch 5 3 4 1 Passing Variables from the Main Circuit to Subcircuit In this example the main circuit main sch uses a subcircuit sub sch In the subcircuit the inductance value is defined as L and the capacitance is defined as C The default values of L and C can be set by selecting Subcircuit Set Default Variable List In this case L is set to 5mH and C is set to 100uF When the subcircuit is loaded into the main circuit the first time this default variable list will appear in the tab Subcircuit Vanables in Subcircuit Edit Subcircuit from the main circuit main sch New variables can be added here and variable values can be changed In this case L is changed to 2mH and C is kept the same as the default value Note that the variables and the values are saved to the netlist file and used in simulation The default vari
60. current in Inductor i Iflag_ i Flag for the current printout in Inductor i In the images the circle square triangle and plus refer to Inductor 1 2 3 and 4 respec tively Example Two mutually coupled inductors have the following self inductances and mutual induc tance L11 1 mH L22 1 1 mH and L12 L21 0 9 mH In SIMCAD the specifications of the element MUT2 will be L11 self 1 e 3 L12 mutual 0 9e 3 L22 self 1 le 3 PSIM User Manual 2 13 Chapter 2 Power Circuit Components 2 4 Transformers 2 4 1 Ideal Transformer An ideal transformer has no losses and no leakage flux Image TF_IDEAL TF_IDEAL_1 The winding with the larger dot is the primary and the other winding is the secondary Attributes Parameters Description Np primary No of turns of the primary winding Ns secondary No of turns of the secondary winding Since the turns ratio is equal to the ratio of the rated voltages the number of turns can be replaced by the rated voltage at each side 2 4 2 Single Phase Transformers The following single phase transformer modules are provided in PSIM TF_1F Transformer with 1 primary and 1 secondary windings TF_1F_1 TF_1F_ 3W Transformer with 1 primary and 2 secondary windings TF_1F_4W Transformer with 2 primary and 2 secondary windings TF_1F_5W Transformer with 1 primary and 4 secondary windings TF_1F_5W_1 TF_1F
61. der n 2 Gain 1 5 Coeff B Bo 0 0 400 e3 Coeff A Ao 1 1200 400 e3 Proportional Controller The output of a proportional P controller is equal to the input multiplied by a gain Image P K Attribute Parameters Description Gain Gain k of the transfer function Integrator The transfer function of an integrator is G s There are two types of integrators One is the regular integrator I The other is the reset table integrator RESETI Images 3 2 PSIM User Manual Transfer Function Block I RESETI ES Attribute Parameters Description Time Constant Time constant T of the integrator in sec Initial Output Value Initial value of the output Reset Flag Reset flag 0 edge reset 1 level reset for RESETI only The output of the resettable integrator can be reset by an external control signal at the bot tom of the block For the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal For the level reset reset flag 1 the integrator out put is reset to zero as long as the control signal is high 1 To avoid over saturation a limiter should be placed at the integrator output Example The following circuit illustrates the use of the resettable integrator The input of the inte grator is a dc quantity The control input of the integrator is a pulse w
62. dit the size and the file name of the subcircuit Set Size To set the size of the subcircuit Place Port To place the connection port between the main circuit and the subcir cuit Display Port To display the connection port of the subcircuit Edit Default Variable List To edit the default variable list of the subcircuit Edit Image To edit the image of the subcircuit Display Subcircuit Name To display the name of the subcircuit Show Subcircuit Ports To display the port names of the subcircuit in the main circuit Hide Subcircuit Ports To hide the port names of the subcircuit in the main circuit Subcircuit List To list the file names of the main circuit and the subcircuits One Page up To go back to the main circuit The subcircuit is automatically saved Top Page To jump from a lower level subcircuit to the top level main circuit This is useful for circuits with multiple layers of subcircuits The one quadrant chopper circuit below illustrates the use of the subcircuit Subcircuit Inside the subcircuit gt l File chop sch File chop_sub sch 5 3 1 Creating Subcircuit In the Main Circuit The following are the steps to create the subcircuit chop_sub sch in the main circuit chop sch Open or create the main circuit chop sch If the file chop_sub sch does not exist go to the Subcircuit menu and select 5 4 PSIM User Manual Subcircuit New Subcircuit
63. double Voref 10 5 Va ref iL Vo Vm errv eri Ts 33 33e 6 static double yv 0 yi 0 uv 0 ui 0 Input Va fabs in 0 iL in 1 Vo in 2 Outer Loop errv Voref Vo Trapezoidal Rule yv yv 33 33 errvtuv Ts 2 iref errv yv Va Inner Loop erri iref iL Trapezoidal Rule yi yit 4761 9 erritui Ts 2 Vm yit0 4 erri Store old values uv 33 33 errv ui 4761 9 erri Output out 0 Vm out 1 iref Place your code here end Simulated Frequency Response Analyzer Similar to the actual frequency response analyzer the Simulated Frequency Response Analyzer SFRA measures the frequency response of a system between the input and the output The input of the analyzer must be connected to a sinusoidal source The response measured in dB for the amplitude and in deg for the phase angle is calculated at the end of the simulation and is stored in a file with the fre extension Image SFRA 5y E Input Output iai GC The current version of SFRA only calculates the frequency response at one point T obtain the frequency response over a frequency region one needs to manually change the 4 26 PSIM User Manual Simulated Frequency Response Analyzer excitation frequency for different values In order to obtain accurate results one should make sure that the output reaches the steady state at the end of the simulation
64. dulation index the delay angle the synchronization signal and the gating enable disable signal The gating pattern is selected based on the modulation index The synchronization signal provides the synchronization to the gating pattern The gating pattern is updated when the synchroniza tion signal changes from low to high The delay angle defines the relative angle between the gating pattern and the synchronization signal For example if the delay angle is 10 deg the gating pattern will be leading the synchronization signal by 10 deg Image PATTCTRL Enable Disable Delay Mod Sync Angle Index Signal Attributes Parameters Description Frequency Switching frequency in Hz Update Angle Update angle in deg based on which the gatings are internally updated If the angle is 360 the gatings are updated at every cycle If it is 60 the gatings are updated at every 60 File Name Name of the file storing the PWM gating pattern A lookup table which is stored in a file contains the gating patterns It has the following format n M1 My My Gy 1 Gi 2 Gik Ci Gi s33 Gn kn where n is the number of gating patterns m is the modulation index correspondent to Pat tern i and k is the number of switching points in Pattern i The modulation index array m to m should be monotonically increasing The output will select the 74 pattern if the input is smaller than or equal to m If the input
65. e of 0 to 1 and Vo 1s the de offset Images VRAND IRAND t EA EA 4 8 PSIM User Manual Voltage Current Controlled Sources 4 5 Attributes Parameters Description Peak Peak Amplitude Peak to peak amplitude of the source DC Offset DC offset Voltage Current Controlled Sources Four types of controlled sources are available Voltage controlled voltage source VVCVS Current controlled voltage source VCCVS VCCVS_1 Voltage controlled current source IVCCS Current controlled current source ICCCS ICCCS_1 Variable gain voltage controlled voltage source VVCVSV Variable gain voltage controlled current source IVCCSV For current controlled voltage current source VCCVS ICCCS the controlling current must come from a RLC branch Also for a controlled current source the controlling volt age current can not be an independent source Note that voltage current controlled sources can be used in the power circuit only Images VVCVS VCCVS VCCVS_1 IVCCS ICCCS ICCCS_1 VVCVSV IVCCSV oH gt gt gt RR Attribute Parameters Description Gain Gain of the source For voltage controlled sources VVCVS IVCCS the controlling voltage is from the posi tive node to the negative node For current controlled sources VCCVS ICCCS the control nodes are connected across a RLC branch and the direction of the controlling cur rent is
66. e L as a function of the rotor angle 0 L Lmpin k 9 rising stage Control signal c 1 L Lmax flat top stage Control signal c3 1 L Lmax k 9 falling stage Control signal c3 1 L Lmin flat bottom stage Control signal c4 1 The selection of the operating state is done through the control signal c 4 Cy C3 and c4 which are applied externally For example when c in Phase a is high 1 the rising stage is selected and Phase a inductance will be L Lmin k 8 Note that only one and at least one control signal out of c4 C2 C3 and c4 in one phase must be high 1 The developed torque of the machine per phase is 1 2 dL Tem 9 a0 PSIM User Manual 2 27 Chapter 2 Power Circuit Components Based on the inductance expression we have the developed torque in each stage as Tom i7 k 2 rising stage Tom 9 flat top stage Tom i k 2 falling stage Tom 0 flat bottom stage Note that saturation is not considered in this model 2 5 1 4 Brushless DC Machine A 3 phase brushless dc machine is a type of permanent magnet synchronous machine It has 3 phase windings on the stator and permanent magnet on the rotor The model in PSIM is for brushless dc machines with trapezoidal waveform back emf The image and parameters of the 3 phase brushless dc machine are shown as follows Image a b o o Shaft Node C NS SpSc 6 pulse Hall Effect Position Sensor Attributes Paramet
67. e Sampling System A discrete system can have more than one different sampling rate The following system is used to illustrate this The system below has 3 sections The first section has a sampling rate of 10 Hz The out put Vo fed back to the system and is sampled at 4 Hz in the second section In the third section the output is displayed at a sampling rate of 2 Hz It should be noted that a zero order hold must be used between two elements having dif ferent sampling rates PSIM User Manual 3 35 3 36 Chapter 3 Control Circuit Components ZOH ZOH 4 Hz 2 Hz PSIM User Manual Simulation Control 4 1 Chapter 4 Other Components Simulation Control By selecting Simulation Control in the Simulate menu in SIMCAD the following simu lation control parameters can be modified Simulation Control Parameters Time Step Simulation time step in sec Total Time Total simulation time in sec Print Time Time from which simulation results are saved to the output file No output is saved before this time Print Step Print step If the print step is set to 1 every data point will be saved to the output file If it is 10 only one out of 10 data points will be saved This helps to reduce the size of the output file Load Flag Flag for the LOAD function If the flag is 1 the previous simulation values will be loaded from a
68. e control of thyristor switches or bridges There are three input for the controller the alpha value the synchronization signal and the gat ing enable disable signal The transition of the synchronization signal from low to high from 0 to 1 provides the synchronization and this moment corresponds to when the delay angle alpha equals zero A gating with a delay of alpha degrees is generated and sent to the thyristors The alpha value is updated instantaneously Image ACTRL Enable Disable Sync Signal Alpha Attributes Parameters Description Frequency Operating frequency of the controlled switch switch module in Hz Pulse Width On time pulse width of the switch gating in deg The input for the delay angle alpha is in deg Example The figure below shows a thyristor circuit using delay angle control In the circuit the zero crossing of v which corresponds to the moment that the thyristor would start con ducting naturally is used to provide the synchronization The delay angle is set at 30 The gating signal is delayed from the rising edge of the synchronization signal by 30 s amp IRLI Vsync 0 00 10 00 20 00 30 00 40 00 50 00 lle Time ms PSIM User Manual 4 17 Chapter 4 Other Components 4 10 3 PWM Lookup Table Controller There are four input signals in PWM lookup table controllers the mo
69. e dotted node is for the real input and the other node is for the imaginary input The output is the arc tangent of the ratio between the imaginary and the Ve 1 real input i e tg esman real Fast Fourier Transform Block A Fast Fourier Transform block calculates the fundamental component of the input signal The FFT algorithm is based on the radix 2 decimation in frequency method The number of the sampling points within one fundamental period should be 2N where N is an inte ger The maximum number of sampling points allowed is 1024 The output gives the amplitude peak and the phase angle of the input fundamental com ponent The output voltage in complex form is defined as N 2 n 1 o vi i X Vo ZIN n 0 Image PSIM User Manual 3 9 Chapter 3 Control Circuit Components FFT Amplitude Ls Phase Angle Attributes Parameters Description No of Sampling Points Fundamental Frequency No of sampling points N Fundamental frequency fp in Hz The dotted node of the block refers to the output of the amplitude Note that the phase angle has been internally adjusted such that a sine function V sin t will give a phase angle output of 0 Example In the circuit below the voltage v contains a fundamental component v 100 V 60 Hz a 5th harmonic voltage v5 25 V 300 Hz and a 7th harmonic v7 25 V 420 Hz
70. e node at the top is for the column index input Examples The following shows a one dimensional lookup table 1 10 2 30 3 20 4 60 5 50 If the input is 0 99 the output will be 10 If the input is 1 5 the output will be 1 5 1 30 10 1 0 eri 20 3 12 PSIM User Manual Other Function Blocks 3 3 4 The following shows a 2 dimensional lookup table 3 4 1 2 4 1 2 3 5 8 3 8 2 9 If the row index is 2 and the column index is 4 the output will be 8 If the row index is 5 regardless of the column index the output will be 0 Trapezoidal and Square Blocks The trapezoidal waveform block LKUP_TZ and square waveform block LKUP_SQ are specific types of lookup tables the output and the input relationship is either a trape zoidal or a square waveform Images LKUP_TZ LKUP_S For the trapezoidal waveform block Attributes Parameters Description Rising Angle theta Rising angle 9 in deg Peak Value Peak value V of the waveform For the square waveform block Attribute Parameters Description Pulse Width deg Pulse width in half cycle in deg The waveforms of these two blocks are shown below Note that the inputv is in deg and can be in the range of 360 to 360 Both waveforms are half wave and quarter wave symmetrical PSIM User Manual 3 13 Chapter 3 Control Circuit Compone
71. ers Description Current Gain beta Transistor current gain B defined as B I I Bias Voltage V Forward bias voltage between base and emitter for NPN_1 or between emitter and base for PNP_1 Vee sat Saturation voltage between collector and emitter for NPN_1 or Vec sat for PNP_1 and between emitter and collector for PNP_1 The switch is controlled by the base current I It can operate in either one of the three regions cut off off state linear and saturation region on state The properties of these regions for NPN_1 are Cut off region V lt V I 0 I 0 Linear region V Ve Ie B lys Vee gt Vee sat Saturation region Vy Vy Te lt B ly Vee Vee sat where is Vpe the base emitter voltage V is the collector emitter voltage and I is the col lector current Note that for NPN_1 and PNP_1 the gate node base node is a power node and must be connected to a power circuit component such as a resistor or a source It can not be con nected to a gating block or a switch controller WARNING It has been found that the linear model for NPN_1 and PNP_1 works well in simple circuits but may not work when circuits are complex Please use this model with caution and user discretion is advised Examples below illustrate the use of the linear switch model The circuit on the left is a linear voltage regulator circuit and the transistor operates in the linear mode The circuit on the right is a
72. ers Description R stator resistance Stator phase resistance R in Ohm L stator self ind Stator phase self inductance L in H M stator mutual ind Stator mutual inductance M in H The mutual inductance M is a negative value Depending on the winding structure the ratio between M and the stator self inductance L is normally between 1 3 and 1 2 If M is unknown a reasonable value of M equal to 0 4 L can be used as the default value 2 28 PSIM User Manual Motor Drive Module Vpk krpm Vrms krpm No of Poles P Moment of Inertia Mech Time Constant theta_O deg theta_advance deg Conduction Pulse Width Torque Flag Master Slave Flag Peak line to line back emf constant in V krpm mechanical speed RMS line to line back emf constant in V krpm mechanical speed The values of Vpk krpm and Vrms krpm should be available from the machine data sheet If these values are not available they can be obtained through experiments by operating the machine as a generator at 1000 rpm and measuring the peak and rms values of the line to line voltage Number of poles P Moment of inertia J of the machine in kg m Mechanical time constant Tech Initial rotor angle 0 in electrical deg The initial rotor angle is the rotor angle at t 0 The zero rotor angle position is defined as the position where Phase A back emf crosses zero from negative to positive under a positive rotatio
73. es transformers and coupled inductors The control circuit is represented in block diagram Components in s domain and z domain logic components such as logic gates and flip flops and nonlinear compo nents such as multipliers and dividers can be used in the control circuit Sensors measure power circuit voltages and currents and pass the values to the control circuit Gating sig nals are then generated from the control circuit and sent back to the power circuit through switch controllers to control switches 1 3 Software Hardware Requirement PSIM runs in Microsoft Windows environment 95 98 NT 2000 on PC computers The minimum RAM memory requirement is 32 MB 1 4 Installing the Program A quick installation guide is provided in the flier PSIM Quick Guide and on the CD ROM Some of the files in the PSIM directory are Files Description psim dll PSIM simulator simcad exe Circuit schematic editor SIMCAD simview exe Waveform processor SIMVIEW simcad lib PSIM component library hip Help files sch Sample schematic circuit files 1 2 PSIM User Manual Simulating a Circuit File extensions used in PSIM are sch SIMCAD schematic file binary cct PSIM circuit file text txt PSIM simulation output file text smv SIMVIEW waveform file binary 1 5 Simulating a Circuit To simulate the sample one quadrant chopper circuit chop sch Start SIMCAD Choose
74. file with the ssf extension as the initial conditions Save Flag Flag for the SAVE function If the flag is 1 values at the end of the current simulation will be saved to a file with the ssf extension With the SAVE and LOAD functions the circuit voltages currents and other quantities can be saved at the end of a simulation session and loaded back as the initial conditions for the next simulation session This provides the flexibility of running a long simulation in sev eral shorter stages with different time steps and parameters Components values and parameters of the circuit can be changed from one simulation session to the other The cir cuit topology however should remain the same In PSIM the simulation time step is fixed throughout the simulation In order to ensure accurate simulation results the time step must be chosen properly The factors that limit the time step in a circuit include the switching period widths of pulses waveforms and intervals of transients It is recommended that the time step should be at least one magni tude smaller than the smallest of the above The allowable maximum time step is automatically calculated in PSIM It is compared with the time step set by the user and the smaller value of the two will be used in the sim ulation If the selected time step is different from the one set by the user it will be saved to the file message doc PSIM User Manual 4 1
75. fine the reference direction of a mechanical system through the master slave flag When the interface block is set to the master mode the reference direction is along the mechani cal shaft away from the mechanical node and towards the rest of the mechanical ele ments In a mechanical system only one and at least one machine interface block must be set to the master mode Refer to the help on the dc machine for more explanation on the master slave flag Let s assume that a drive system consists of a motor with a developed torque of 7 and a moment of inertia of J and a mechanical load with a load torque of Tipag and a moment of inertia of J gt The equation that describes the mechanical system is dOn dt Tom l load J J where is the shaft mechanical speed In PSIM this equation is modelled by an equiva lent circuit as shown below On speed node Tem 4 P nf fau In this circuit the two current sources have the values of T and Tioaq and the capacitors have the values of J and J The node to ground voltage speed node voltage represents the mechanical speed This is analogous to C dV dt i for a capacitor where PSIM User Manual 2 39 Chapter 2 Power Circuit Components C J J V Om and i Tom Tload In PSIM the mechanical equivalent circuit for motors and mechanical loads all uses the capacitor based circuit model The mechanical electrical interface block p
76. for Display box After a variable is highlighted in the Variables Available box it can be added to the Variables for Display box by clicking on Add gt Similarly a variable can be removed from display by high lighting the variable and clicking on lt Remove In the Edit Box an mathematical expression can be specified A mathematical expression can contain brackets and is not case sensitive The following math functions are allowed addition subtraction i multiplication division A to the power of Example 2 3 2 2 2 SQRT square root function SIN sine function COS cosine function TAN tangent function ATAN inverse tangent function EXP exponential base e Example EXP x e LOG logarithmic function base e Example LOG x In x LOG10 logarithmic function base 10 ABS absolute function SIGN sign function Example SIGN 1 2 1 SIGN 1 2 1 Type this expression in the Edit Box and click on Add gt Highlight the expression on the right click on lt Remove and the expression will be moved into the Edit Box for further editing View Menu Function Description Zoom To zoom into a selected region Re Draw To re draw the waveform using the auto scale Measure To measure the values of the waveforms Escape To escape from the Zoom or Measure mode Max To find the global maximum of a selected curve PSIM User Manual 6 5 Chapter 6 Wavefor
77. ge BTHY6H 6 pulse half wave thyristor bridge C Capacitor C_BUFFER Circular buffer COMP Comparator CONV Convolution block COS Cosine function block COS_1 Arc cosine function block CSI3 3 phase PWM current source inverter CTOP Control to power interface block D Differentiator DCM DC machine D_D Discrete differentiator DIGIT Quantization block DIODE Diode PSIM User Manual B 1 Appendix B List of Elements Names Description DIVD Divider DLL_EXT1 External DLL block 1 input DLL_EXT3 External DLL block 3 inputs DLL_EXT6 External DLL block 6 inputs DLL_EXT12 External DLL block 12 inputs DQO2ZABC DQO ABC transformation block EXP Exponential function block FILE Parameter file element FFT Fast Fourier Transformer block FILTER _BP2 2nd order band pass filter FILTER_BS2 2nd order band stop filter FILTER_D General digital filter FILTER _D1 General digital filter FILTER_HP2 2nd order high pass filter FILTER_FIR FIR filter FILTER_FIR1 FIR filter FILTER _LP2 2nd order low pass filter GATING GATING _1 Ground Ground_1 Switch gating block for gating specifications Ground GTO Gate Turn Off thyristor I Integrator ICCCS ICCCS_1 Current controlled current source ID Discrete integrator IDC DC current source IGBT Insulated Gate Bipolar Transistor IGNL IGNL_1 Piecewise linear current source INDM_3S 3 phase squirrel cage induction machine INDM_3SN 3 phase squirrel cage induction machine s
78. gnetizing inductance in H PSIM User Manual 2 15 Chapter 2 Power Circuit Components Np primary Ns secondary Nt tertiary No of turns of the primary secondary tertiary winding All the resistances and inductances are referred to the primary side For the transformers with more than 1 primary winding or more than 3 secondary wind ings the attributes are as follows Attributes Parameters Description Rp_i primary 1 Rs_i secondary i Lp_i pri i leakage Ls_i sec i leakage Lm magnetizing Np_i primary i Ns_i secondary i Resistance of the i primary secondary tertiary winding in Ohm Leakage inductance of the ip primary secondary tertiary winding in H referred to the first primary winding Magnetizing inductance in H seen from the first primary winding No of turns of the ip primary secondary tertiary winding All the resistances and inductances are referred to the first primary side Example A single phase two winding transformer has a winding resistance of 0 002 Ohm and leak age inductance of 1 mH at both the primary and the secondary side all the values are referred to the primary The magnetizing inductance is 100 mH and the turns ratio is Np Ns 220 440 In SIMCAD the transformer will be TF_1F with the specifications as Rp primary 2 e 3 Rs secondary 2 e 3 Lp primary 1 e 3 Ls secondary 1 e 3 Lm magneti
79. h 1 If we define u t as the input y t as the output T as the sampling period and H z as the discrete transfer function the input output relationship of an integrator can be expressed under different integration algorithms as follows With trapezoidal rule T ztl He I y n y n 1 5 u n u n 1 With backward Euler H z T z 1 y n y n 1 T u n 3 26 PSIM User Manual Digital Control Module With forward Euler 1 H z DA y n y n 1 4 T u n 1 3 6 2 2 Differentiator The transfer function of a discrete differentiator is where T is the sampling period The input output relationship can be expressed in differ ence equation as 1 y n z n u n 1 Image D_D gt Attribute Parameters Description Sampling frequency in Hz Sampling Frequency 3 6 2 3 Digital Filters Two types of digital filters are provided general digital filter FILTER_D and finite impulse response FIR filter The transfer function of the general digital filter is expressed in polynomial form as byty ae ee oe ag beg HZ IN N tay Z 1 agta z Gy_1 Z If ag 1 the output y and input u can be expressed in difference equation form as y n b u n b u n 1 by u n N PSIM User Manual Chapter 3 Control Circuit Components a y n 1 a4 y n 2 ay y n N If the denominator coeffi
80. hat is Viatv v 0 PSIM User Manual 4 15 Chapter 4 Other Components 4 10 4 10 1 i i t i 0 Switch Controllers A switch controller has the same function as a switch gate base drive circuit in an actual circuit It receives the input from the control circuit and controls the switches in the power circuit One switch controller can control multiple switches simultaneously On Off Switch Controller On off switch controllers are used as the interface between the control gating signals and the power switches The input which is a logic signal either 0 or 1 from the control cir cuit is passed to the power circuit as the gating signal to control switches Image ONCTRL A The circuit below implements the step change of a load In the circuit the on off switch controller is used to control the bi directional switch The step voltage source which is connected to the controller input changes from 0 to 1 at the time of 12 ms The closure of the switch results in the short circuit of the resistor across the switch and the increase of the current Example Vs 100 00 50 00 ft 50 00 100 00 100 00 50 00 On off Controller 0 00 50 00 100 00 2 2 gt 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time me 4 16 PSIM User Manual Switch Controllers 4 10 2 Alpha Controller The alpha controller is used for delay angl
81. heck the switch gating signals Connect small resistors inductors in series with switches and voltage PSIM User Manual 7 3 Chapter 7 Error Warning Messages and General Simulation Issues 7 3 sources Debugging Some of the approaches in debugging a circuit is discussed in the following Symptom Simulation results show sudden changes discontinuity of inductor currents and capacitor voltages Solution This may be caused by the interruption of inductor current path and short circuit of capacitor or capacitor voltage source loops Check the switch gating signals If necessary include overlap or dead time pulses to avoid open circuit or shooting through If an initial current is assigned to an inductor initial switch positions should be set such that a path is provided for the current flow Otherwise the inductor current will be forced to start from zero Symptom Simulation waveforms look incorrect or inaccurate or the waveform resolution is poor Solution This may be caused by two reasons One is the time step Since PSIM uses the fixed time step during the entire simulation one should make sure that the time step is sufficiently small As a rule of thumb the time step should be several tens times smaller than the switching period Another reason is the problem of waveform display One should make sure that the print step lprint S not too big To display all the data points set Lprint to 1 P
82. ial function block EXP the output is defined as V3 k kyin For example if ky 1 k 2 718281828 and V 2 5 then V e 5 where e is the base of the natural logarithm For the power function block POWER the output is defined as Vo k vk Root Mean Square Block A root mean square function block calculates the RMS value of the input signal over a period specified by the base frequency f The output is defined as fi T 2 Vs i T o indt where T 1 f The output is only updated at the beginning of each period Image RMS Eq Attribute Parameters Description Base frequency Base frequency fp in Hz Absolute and Sign Function Blocks An absolute value function block ABS gives the absolute value of the input A sign func tion block SIGN gives the sign of the input i e the output is 1 if the input is positive 3 8 PSIM User Manual Computational Function Blocks 32 7 3 2 8 and the output is 1 if the input is negative Image ABS SIGN Trigonometric Functions Four trigonometric functions are provided sine SIN cosine COS arc cosine COS_1 and arc tangent TG_1 The output is equal to the corresponding trigonometric function of the input For Blocks SIN and COS the input is in deg and for Blocks COS_1 and TG_1 the output is in deg Images SIN COS COS_1 TG_1 l Real _ For the arc tangent block th
83. in PSIM One is switchmode It operates either in the cut off region off state or saturation region on state The other is linear switch It can operates in either cut off linear or saturation region Switches in the switchmode include the following Diode DIODE Thyristor THY Self commutated switches specifically Gate Turn Off switch GTO npn bipolar junction transistor NPN pnp bipolar junction transistor PNP Insulated Gate Bipolar transistor IGBT n channel Metal Oxide Semiconductor Field Effect Transistor MOSFET and p channel MOSFET MOSFET_P Bi directional switch SSWI The names inside the bracket are the names used in PSIM Switch models are ideal That is both turn on and turn off transients are neglected A switch has an on resistance of 10 uQ and an off resistance of IMQ Snubber circuits are not required for switches Linear switches include the following npn bipolar junction transistor NPN_1 pnp bipolar junction transistor PNP_1 Diode and Zener Diode The conduction of a diode is determined by the circuit operating condition The diode is turned on when it is positively biased and is turned off when the current drops to zero Image DIODE 2 2 PSIM User Manual Switches Attributes Parameters Description Diode Voltage Drop Diode conduction voltage drop in V Initial Position Current Flag Flag for the initial diode position
84. ing the Simulation 5 10 Password Protection of a Circuit Schematic 5 10 Settings 5 10 Printing the Circuit Schematic 5 11 vi PSIM User Manual 5 5 Chapter 6 Waveform Processing Using SIMVIEW 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 Editing SIMCAD Library 5 11 5 5 1 Editing an Element 5 11 5 5 2 Creating a New Element 5 1 5 5 3 Ground Element 5 12 File Menu 6 2 Edit Menu 6 2 Axis Menu 6 3 Screen Menu 6 4 View Menu 6 5 Option Menu 6 7 Label Menu 6 8 Exporting Data 6 8 Chapter 7 Error Warning Messages and General Simulation Issues 7 1 12 7 3 Simulation Issues 7 1 7 1 1 Time Step Selection 7 1 7 1 2 Propagation Delays in Logic Circuits 7 1 7 1 3 Interface Between Power and Control Circuits 7 1 7 1 4 FFT Analysis 7 2 Error Warning Messages 7 2 Debugging 7 4 Appendix A Examples A 1 Appendix B List of Elements B 1 PSIM User Manual vii viii PSIM User Manual Introduction 1 1 1 2 Chapter 1 General Information Introduction PSIM is a simulation package specifically designed for power electronics and motor con trol With fast simulation friendly user interface and waveform processing PSIM pro vides a powerful simulation environment for power converter analysis control loop design and motor drive system studies This manual covers both PSIM and its add on Motor Drive Module and Digital Control Module The Motor Drive Module has built in machine models and mechanical
85. itch PSIM User Manual 2 5 Chapter 2 Power Circuit Components 2 2 4 controller see Section 4 7 1 The gating signal is determined by the comparator output Examples Control of a NPN bipolar junction transistor NPN The circuit on the left uses a gating block and the one on the right uses an on off switch controller The following shows another example of controlling the NPN switch The circuit on the left shows how a NPN switch is controlled in the real life In this case the gating voltage VB is applied to the transistor base drive circuit through a transformer and the base cur rent determines the conduction state of the transistor This circuit can be modelled and implemented in PSIM as shown on the right A diode Dbe with a conduction voltage drop of 0 7V is used to model the pn junction between the base and the emitter When the base current exceeds O or a certain threshold value in which case the base current will be compared to a dc source the comparator output will be 1 applying the turn on pulse to the transistor through the on off switch controller Linear Switches Models for npn bipolar junction transistor NPN_1 and pnp bipolar junction transistor PNP_1 which can operate in either cut off linear and saturation region is provided Images 2 6 PSIM User Manual Switches NPN_1 PNP_1 Attributes Paramet
86. kup table in a file The format of the table is as follows Vin Vo Vin 2 Vo 2 Vint Vo n The input array V must be monotonically increasing Between two points linear interpo lation is used to obtain the output When the value of the input is less than V 1 or greater than V n the output will be clamped to V 1 or V n The 2 dimensional lookup table has two input and one output The output data is stored in PSIM User Manual 3 11 Chapter 3 Control Circuit Components a 2 dimensional matrix The two input correspond to the row and column indices of the matrix For example if the row index is 3 and the column index is 4 the output will be A 3 4 where A is the data matrix The data for the lookup table are stored in a file and have the following format m n A 1 1 A 1 2 A 1 n A 2 1 A 2 2 A 2 n A m 1 A m 2 A m n where m and n are the number of rows and columns respectively Since the row or the col umn index must be an integer the input value is automatically converted to an integer If either the row or the column index is out of the range for example the row index is less than 1 or greater than m the output will be zero Images LKUP LKUP2D Index j Attribute Parameters Description File Name Name of the file storing the lookup table For the 2 dimensional lookup table block the node at the left is for the row index input and th
87. l lation and error compensation A feedforward technique is used to control the rectifier The PWM converter is controlled through the load current error and the error signal between the desired voltage profile and the rectifier output voltage alpha 2000 hat ht Rio The simulated waveforms of the load current rectifier voltage after the low pass filter and the load voltage are shown A 2 PSIM User Manual Examples A 4 A 5 Cycloconverter Circuit cyclo sch The following is a cycloconverter circuit It consists of two phase controlled rectifier bridges The bridge on the left conducts during the positive half cycle of the load current while the one on the right conducts the negative half cycle In order to detect the zero crossing of the load current a band pass filter tuned at the load frequency is used to extract the fundamental component The output of the comparator is used as the enable disable signal for the two bridges Flo A J En Do aso KLneg i oe 0O l The simulated waveforms of the l
88. l 5 11 Chapter 5 Circuit Schematic Design Using SIMCAD Specify the terminal nodes The nodes are defined by clicking on the diamonds on the left and on the right Numerical numbers 1 and 2 will appear These numbers determine the sequence of the nodes in the netlist Create the component images using the drawing utilities provided Specify the attributes of the element In the Menu Editor the new element can be deleted or moved to a different location 5 5 3 Ground Element There are two grounds in SIMCAD Ground and Ground_1 They have different images but the functions are exactly the same Node connected to either of the ground ele ment are automatically assigned a node name of 0 5 12 PSIM User Manual Chapter 6 Waveform Processing Using SIMVIEW SIMVIEW is a waveform display and post processing program The following shows sim ulation waveforms in the SIMVIEW environment J SIMVIEW thy_3f txt x Q Fie Edit Axis Screen View Option Label Help la x s aja S slej x El o 20 00 Time ms SIMVIEW reads data in the ASCII text format The following shows a sample data file Time I L1 V o V a V pi 0 1000000E 04 0 000000E 00 0 144843E 18 0 30781 1E 00 0 100000E 01 0 2000000E 04 0 000000E 00 0 289262E 18 0 615618E 00 0 100000E 01 0 3000000E 04 0 000000E 00 0 576406E 18 0 923416E 00 0 100000E 01 0 4000000E 04 0 000000E 00 0 8605
89. l Power Function Blocks EXP POWER 3 7 Root Mean Square Block RMS 3 8 Absolute and Sign Function Blocks ABS 3 8 Trigonometric Functions SIN COS COS_1 TG_1 3 9 Fast Fourier Transform Block FFT 3 9 3 3 Other Function Blocks 3 10 3 3 1 3 3 2 3 3 3 3 3 4 3 3 5 3 3 6 3 3 7 3 3 8 Comparator COMP 3 10 Limiter LIM 3 11 Look up Table LKUP LKUP2D 3 11 Trapezoidal and Square Blocks LKUP_TZ LKUP_SQ 3 13 Sampling Hold Block SAMP 3 14 Round Off Block ROUNDOFF 3 15 Time Delay Block TDELAY 3 16 Multiplexer MUX2 MUX4 MUX8 3 17 3 4 Subcircuit Blocks 3 18 3 4 1 Operational Amplifier OP_AMP 3 18 PSIM User Manual 3 4 2 THD Block THD 3 19 3 5 Logic Components 3 21 3 5 1 Logic Gates 3 21 3 5 2 Set Reset Flip Flop SRFF 3 21 3 5 3 J K Flip Flop JKFF 3 22 3 5 4 Monostable Multivibrator MONO MONOC 3 22 3 5 5 Pulse Width Counter PWCT 3 23 3 6 Digital Control Module 3 23 3 6 1 Zero Order Hold 3 23 3 6 2 z Domain Transfer Function Block 3 24 3 6 2 1 Integrator 3 25 3 6 2 2 Differentiator 3 27 3 6 2 3 Digital Filters 3 27 3 6 3 Unit Delay 3 30 3 6 4 Quantization Block 3 31 3 6 5 Circular Buffer 3 32 3 6 6 Convolution Block 3 33 3 6 7 Memory Read Block 3 34 3 6 8 Data Array 3 34 3 6 9 Multi Rate Sampling System 3 35 Chapter 4 Other Components 4 1 Simulation Control 4 1 4 2 Time 4 2 4 3 Parameter File 4 2 4 4 Independent Voltage Current Sources 4 3 4 4 1 DC Source VDC IDC VDC
90. les The stator self and mutual inductances are rotor position dependent and are defined as Laa Lyt Lo Ly cos 20 Lop Lot L3 cos 26 Loc Lat Lo t Ly cos 26 F Lap Lpa Lo thy cos 26 2 2 34 PSIM User Manual Motor Drive Module Fo i L Ly cos 20 ac ca g 3 Lie Lep Lo Ly cos 20 where Ly is the stator leakage inductance The d axis and q axis inductances are associ ated with the above inductances as follows 3 3 3 3 Li Lat 5Lo73t2 The developed torque can be expressed as sin 20 sin 26 sin 26 L gt li i i sin 26 22 sin 26 4 sin 20 fip Z sin 26 sin 20 sin 26 sin 0 ae lay al sin 0 i 2T sin 6 NIN The mechanical equations are where B is a coefficient 77 7 18 the load torque and P is the no of poles The coefficient B is calculated from the moment of inertia J and the mechanical time constant Trech aS below PSIM User Manual 2 35 Chapter 2 Power Circuit Components 2 5 2 Mechanical Loads Several mechanical load models are provided in PSIM constant torque constant power and general type load Note that they are available in the Motor Drive Module 2 5 2 1 Constant Torque Load The image of a constant torque load is Image MLOAD_T T Dei Attributes Parameters Description Constant Torque Torque constant T onst 1n N m Moment of Inertia M
91. load mod els for drive system studies The Digital Control Module provides discrete elements such as zero order hold z domain transfer function blocks quantization blocks digital filters for digital control analysis The PSIM simulation package consists of three programs circuit schematic editor SIM CAD PSIM simulator and waveform processing program SIMVIEW The simulation environment is illustrated as follows SIMCAD Circuit Schematic Editor input sch PSIM Simulator input cct output txt Waveform Processor input txt SIMVIEW Chapter 1 of this manual describes the circuit structure software hardware requirement and installation procedure Chapter 2 through 4 describe the power and control circuit components The use of SIMCAD and SIMVIEW is discussed in Chapter 5 and 6 Error warning messages are listed in Chapter 7 Finally sample examples are provided in Appendix A and a list of the PSIM elements is given in Appendix B Circuit Structure A circuit is represented in PSIM in four blocks power circuit control circuit sensors and switch controllers The figure below shows the relationship between these blocks PSIM SIMCAD and SIMVIEW are copyright by Powersim Inc 2001 PSIM User Manual 1 1 Chapter 1 General Information C Power Circuit Switch Sensors Controllers C Control Circuit gt The power circuit consists of switching devices RLC branch
92. m 1 Mechanical speed 2 40 PSIM User Manual Transfer Function Block 3 1 Chapter 3 Control Circuit Components Transfer Function Block A transfer function block is expressed in polynomial form as n 2 G s po B s B s Bo n 2 ApS A S A SA Image TFCTN TFCTN1 Attributes Parameters Description Order n Order n of the transfer function Gain Gain k of the transfer function Coeff B B Coefficients of the nominator from B to Bo Coeff A Ao Coefficients of the denominator from A to Ao Initial Values x X1 Initial values of the state variables x to x for TFCTN1 only Let Y s G s U s where Y s is the output and U s is the input we can convert the s domain expression into the differential equation form as follows xl 000 0 A A x Bg Ag BA x 100 40 A A faa Bi 4i B A alts 0 10 0 AA a e Bda BA eu A B A x 000 1 A _ A x B n 1 Py Be n n 1 n n n 1 The output equation in the time domain can be expressed as y x T n A PSIM User Manual 3 1 Chapter 3 Control Circuit Components 3 1 1 3 1 2 The initial values of the state variables x to x can be specified at the input in the element TFCTNI1 Example The following is a second order transfer function 400 e G s 1 5 a Oo s 1200 s 400 e In SIMCAD the specifications are Or
93. m the simulation and view the waveforms One must enter the correct password to view the schematic by selecting Enter Password in the Options menu The password protection can be disabled by selecting Disable Password in the Options menu Settings Grid display text fonts and colors can be set in the Settings in the Option menu Before a circuit is printed its position on the paper can be viewed by selecting Print Page Border in the Settings option If a circuit is split into two pages it can be moved into one single page If the circuit is too big to fit in one page one can zoom out and reduce the circuit size by clicking the Zoom Out button Print page legend such as company name circuit title designer s name date etc can be specified by choosing Print Page Setup in the File menu It can be disabled in the Set tings option In the Option menu if Auto Exit PSIM is checked if PSIM performs the simulation suc 5 10 PSIM User Manual Editing SIMCAD Library 5 4 5 39 5 5 1 5 5 2 cessfully without error or warning messages the PSIM window will be closed automati cally Printing the Circuit Schematic The circuit schematic can be printed from a printer by choosing Print in the File menu It is also possible to print the selected region of a circuit by choosing Print Selected The schematic can also be saved to the clipboard which can be imported into a word pro cessor such as Microsoft Word
94. m Processing Using SIMVIEW Min To find the global minimum of a selected curve Next Max To find the next local maximum of a selected curve Next Min To find the next local minimum of a selected curve Toolbar To enable disable toolbar Status Bar To enable disable status bar A region is selected by pressing the left button of the mouse and at the same time drag the mouse The Measure function allows the measurement of waveforms After Measure is selected the measurement dialog box will appear By clicking the left mouse a line will appear and the values of the waveforms will be displayed By clicking the right mouse another line will appear and the different between the current position and the previous position which is marked by the left mouse will be measured A SIMVIEW window with the measure ment boxes in these two modes are shown below Disco 1 PAE a IC epee a sD Pe I et Fle pP desk Gomes yew gr n Label Han Pa J ES ajale mlel xlr elm mial H kri 7 r D in n be H Ma A jij i j i Difference E 7 Cute D ue H Pante e Fedi a Hol T Time 8 8235e 3 es ss Time 8 4645e 3 I RL1a 3 7517e 1 I RL1a 7 7549e 1 RL1b 7 5495e 1 KRLIb 1 5449e 2 3 7978e 1 7 6942e 1 Left mouse click Right mouse click Once Measure is selected an individual curve can be selected by clicking on the name of the curve at the left top of the graph and the four functions Max Min Next Max and
95. machine is described by the following equations l dy dy A J R Ee F z dt lia t m f dt A 7 dy T df J ws Ry kad Eda osd Moe ai where Va s la s la r labo a Vp s P ip Ss EN lb ry Ves io s i r The parameter matrices are defined as PSIM User Manual 2 23 Chapter 2 Power Circuit Components R 0 0 R 0 0 R o R 0 R 0 R 0 0 0R 0 OR li M M m L M E A E A L M aa M M M M r S M y a a a age ape wpe where M is the mutual inductance between the stator and rotor windings and 0 is the mechanical angle The mutual inductance is related to the magnetizing inductance as 3 Lin zMsr The mechanical equation is expressed as dOn i dt i E T where the developed torque T is defined as T d Lom SR liabe il i de M i ne The steady state equivalent circuit of the machine is shown below In the figure s is the slip 2 24 PSIM User Manual Motor Drive Module LYNN Dna R 1 sy s Example A VSI Induction Motor Drive System The figure below shows an open loop induction motor drive system The motor has 6 poles and is fed by a voltage source inverter with sinusoidal PWM The dc bus is estab lished via a diode bridge The simulation waveforms of the mechanical speed in rpm developed torque T and load torque T and 3 phase input currents show the start up transient
96. menu and highlight the element to be selected For example to get a dc voltage source click on Elements Sources and Voltage then highlight Vde Once an element is selected from the menu the image of the element will appear on the screen and move with the mouse Click the left button of the mouse to place the element Once an element is selected select Rotate to rotate the element To connect a wire between two nodes select Wire An image of a pen will appear on the screen To draw a wire keep the left button of the mouse pressed and drag the mouse A wire always starts from and end at a grid intersection For easy inspection a floating node is displayed as a circle and a junction node is displayed as a solid dot If two or more nodes are connected to the same label they are connected It is equivalent as though they were connected by wire Using labels will reduce the cross wiring and improve the layout of the circuit schematic The text of a label can be moved To select the text left click on the label 5 2 PSIM User Manual Editing a Circuit 32 53 Assign then press the Tab key To assign the parameters of an element double click on the element A dia log box will appear Specify the values and hit the lt Return gt key or click on OK Editing a Circuit The following functions are provided in the Edit menu and View menu for circuit editing Select Copy Delete Move Te
97. mitter or drain source voltage is negative 2 4 PSIM User Manual Switches A GTO switch is a symmetrical device with both forward blocking and reverse blocking capabilities An IGBT or MOSFET MOSFET_P switch consist of an active switch with an anti parallel diode A bi directional switch SSWT conducts currents in both directions It is on when the gat ing is high and is off when the gating is low regardless of the voltage bias conditions Note that for NPN and PNP switches contrary to the device behavior in the real life the model in PSIM can block reverse voltage in this sense it behaviors like a GTO Also it is controlled by a voltage signal at the gate node not the current Images eee MOSFET_P IGBT SSWI j o at J a os Attributes Parameters Description Initial Position Initial switch position flag For MOSFET IGBT this flag is for the active switch not for the anti parallel diode Current Flag Switch current printout flag For MOSFET IGBT the current through the whole module the active switch plus the diode will be displayed A switch can be controlled by either a gating block GATING or a switch controller They must be connected to the gate base node of the switch The following examples illustrate the control of a MOSFET switch Examples Control of a MOSFET Switch The circuit on the left uses a gating block and the one on the right uses an on off sw
98. mond is selected it is colored red By default the left diamond at the top is selected and marked with red color Click on the desired diamond to select PSIM User Manual 5 5 Chapter 5 Circuit Schematic Design Using SIMCAD and to specify the port name In this example in the main circuit chop sch there are four linking nodes two on the left side and two on the right side of the subcircuit block The relative position of the nodes are that the upper two nodes are 1 division below the top and the lower two nodes are division above the bottom To specify the upper left linking node click on the top diamond of the left side and type in The text in will be within that diamond box and a port labelled with in will appear on the screen Connect the port to the upper left node The same procedure is repeated for the linking nodes in out and out After the four nodes are placed the node assignment and the subcircuit appear in SIMCAD as shown below gt l The creation of the subcircuit is now complete Save the subcircuit and go back to the main circuit 5 3 3 Connecting Subcircuit In the Main Circuit Once the subcircuit is created and connection ports are defined complete the connection to the subcircuit block in the main circuit In the main circuit the connection points on the borders of the subcircuit block appear as hollow cir
99. n speed Position sensor advance angle 0 in electrical deg advance The advance angle is defined as the angle difference between the turn on angle of Phase A upper switch and 30 in an 120 conduction mode For example if Phase A is turned on at 25 the advance angle will be 5 i e 30 25 5 Position sensor conduction pulse width in electrical deg Positive conduction pulse can turn on the upper switch and negative pulse can turn on the lower switch in a full bridge inverter The conduction pulse width is 120 electrical deg for 120 conduction mode Output flag for internal developed torque T 1 output 0 no output Flag for the master slave mode 1 master 0 slave The flag defines the mode of operation for the machine Refer to Section 2 5 1 1 for detailed explanation The node assignments of the image are Nodes a b and c are the stator winding terminals for Phase A B and C respectively The stator windings are Y connected and Node n is the neutral point The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit PSIM User Manual 2 29 Chapter 2 Power Circuit Components Node s Sp and s are the outputs of the built in 6 pulse hall effect position sensors for Phase A B and C respectively The sensor output is a bipolar commutation pulse 1 0 and 1 The sensor output nodes are all control nodes
100. ng the machine as a generator at 1000 rpm and measuring the peak line to line voltage Number of poles P Moment of inertia J of the machine in kg m Mechanical time constant Trech Output flag for internal developed torque T 1 output 0 no output PSIM User Manual 2 33 Chapter 2 Power Circuit Components Master Slave Flag Flag for the master slave mode 1 master 0 slave The flag defines the mode of operation for the machine Refer to Section 2 5 1 1 for detailed explanation The node assignments of the image are Nodes a b and c are the stator winding terminals for Phase a b and c respectively The stator windings are Y connected and Node n is the neutral point The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit The equations of the permanent magnet synchronous machine can be described by the fol lowing equations va R 0 0 la r Aa Vo 0 0 RI i Ao where v4 Vp Vo and i ip and i and g p A are the stator phase voltages currents and flux linkages respectively and R is the stator phase resistance The flux linkages are fur ther defined as cos 8 Na Laa Lab Lac la 6 3 COS S L z Laa Lab Lg Jib as Apm f 3 Ac Laa Lab Ly i cos 6 where 6 is the rotor electrical angle and p is a coefficient which is defined as 60 Vy krpm mt P 1000 43 where P is the number of po
101. nts 3 3 5 LKUP_TZ LKUP_SQ Vo A Yo A Vor l P 180 a l 0 o p 0 o o a J9 Vin 180 360 Vin Vok af Eg Sampling Hold Block A sampling hold block output samples the input when the control signal changes from low to high from 0 to 1 and holds this value until the next point is sampled Image SAMP ra The node at the bottom of the block is for the control signal input The difference between this block and the zero order hold block ZOH is that this block is treated as a continuous element and the sampling moments can be controlled externally whereas the zero order hold block is a discrete element and the sampling moments are fixed and of equal distance For a discrete system the zero order hold block should be used Example In this example a sinusoidal input is sampled The control signal is implemented using a square wave voltage source with an amplitude of 1 3 14 PSIM User Manual Other Function Blocks 0 00 5 00 10 00 15 00 Time ms 3 3 6 Round Off Block The image of a round off block is shown below Image ROUNDOFF fae Attribute Parameters Description No of Digits No of digits N after the decimal point Truncation Flag Truncation flag 1 truncation 0 round off A
102. numerical value or can be a mathe matical expression A resistance for example can be specified in any one of the following ways 12 5 12 5k 12 5 0hm 12 5kOhm 25 2 0hm R1 R2 R1 0 5 Vo 0 7 Io where R1 R2 Vo and Io are symbols defined either in a parameter file see Section 4 3 Chapter 4 of the PSIM User Manual or in a main circuit if this resistor is in a subcircuit see Section 5 3 4 1 Chapter 5 of the PSIM User Manual The power of ten suffix letters are allowed in PSIM The following suffix letters are sup ported G 10 M 10 korK 10 m 10 u 106 n 10 p 1012 A mathematical expression can contain brackets and is not case sensitive The following math functions are allowed addition subtraction E multiplication division A to the power of Example 2 3 2 2 2 SQRT square root function SIN sine function COS cosine function 1 4 PSIM User Manual Component Parameter Specification and Format TAN ATAN EXP LOG LOG10 ABS SIGN tangent function inverse tangent function exponential base e Example EXP x e logarithmic function base e Example LOG x In x logarithmic function base 10 absolute function sign function Example SIGN 1 2 1 SIGN 1 2 1 PSIM User Manual 1 5 Chapter 1 General Information 1 6 PSIM User Manual Resistor Inductor Capacitor Branches 2 1 Chapter 2 Power Circuit Components Resistor Inductor Capacitor B
103. o terminal voltage probe VP2 measures the voltage between two nodes The current probe PSIM User Manual 4 13 Chapter 4 Other Components IP measures the current through the probe Note that all the probes and meters except the node to ground probe VP are allowed in the power circuit only While probes measure a voltage or current quantity in its true form meters can be used to measure the dc or ac voltage current or the real power and reactive power These meters function in the same way as the actual meters For the current probe a small resistor of 1 UQ is used internally to measure the current Images Voltage Probe Current Probe DC Voltmeter AC Voltmeter DC Ammeter AC Ammeter VP VP2 IP V_DC V_AC A_DC A_AC RETAN ERN JVL JV la YALL JAL Oe A zs A av Wattmeter VAR Meter 3 phase Wattmeter 3 phase VAR Meter VAR W3 VAR3 G VA Power Factor Meter VA_PF G 3 phase VA Power Factor Meter VA_PF3 Attributes Parameters Description Operating Frequency the ac meter Operating frequency or fundamental frequency in Hz of Cut off Frequency Cut off frequency in Hz of the low pass high pass filter display VA Display Flag Display flag for apparent power 0 no display 1 display PF Display Flag Display flag for power factor 0 no display 1 display DPF Display Flag Display flag for displacement powe
104. oad voltage load current before and after the band pass filter and the currents through the positive and negative rectifier bridges are shown below One Quadrant Chopper System with Full State Feedback state 1q sch The following is a one quadrant buck type chopper circuit in transfer function block dia gram The chopper circuit is described through state space representation enclosed in the dotted box Both the output filter inductor current and the capacitor voltage are fedback to modify the pole location of the overall system An outer voltage loop with the integral reg ulator is included to ensure zero steady state error The simulated output voltage and inductor current are shown below PSIM User Manual A 3 Examples ar Or Bo A 4 PSIM User Manual Appendix B List of Elements The following is the list of the PSIM elements with brief descriptions Names Description A_AC AC ammeter ABC2DQO ABC DQO transformation block ABS Absolute value function block ACTRL Delay angle alpha controller A_DC DC ammeter ANDGATE AND gate ANDGATE3 3 input AND gate ARRAY Vector array BDCM3 3 phase permanent magnet brushless dc machine BDIODE1 Single phase diode bridge BDIODE3 3 phase diode bridge BTHY1 Single phase thyristor bridge BTHY3 3 phase thyristor bridge BTHY3H 3 pulse half wave thyristor brid
105. ode DIODE ZENER 2 2 2 2 2 Thyristor THY 2 3 2 2 3 GTO Transistors and Bi Directional Switch 2 4 2 2 4 Linear Switches 2 6 2 2 5 Switch Gating Block GATING 2 8 2 2 6 Single Phase Switch Modules 2 10 2 2 7 Three Phase Switch Modules 2 1 Coupled Inductors MUT2 MUT3 2 12 Transformers 2 14 2 4 1 Ideal Transformer TF_IDEAL 2 14 2 4 2 Single Phase Transformers 2 14 2 4 3 Three Phase Transformers 2 17 Motor Drive Module 2 18 2 5 1 Electric Machines 2 18 2 5 1 1 DC Machine DCM 2 18 2 5 1 2 Induction Machine INDM_3S INDM_3SN 2 21 2 5 1 3 Switched Reluctance Machine SRM3 2 26 2 5 1 4 Brushless DC Machine BDCM3 2 28 PSIM User Manual iii 2 5 2 2 5 3 2 5 1 5 Permanent Magnet Synchronous Machine PMSM3 2 33 Mechanical Loads 2 36 2 5 2 1 Constant Torque Load MLOAD_T 2 36 2 5 2 2 Constant Power Load MLOAD_P 2 36 2 5 2 3 Constant Speed Load MLOAD_WM 2 37 2 5 2 4 General Type Load MLOAD 2 38 Mechanical Electrical Interface Block 2 39 Chapter 3 Control Circuit Components 3 1 Transfer Function Block TFCTN 3 1 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 Proportional Controller P 3 2 Integrator INT RESETI 3 2 Differentiator DIFF 3 3 Proportional Integral Controller PI 3 4 Built in Filter Blocks 3 5 3 2 Computational Function Blocks 3 6 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 2 7 3 2 8 Summer SUM 3 6 Multiplier and Divider MULT DIVD 3 7 Square Root Block SQROT 3 7 Exponentia
106. oment of inertia of the load in kg m If the reference direction of a mechanical system enters the dotted terminal the load is said to be along the reference direction and the loading torque to the master machine is Teonst Otherwise the loading torque will be Tponst Please refer to Section 2 5 1 1 for more detailed explanation A constant torque load is expressed as T T const The torque does not depend on the speed direction 2 5 2 2 Constant Power Load The image of a constant power load is Image MLOAD_P F E 2 36 PSIM User Manual Motor Drive Module Attributes Parameters Description Maximum Torque Maximum torque T nax Of the load in N m Base Speed Base speed npase Of the load in rpm Moment of Inertia Moment of inertia of the load in kg m The torque speed curve of a constant power load can be illustrated below Torque N m 0 base Speed rpm When the mechanical speed is less than the base speed pase the load torque is Dee imaz m When the mechanical speed is above the base speed the load torque is P L O ml where P T nax Obase ANd Opase 2T Npase 60 The mechanical speed is in rad sec 2 5 2 3 Constant Speed Load The image of a constant torque load is Image MLOAD_WM Win ao PSIM User Manual 2 37 Chapter 2 Power Circuit Components Attributes Pa
107. opagation delays for its operation a function block in PSIM called the Time Delay block TDELAY can be used to represent the effect of the propagation delay To illustrate this take a two bit counter circuit as an example In the circuit on the left the initial values of both QO and Q1 are assumed to be zero At the clock rising edge QO will change to 1 Without delay the position of Q1 which should remain at 0 will toggle to 1 at the same time To prevent this a time delay element with the delay period of one time step is inserted between QO and the input J of the second flip flop Interface Between Power and Control Circuits In PSIM power circuits are represented in the discrete circuit form and control circuits PSIM User Manual 7 1 Chapter 7 Error Warning Messages and General Simulation Issues are represented in transfer function block diagram Power circuit components such as RLC branches switches transformers mutual inductors current sources floating voltage sources and all types of controlled sources are not allowed in the control circuit Simi larly control circuit components such as logic gates PI controllers lookup tables and other function blocks are not allowed in the power circuit If there is a direct connection between the power circuit and the input of a control circuit element a voltage sensor will be automatically inserted by the program Similarly if the
108. or is up to date In the circuit file character strings should be included between two apostrophes like test Also make sure an integer is specified for an integer variable The specification of a real number like 3 instead of 3 for an integer will trigger the error message Error message The node of an element is floating This can also be caused by a poor connection in SIMCAD When drawing a wire between two nodes make sure that the wire is connected to the terminal of the ele ment Error message No of an element exceeds the limit This error message occurs when the total number of a particular element exceeds the limit specified by the program This problem can only be solved by re compil ing the PSIM simulator with increased array dimensions Please contact Powersim Technologies Inc for assistance Warning The program failed to converge after 10 iterations when determining switch positions The computation continues with the following switch positions This warning occurs when the program fails to converge when determining switch ing positions Since the computation continues based on the switch positions at the end of the 10th iteration results could be inaccurate One should be cautious when analyzing the results There are many factors that cause this problem The following measures can be taken to isolate and solve the problem Check the circuit and make sure the circuit is correct C
109. orque is requested Flag for the master slave mode 1 master 0 slave All the parameters are referred to the stator side Again the master slave flag defines the mode of operation for the machine Please refer to Section 2 5 1 1 for detailed explanation It is assumed the mechanical speed is positive when the input source sequence is positive The model INDM_3SN is the same as INDM_3S except that the state neutral point is assessible Using this model one can calculate the neutral current when a common mode voltage is present In the model the abc coordinate is transformed into the stationary dqo coordinate The transformations are 2 22 PSIM User Manual Motor Drive Module 1 Va 57 E i Vp s Ve 1 Vos E i va st Vp s Ve s 2 o ios las E i i a b s 3 2 Gs 9 2 C S 3 2 Gs 9 B where va s Vh and ve s are the stator phase a b and c voltages with respect to the stator neutral point and i s i p and i are the stator line currents Quantities vy ig s gt Ig os are the voltages and currents in the dqo coordinate and Vg Vo s and The phase o voltage vo s is applied across the phase o impedance of the machine also called the common mode impedance The common mode impedance consists of resistance R inductance L and capacitance C all in series The current flowing through the com mon mode impedance is i The operation of a 3 phase squirrel cage induction
110. played after new data of the same file have become available by selecting Re Load Data waveforms will be re drawn based on the new data By using the Merge function data from multiple files can be merged together for display For example if one file contains the curves I1 and I2 and another file contains the curves V1 and V2 all four curves can be merged and displayed on one screen Note that if the second file also contains a curve with the same name 11 it will be modified to T1_1 automatically 6 2 Edit Menu Function Description Copy to Clipboard Copy the waveforms to the clipboard 6 2 PSIM User Manual Axis Menu Edit Title Edit the title of the printout By default the title shows the file name and path 6 3 Axis Menu Function Description X Axis Change the settings of the X axis Y Axis Change the settings of the Y axis Axis Label Setting Change the settings of the X Y axis labels Default X Axis Time If the item is checked the first column which is usually Time will be used as the X axis The dialog box of the X Y axis settings are shown below X Axis Setting x r Range Scale IV Auto Scale Linear From 0 0000e 0 To 3 5000e 2 Pies M Default No of Division i Grid Division Cancel If the Auto Scale box is checked and the Grid Division is chosen as default the maximum data
111. r factor 0 no display 1 4 14 PSIM User Manual Probes and Meters A low pass filter is used in the dc meter and wattmeter models to filter out the high fre quency components whereas a high pass filter is used in the ac meter andVAR meter models to filter out the dc component The cut off frequency determines the transient response of the filter Except the voltage current probes VP VP2 IP the readings of all the meters are mean ingful only when the readings reach the steady state For the single phase VA Power Factor meter the apparent power S total power factor PF and the displacement power factor DPF are defined as follows Assume both the voltage and current contains harmonics i e v t J2V sin t J2V sin t 05 i t J21 sin t 0 2 sin t 05 where is the fundamental frequency and all others are harmonic frequencies We have the rms values of the voltage and current as Vin SV V Pox 2 2 Ln J The apparent power is defined as The real power or average power is defined as T Ef iat 0 where T is the fundamental period The total power factor PF and the displacement power factor DPF are then defined as follow PF Ul DPF cos 9 For the three phase circuit the definitions are similar Note that the meter VA_PF3 is for the 3 phase 3 wire circuit and the summation of the three phase voltages or currents must be equal to zero t
112. rameters Description Constant Speed rpm Speed constant in rpm Moment of Inertia Moment of inertia of the load in kg m A constant speed mechanical load defines the speed of a mechanical system and the speed will remain constant as defined by the speed constant 2 5 2 4 General Type Load Besides constant torque and constant power load a general type load is provided in PSIM The image of the load is as follows Image MLOAD Attributes Parameters Description Tc Constant torque term k coefficient Coefficient for the linear term k coefficient Coefficient for the quadratic term kz coefficient Coefficient for the cubic term Moment of Inertia Moment of inertia of the load in kg m A general type load is expressed as T sign m 3 T k OA k 07 k O where is the mechanical speed in rad sec Note that the torque of the general type load is dependent on the speed direction 2 38 PSIM User Manual Motor Drive Module 2 5 3 Mechanical Electrical Interface Block This block allows users to access the internal equivalent circuit of the mechanical system for a machine Image MECH_ELEC Mechanical Side Electrical Side Attributes Parameters Description Master Slave Flag Flag for the master slave mode 1 master 0 slave Similar to an electric machine the mechanical electrical interface block can be used to de
113. ranches Both individual resistor inductor capacitor branches and lumped RLC branches are pro vided in PSIM Initial conditions of inductor currents and capacitor voltages can be defined To facilitate the setup of three phase circuits symmetrical three phase RLC branches R3 RL3 RC3 RLC3 are provided Initial inductor currents and capacitor volt ages of the three phase branches are all zero Images R L PAM LAT Me ee C RL RC LC For the three phase branches the phase with a dot is Phase A Attributes Parameters Description Resistance Resistance in Ohm Inductance Inductance in H Capacitance Capacitance in F Initial Current Initial Cap Voltage Current Flag Current Flag_A Current Flag_B Current Flag_C Initial inductor current in A Initial capacitor voltage in V Flag for branch current output If the flag is zero there is no current output If the flag is 1 the current will be saved to an output file for display in SIMVIEW The current is positive when it flows into the dotted terminal of the branch Flags for Phase A B and C of the three phase branches respectively The resistance inductance or capacitance of a branch can not be all zero At least one of PSIM User Manual 2 1 Chapter 2 Power Circuit Components 2 2 2 2 1 the parameters has to be a non zero value Switches There are two basic types of switches
114. range will be selected and the number of axis divisions will be automatically deter mined Both the data range and grid division however can be manually set In the Axis Label Setting the label font size can be changed and the display of the label can be disabled By default the option Default X Axis Time is selected That is the first column of the data which is usually Time is used as the X axis If this option is not selected any other column of the data can be used as the X axis For example the following figure shows a sine waveform as the X axis versus a cosine waveform in the Y axis PSIM User Manual 6 3 Chapter 6 Waveform Processing Using SIMVIEW 6 4 Note that this option can only be selected or de selected when there are no documents in the SIMVIEW environment Screen Menu Function Description Add Delete Curves Add or delete curves from the selected screen Add Screen Add a new screen Delete Screen Delete the selected screen A screen is selected by clicking the left mouse on top of the screen The dialog box of the Add Delete Curves function is shown below Data Display Selection x Variables Available Variables for Display Edit Box a All the data variables available for display are in the Variables Available box and the vari PSIM User Manual View Menu 6 5 ables currently being displayed are in the Variables
115. rcuit 2 Subcircuit 3 Project B Subcircuit 4 In this way common used custom built subcircuits can be grouped together and easily managed and accessed PSIM User Manual 5 9 Chapter 5 Circuit Schematic Design Using SIMCAD 5 4 5 4 1 5 4 2 5 4 3 5 4 4 Other Options Simulation Control Before a circuit can be simulated simulation control parameters must be specified By choosing Simulation control in the Simulate menu an image of a clock will appear on the screen After double clicking on the clock simulation control parameters can be specified Refer to Section 4 1 for more details on simulation parameters Running the Simulation To run the simulation choose Run PSIM from the Simulate menu This will create the netlist file with the cct extension and start the PSIM simulator To view the simulation results choose Run SIMVIEW from the Simulate menu Refer to Chapter 6 for the use of SIMVIEW Password Protection of a Circuit Schematic If you wish others to run the simulation of a file that you created but do not want to reveal the circuit schematic you can use the password protection feature Select Save with Pass word in the File menu to set the password protection of a file In case you lose the pass word it is strongly recommended that you make a backup copy of the file before protecting it Once the file is protected the display of the circuit is disabled but one can still perfor
116. re is a direct connection between the output of a control circuit element and the power cir cuit a control power interface block CTOP will be automatically inserted This is illus trated in the examples below Comparator Comparator a Transfer Function na Transfer Function 7 F AWAY Lr H semi op O H E i Cop amp I I op amp It should be noted that in PSIM the power circuit and the control circuit are solved sepa rately There is one time step delay between the power and the control circuit solutions 7 1 4 FFT Analysis When using FFT for the harmonic analysis one should make sure that the following requirements are satisfied The waveforms have reached the steady state The length of the data selected for FFT should be the multiple integer of the fun damental period For a 60 Hz waveform for example the data length should be restricted to 16 67 msec or multiples of 16 67 msec Otherwise the FFT results will be incorrect T2 Error Warning Messages The error and warning messages are listed in the following 7 2 PSIM User Manual Error Warning Messages E 1 E 2 Input format errors occurred in the simulation It may be caused by one of the following Incorrect Incomplete specifications Wrong input for integers and character strings Make sure that the PSIM library is not modified and the PSIM simulat
117. referred to the primary or the first primary side Three phase transformers are modelled in the same way as the single phase transformer All the parameters are referred to the primary side 2 5 Motor Drive Module The Motor Drive Module as an add on option to the basic PSIM program provides machine models and mechanical load models for motor drive studies 2 5 1 Electric Machines 2 5 1 1 DC Machine The image and parameters of a dc machine are as follows Image DCM 7 Armature oe Shaft Node Winding Field Winding Attributes Parameters Description R armature L armature Armature winding resistance in Ohm Armature winding inductance in H R field Field winding resistance in Ohm L field Field winding inductance in H 2 18 PSIM User Manual Motor Drive Module Moment of Inertia Moment of inertia of the machine in kg m V rated Rated armature terminal voltage in V I rated Rated armature current in A n rated Rated mechanical speed in rpm Ir rated Rated field current in A Torque Flag Output flag for internal torque 7 Master Slave Flag Flag for the master slave mode 1 master 0 slave When the torque flag is set to 1 the internal torque generated by the machine is saved to the data file for display A machine is set to either master or slave mode When there is only one machine in a mechanical system this machine must be
118. roblem with the nonlinear sources VNONM INONM Example The circuits below illustrates the use of the current controlled voltage sources VCCVS and VCCVS_1I In the circuit on the left the voltage source VCCVS is controlled by the inductor current i With a gain of 1 the waveform of the voltage v is identical to that of i In this way a current quantity can be converted to a voltage quantity The circuit on the right is equivalent to that on the left except that the source VCCVS_1 is used instead 4 10 PSIM User Manual Nonlinear Voltage Controlled Sources 4 6 Nonlinear Voltage Controlled Sources The output of a nonlinear voltage controlled source is either the multiplication division or square root of the input voltage s They are defined as VNONM Voltage source where v k Vini Vin INONM Current source where i k Vini Vino V VNOND Voltage source where v k in2 y INOND Current source where i k in2 VNONSQ Voltage source where v k Vin INONSQ Current source where i k Vin k VPOWERS _ Voltage source where v sign v k ki vn In VPOWERS the term sign v is 1 if v is positive and it is 1 if v is negative Note that these nonlinear voltage controlled sources can be used in the power circuit only Images VNONM VNOND VNONSQ VPOWERS INONM INOND INONSQ x Vinl Vin2 Ke ze x Vint Vin2 T Attributes
119. rovides the access to the internal mechanical equivalent circuit If the mechanical side of an interface block with the letters MECH is connected to a mechanical shaft the electrical side with the letters ELEC will be the speed node of the mechanical equivalent circuit One can thus connect any electrical circuits to this node With this element users can connect the built in motors or mechanical loads with custom built load or motor models Example An induction machine with a custom mechanical load model The figure below shows an induction machine connected to a user defined mechanical load model through the mechanical electrical interface block As explained the voltage at the electrical side represents the shaft mechanical speed A current source flowing out of this node represents a mechanical load and a capacitor connected to this node represents the load moment of inertia Mechanical load model Example A custom machine model with a constant torque mechanical load Similarly one can build a custom machine model and connect it to the mechanical load available in the PSIM library The figure belows shows such a circuit The custom machine model must use the capacitor analogy to model the mechanical equation The node representing the mechanical speed is then made available and is connected to the electrical side of the mechanical electrical interface block Custom machine model in subcircuit for
120. s are listed below For a second order low pass filter 2 O G s k gt s 260 5s 0 For a second order high pass filter 2 0 a eae s 26 5 For a second order band pass filter Gigs ik B s s B s For a second order band stop filter 2 2 s O G s k J 2 s B s Images FILTER_LP2 FILTER_HP2 FILTER_BP2 FILTER_BS2 Ei Em Attributes Parameters Description Gain Gain k Damping Ratio Damping ratio amp O Cut off Frequency Cut off frequency f fo on in Hz for low pass and high pass filters PSIM User Manual 3 5 Chapter 3 Control Circuit Components 3 2 3 2 1 6 Center Frequency Center frequency f f F in Hz for band pass and band stop filter Passing Band Frequency width f of the passing stopping band for band Stopping Band pE pass band stop filters in Hz f QO Computational Function Blocks Summer For a summer with one input SUM1 or two inputs SUM2 and SUM2P the input can be either a scalar or a vector For the summer with three inputs SUM3 the input can only be a scalar Images SUM1 SUM2 SUM2P SUM3 Input 1 o gt Input 1 Input 1 Input 2 Input 2 Input 2 Input 3 Attributes Parameters Description Gain_i Gain k for the i input For SUM3 the input with a dot is the first input If the inputs are scalar the output of a summer with n inputs is defined
121. s how a control circuit signal can be passed to the power circuit As seen from the power circuit the CTOP block behaviors as a grounded voltage source 4 20 PSIM User Manual ABC DQO Transformation Block Control Circuit Power Circuit eta 4 12 ABC DQO Transformation Block Function blocks ABC2DQO and DQO2ABC perform the abc dqo transformation They convert three voltage quantities from one coordinate system to another These blocks can be used in either the power circuit or the control circuit It should be noted that in the power circuit currents must first be converted into voltage quantities using current controlled voltage sources before they can be transformed The transformation equations from abc to dqo are cos cos 6 cos 6 a Vg 2 Va Vg 3 sind sin 6 z sin 6 Yb v v 1 1 1 2 2 2 The transformation equations from dqo to abc are J cos 8 sin8 1 v v cos 6 sin 6 1 a v 3 3 v Ye cos 6 r sin 6 1 Yo Images PSIM User Manual 4 21 Chapter 4 Other Components 4 13 ABC2DQO DQO2ABC Example In this example three symmetrical ac waveforms are transformed into dqo quantities The angle is defined as 8 wt where 27 60 Since the angle O changes linearly with time a piecewise linear voltage which has a ramp waveform is used to represent O The simula tion waveforms sho
122. set to the master mode When there are two or more machines in a system only one must be set to master and the rest to slave The same applies to a mechanical electrical interface block as explained later The machine in the master mode is referred to as the master machine and it defines the reference direction of the mechanical system The reference direction is defined as the direction from the shaft node of the master machine along the shaft to the rest of the mechanical system as illustrated below Master Reference direction of the mechanical system Slave T T Ot Co s Load1 Speed Torque Load2 Speed Torque o Tryg Sensor1 Sensor 1 T Sensor2 Sensor 2 Ca EE a ee In this mechanical system the machine on the left is the master and the one on the right is the slave The reference direction of the mechanical system is therefore defined from left to the right along the mechanical shaft Furthermore if the reference direction enters an element at the dotted side it is said that this element is along the reference direction Oth erwise it is opposite to the reference direction For example Load 1 Speed Sensor 1 and Torque Sensor 1 are along the reference direction and Load 2 Speed Sensor 2 and Torque Sensor 2 are opposite to the reference direction It is further assumed the mechanical speed is positive when both the armature and the field PSIM User Manual 2 19 Chapter 2
123. simple test circuit PSIM User Manual 2 7 Chapter 2 Power Circuit Components 2 2 5 Examples Sample circuits using the linear switch NPN_1 NPN_1 Ri Rz Switch Gating Block A switch gating block defines the gating pattern of a switch or a switch module The gat ing pattern can be specified either through the dialog box with the gating block GATING or in a text file with the gating block GATING_1 Note that the switch gating block can be connected to the gate node of a switch ONLY It can not be connected to any other elements Image GATING GATING_1 Attributes Parameters Description Frequency Operating frequency in Hz of the switch or switch module connected to the gating block No of Points Number of switching points for GATING only Switching Points Switching points in deg If the frequency is zero the switching points is in second for GATING only File for Gating Table Name of the file that stores the stores the gating table for GATING_1 only The number of switching points is defined as the total number of switching actions in one period Each turn on and turn off action is counted as one switching point For example if a switch is turned on and off once in one cycle the number of switching points will be 2 For GATING _1 the file for the gating table must be in the same directory as the schematic file The gating table file has
124. ssume the input of the round off block is V im this input is first scaled based on the fol lowing expression If the truncation flag is 1 the output will be equal to V in znew truncated and then divided by 10 Otherwise the output will be equal to V in new rounded off to the nearest integer and then divided by 10 Examples If V 34 5678 N 0 truncation flag 0 then the output V 35 If V 34 5678 N 0 truncation flag 1 then the output Vp s 34 If V 34 5678 N 1 truncation flag PSIM User Manual 3 15 Chapter 3 Control Circuit Components 3 3 7 1 then the output V 34 5 If Vi 34 5678 N 1 truncation flag 1 then the output Vout 30 out Time Delay Block A time delay block delays the input waveform by a specified amount of time interval It can be used to model the propagation delay of a logic element Image TDELAY I Attribute Parameters Description Time Delay Time delay in sec Note that the difference between this block and the unit delay block UDELA Y is that this block is a continuous element and the delay time can be arbitrarily set whereas the unit delay block is a discrete element and the delay time is equal to the sampling period For a discrete system the unit delay block should be used Example In this circuit the first time delay block has a delay time of ms and the second block has a delay
125. tator neutral available INOND Nonlinear current source multiplication INONM Nonlinear current source division INONSQ Nonlinear current source square root B 2 PSIM User Manual Names Description INONSP_1 Special nonlinear current source Type 1 INONOSP_2 Special nonlinear current source Type 2 IP Current probe IRAND Random current source I RESET_D Resettable discrete integrator ISIN Sinusoidal current source ISQU Square wave current source ISTEP ISTEP_1 Step current source ITRI Triangular wave current source IVCCS Voltage controlled current source IVCCSV Variable gain voltage controlled current source JKFF JF Flip Flop L Inductor LIM Limiter LKUP Lookup table LKUP_SQ Square waveform lookup table LKUP_TZ Trapezoidal waveform lookup table LKUP2D 2 dimensional lookup table MECH_ELEC Mechanical electrical interface block MEMREAD Memory read block MLOAD General type mechanical load MLOAD_T Constant torque mechanical load MLOAD _P Constant power mechanical load MLOAD_WM Constant speed mechanical load MONO Monostable multivibrator MONOC Controlled monostable multivibrator MOSFET MOSFET_P MULT MUT2 MUT3 MUX2 MUX4 MUX8 Metal Oxide Semiconductor Field Effect Transistor Multiplier Coupled inductor with 2 branches Coupled inductor with 3 branches Multiplexer with 2 inputs 4 inputs and 8 inputs PSIM User Manual B 3 Appendix B List of Elements
126. time of 4 ms This example illustrates that the input of the time delay block can be either an analog or a digital signal Vind 1 50 1 be BS os i ee Lee es os es 0 00 1 50 1 00 fq a a ULE a a a ccna finned eccececced ee oo coon 0 00 20 00 z 10 00 EN gyei eee aaaea 0 00 10 00 d ETE 20 00 H H H ooo 500 1000 15 00 20 00 25 00 30 00 Time ms PSIM User Manual Other Function Blocks 3 3 8 Multiplexer The output of a multiplexer is equal to a selected input depending on the control signal Three multiplexers are provided multiplexers with 2 inputs 4 inputs and 8 inputs Image MUX2 MUX4 MUX8 do do d0 y dl 4 MUX dl d2 Ma MUX j Y d3 4 s0 d7 2 s2 s1s0 In the images d0 d7 are the data inputs and s0 s2 are the control signals The truth tables of the multiplexers are 2 Input MUX 4 Input MUX 8 Input MUX s0 Y sl s0 Y s2 sl s0 Y 0 do 0 0 do 0 0 0 do 1 dl 0 1 dl 0 0 1 dl 1 0 d2 0 1 0 d2 1 1 d3 0 1 1 d3 1 0 0 d4 1 0 1 d5 1 1 0 d6 1 1 1 d7 Note that the data input could be either an analog or digital signal Example The following circuit performs the function of selecting the maximum value out of two inputs When V is greater than V the comparator output will be 1 and V V Other wise V Vp
127. troller w e l The thyristor circuit on the left uses an alpha controller For a three phase circuit the zero crossing of the voltage V e corresponds to the moment when the delay angle alpha is equal to zero This signal is therefore used to provide synchronization to the controller The circuit on the right uses a PWM lookup table controller The PWM patterns are stored in a lookup table in a text file The gating pattern is selected based on the modulation index Other input of the PWM lookup table controller includes the delay angle the syn chronization and the enable disable signal A detailed description of the PWM lookup table controller is given in Section 4 8 3 Coupled Inductors Coupled inductors with two three and four branches are provided The following shows coupled inductors with two branches 2 12 PSIM User Manual Coupled Inductors Let L11 and L22 be the self inductances of Branch 1 and 2 and L12 and L21 the mutual inductances the branch voltages and currents have the following relationship v _ Lai 12 aji vo L21 122 dfi The mutual inductances between two windings are assumed to be always equal i e L12 L21 Images MUT2 MUT3 MUT4 MENNE AN C o ote oY Lo b ot TTYL Attributes Parameters Description Lii self Self inductance of the inductor i in H Lij mutual Mutual inductance between Inductor i and j in H i _initial Initial
128. truth table of a level triggered set reset flip flop is S R Q Q 0 0 no change 0 1 0 1 1 0 1 0 1 1 not used PSIM User Manual 3 21 Chapter 3 Control Circuit Components Image SRFF 3 5 3 J K Flip Flop The J K flip flop is positive edge triggered The truth table is J K D Q Q 0 0 T no change 0 1 T 0 1 1 0 T 1 0 1 1 T Toggle Image 3 5 4 Monostable Multivibrator In a monostable multivibrator the positive or negative edge of the input signal triggers the monostable A pulse with the specified pulse width will be generated at the output The output pulse width can be either fixed or adjusted through another input variable The latter type of monostables is referred to as controlled monostables MONOC Its on time pulse width in second is determined by the control input Image MONO MONOC Attribute Parameters Description Pulse Width On time pulse width in sec 3 22 PSIM User Manual Digital Control Module 39 5 3 6 3 6 1 For the controlled monostable block the input node at the bottom is for the input that defines the pulse width Pulse Width Counter A pulse width counter measures the width of a pulse The rising edge of the input activates the counter At the falling edge of the input the output gives the width of the pulse in sec During the interval of two falling pulse edges
129. w the three phase ac top the angle O middle and the dqo output In oe 99 this example the q component is constant and both the d and the o components are zero 5 00 10 00 15 00 20 00 25 00 30 00 Time ms External DLL Block The external DLL dynamic link library blocks allow users to write code in C or Fortran language compile it into DLL using either Microsoft C C Borland C or Digital Visual Fortran and link it with PSIM These blocks can be used in either the power circuit or the control circuit Image 4 22 PSIM User Manual External DLL Block DLL_EXT1 DLL_EXT3 DLL_EXT6 DLL_EXT12 DLL r Attributes Parameters Description File Name Name of the DLL file The node with a dot is for the first input in 0 The name of the custom routine must be one of the following For Microsoft C C ms_user0 dll ms_user1 dll ms_user2 dll ms_user14 dll For Borland C bc_user0 dll bc_user1 dll bc_user2 dll bc_user9 dll For Digital Visual Fortran for_user0 dll for_user1 dll One can therefore have up to 15 Microsoft C C routines 10 Borland C routines and 2 Fortran routines A DLL block receives the values from PSIM as the input performs the calculation and sends the output back to PSIM PSIM calls the DLL routine at each simulation time step However when the inputs of the DLL
130. xt Zoom Esc Subcircuit To select an element click on the element A rectangle will appear around the element To select a block of a circuit keep the left button of a mouse pressed and drag the mouse until the rectangle covers the selected area To copy an element or a block of the circuit select the element or the region and choose Copy Then choose Paste place the element or circuit To delete an element a block of a circuit or a wire select the item and choose Cut or hit the lt Delete gt key Note that if Cut is used the last deleted item can be pasted back This is equivalent to un do To move an element or a circuit block select the element circuit block and drag the mouse while keeping the left button pressed To place text on the screen choose Text Enter the text in the dialog box and click the left button of the mouse to place it Select Zoom In to zoom in the circuit or Zoom In Selected to zoom in to a selected region Choose Zoom Out to zoom out or Fit to Page to zoom out to fit the entire circuit to the screen Quit from any of the above editing modes by choosing Escape The following functions are provided for subcircuit editing and manipulation New Subcircuit To create a new subcircuit Load Subcircuit To load an existing subcircuit The subcircuit will appear on the screen as a block PSIM User Manual 5 3 Chapter 5 Circuit Schematic Design Using SIMCAD Edit Subcircuit To e
131. ystem is taken as an example E Load 1 Load 2 IM Sensor 1 Sensor 2 T T 4I IHD em Ty Tr2 J Jii J2 The system consists of one machine 2 torque sensors and 2 mechanical loads The torques and moment of inertia for the machine and the loads are as labelled in the diagram The reference direction of this mechanical system is from left to right The equation for this system can be written as dOn J Jii Jia at T Ti Ti em The equivalent electrical circuit of the equation is shown below Sensor 1 Sensor 2 6 Machine Load 1 Load 2 The node voltage in the circuit represents the mechanical speed The current probe on the left represents the reading of the torque sensor No 1 Similarly the current probe on the right represents the reading of the torque sensor No 2 Note that the second current probe is from right to left since Sensor 2 is opposite to the reference direction of the mechanical system The equivalent circuit also illustrates how mechanical power is transferred The multipli cation of the current to the voltage which is the same as the torque times the mechanical speed represents the mechanical power If the power is positive it is transferred in the direction of the speed 0 Probes and Meters Probes and meters are used to request a voltage current or power quantity to be dis played The voltage probe VP measures a node voltage with respect to ground The tw
132. zing 100 e 3 Np primary 220 Ns secondary 440 2 16 PSIM User Manual Transformers 2 4 3 Three Phase Transformers PSIM provides two winding and three winding transformer modules as shown below They all have 3 leg cores TF_3F 3 phase transformer windings unconnected TF_3YY TF_3YD 3 phase Y Y and Y A connected transformer TF_3F_3W 3 phase 3 winding transformer windings unconnected TF_3YYD TF_3YDD 3 phase 3 winding Y Y A and Y A A connected transformer TF_3F_4W 3 phase 4 winding transformer windings unconnected w o w o w P gt oS TF c c c C c N G s TF_3YDD TF_3F_3W TF_3F_4W At Pl g t Peete E be B b C c b Ce G 3 T o G BB bb cG p aat a DHE o EC Pe T oc Attributes Parameters Description Rp primary Resistance of the primary secondary tertiary winding in Rs secondary Ohm Rt tertiary Lp pri leakage Leakage inductance of the primary secondary tertiary Ls sec leakage winding in H Lt ter leakage Lm magnetizing Magnetizing inductance in H seen from the primary side PSIM User Manual 2 17 Chapter 2 Power Circuit Components Np primary No of turns of the primary secondary tertiary winding Ns secondary Nt tertiary In the images P refers to primary S refers to secondary and T refers to tertiary All the resistances and inductances are

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