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User's Guide - IUT GEII Montpellier

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1. 3 5 6 Convolution Block A convolution block performs the convolution of two input vectors The output is also a vector Image CONV Let the two input vectors be A am am 1 Im 2 ay B by bn 1 bya b1 We have the convolution of A and B as C A B Cm n 1 Cm n 2 c Control Circuit Components 3 5 7 3 5 8 where cr 2 ak 1 bjx k 0 m n 1 j 0 m n 1 i 1 m n 1 Example If A 1 2 3 and B 4 5 we have m 3 n 2 and the convolution of A and B is C 4 13 22 15 Memory Read Block A memory read block is used to read the value of a memory location of a vector Image MEMREAD A Attribute Parameter Description Memory Index Offset Offset from the starting memory location A memory read block allows one to access the memory location of elements such as convolution block vector array and circular buffer The index offset defines the offset from the starting memory location Example Let a vector be A 2 4 6 8 If index offset is 0 the memory read block output will be 2 If the index offset is 2 the output will be 6 Data Array This is a one dimensional array The output is a vector The data are either entered directly in ARRAY or specified in a file in ARRAY1 Image ARRAY ARRAY 1 Digital Control Module 101 Attributes File for Coefficients Paramet
2. TF_1F TF_1F_3W TF_1F_5W TE_1F_7W TF_IF_8W J JE at 2 o sl S2 E s 4 P TF_1F_1 TF_1F_4W TF_1F_5W_1 neue rT MM MEURE 4p SE ge Ee rales In the images p refers to primary s refers to secondary and t refers to tertiar The winding with the largest dot is the primary winding or first primary winding 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 Transformers 27 28 Attributes Parameters Description Rp primary Rs secondary Rt tertiary Lp pri leakage Ls sec leakage Lt ter leakage Lm magnetizing Np primary Ns secondary Nt tertiary Resistance of the primary secondary tertiary winding in Ohm Leakage inductance of the primary secondary tertiary winding in H seen from the primary Magnetizing inductance in H 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 windings the attributes are as follows Attributes Parameters Description Rp_i primary i Rs_i secondary 7 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 te
3. C psim6_demo main sch le 3 One Quadrant DC DC Circuit A File Parameter File Help Name FILE1 vw File ENpsim6_dem D Subcircuit int File main sch Inside the subcircuit L in bihia ae G in gt File sub sch 6 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 Variables 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 variable list inside the subcircuit is not saved to the netlist and is not used for simulation This feature allows the parameters of a subcircuit to be defined at the main circuit level Subcircuit 151 In the case where the same subcircuit is used several times in one main circuit different parameters
4. In the images d0 d7 are the data inputs and sO s2 are the control signals The truth tables of the multiplexers are as follows 2 Input MUX 4 Input MUX 8 Input MUX s0 Y sl sO 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 Other Function Blocks 83 Note that the data input could be either an analog or digital signal Example The following circuit selects the maximum value out of two inputs When V is greater than V the comparator output will be 1 and V V Otherwise V Vp Vb i MUX Va 3 3 10 THD Block The total harmonic distortion THD of an ac waveform that contains both the fundamental and harmonic components is defined as 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 Control Circuit Components THD Circuit Model of the THD Block gt THD v0 Vin o o in pa THD vit 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 Frequency Fundamental frequency of the input in Hz Passing Band Passing band of th
5. a b c TF_3F B B C A Pl TF_3F_4W g a Transformers 29 30 Attributes Parameters Description Rp primary Rs secondary Rt tertiary Lp pri leakage Ls sec leakage Lt ter leakage Np primary Ns secondary Nt tertiary Lm magnetizing Resistance of the primary secondary tertiary winding in Ohm Leakage inductance of the primary secondary tertiary winding in H Magnetizing inductance in H seen from the primary side No of turns of the primary secondary tertiary winding In the images P refers to primary S refers to secondary and T refers to tertiary All resistances and inductances are referred to the primary or the first primary winding side Three phase transformers are modelled in the same way as the single phase transformer Power Circuit Components 2 5 2 5 1 Other Elements Operational Amplifier An ideal operational amplifier op amp is modelled using power circuit elements as shown below Images OP_AMP OP_AMP_1 OP_AMP_2 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 The d
6. Images 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 Transformer with 1 primary and 1 secondary windings TF_1F TF_1F_1 Transformer with 1 primary and 2 secondary windings TF_1F_3W Transformer with 2 primary and 2 secondary windings TF_1F_4W Transformer with 1 primary and 4 secondary windings TF_1F_SW TF_1F_SW_1 Transformer with 1 primary and 6 secondary windings TF_1F_7W Transformer with 2 primary and 6 secondary windings TF_1F_8W A single phase two winding transformer is modelled as 26 Power Circuit Components Rp Lp Rs Ls Np Ns o o z o A ALO AAO a Primary Lm Secondary Ideal where Rp and Rs are the primary and secondary winding resistances Lp and Ls are the primary and secondary winding leakage inductances and Lm is the magnetizing inductance All the values are referred to the primary winding side If there are multiple primary windings all the values are referred to the first primary winding Images
7. Control in Simulink Solver Type Variable step ZOH Sample Time 2 us Zero Order Scope2 Hold Constant Gain Integrator SiMcoupler Therefore Simulink must be set up to have the Solver Typeas Fixed step with the time step the same or close to the PSIM time step or if the Solver Type is Variable step a zero order hold must be used with the sample time the same or close to PSIM time step SimCoupler Module 109 110 Control Circuit Components 4 1 4 Other Components 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 the value of R1 is defined in the parameter file Image FILE File The parameter file is a text file created by the user The format is shown below 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 RI 12 3 ora 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
8. 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 Parameter File 111 4 2 4 2 LIMIT R3 5 25 R3 is limited between 5 and 25 Sources Several types of independent voltage current sources are available in PSIM The notation of a current source direction is 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 can be used in the power circuit only 1 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 Image 4 2 2 DC Source A dc source has a constant amplitude The reference of the dc voltage sources VDC_GND and VDC_GND_1 is the ground 112 Images VDC VDC_CELL VDC_GND VDC_GND_1 IDC a Attribute Parameter Description Amplitude Amplitude of the source Other Components 4 2 3 Sinusoidal Source A sinusoidal source is defined as vo Vp sin 2a f t 0 V offset The specifications can be illustrated as follows Voffset t Images VSIN ISIN 3 t Attributes Parameters Description Peak Amplitude Peak amp
9. 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 e T T noa a 1 Load 1 Speed Torque Load2 Speed Torque o Tyg Sensor 1 Sensor 1 Ty Sensor 2 Sensor 2 ea _ re 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 from left to the right along the mechanical shaft Furthermore if the reference direction enters an element at the dotted side this element is along the reference direction Otherwise 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 Power Circuit Components field currents of the master machine are positive Based on this notation if the speed sensor is along the reference direction of the mechanical system a positive speed produced by the master machine will give a positive speed sensor output
10. To generate the netlist choose Generate Netlist File from the Simulate menu This will create the netlist file with the cct extension The netlist file will be saved to the same directory as the schematic file To view the netlist file choose View Netlist File from the Simulate menu 6 4 3 Define Runtime Display One can view selected waveforms as the simulation runs This is useful if one wishes to monitor and abort a simulation if needed The waveforms that can be displayed in the runtime will be selected from the list of outputs defined in the circuit 6 4 4 Settings Grid display rubber band feature text fonts simulation warning 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 Settings option 154 Circuit Schematic Design Also in the Settings option if Disable simulation warning message is checked 6 4 5 6 5 warning messages will be shown before waveforms are displayed in SIMVIEW Printing the
11. 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 860585E 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 Editing PSIM Library 157 Functions in each menu are explained below 7 1 File Menu The File Menu has the following functions Open Open Binary Merge Re Load Data Save Save As Print Print Setup Print Page Setup Print Preview Exit Load text data file Load SIMVIEW binary file Merge another data file with the existing data file for display Re load data from the same text file 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 In the time display save waveforms to a SIMVIEW binary file specified by the user In the FFT display save the FFT results to a text file specified by the user Print the waveforms Set up the printer Set up the hardcopy printout size Preview the printout Quit SIMVIEW When the data of a text file are currently being displayed after new data of the same file have become available by selecting Re Lo
12. C PSIM6 0 The netlist file name and path will be C PSIM6 0 pmsm_psim cct In Simulink Copy the version of the SimCoupler DLL file to SimCoupler dll For example for Release 13 copy SimCoupler_R13 dll to SimCoupler dll Note the default SimCoupler dll file is for Release 11 It is found that it also works for higher releases Start Matlab Change the working directory to the PSIM directory If PSIM is installed in the directory C PSIM6 0 change the directory to C PSIM6 0 Then launch Simulink and open the existing file or create a new file After the rest of the system is created open the Simulink file SimCoupler_Block_R11 mdl created in Matlab Simulink Release 11 that store the SimCoupler model block Copy and paste the SimCoupler model block into the PMSM example file In the PMSM example file double click on the SimCoupler block and enter the name and the location of the PSIM netlist name and click on Apply In this example it will be C PSIM6 0 pmsm_psim cct The number of input and output ports for the SimCoupler model block will automatically match those defined in the PSIM netlist In this case there will be 3 input ports and 4 output ports If the number of link nodes in the netlist is changed later go to the Edit menu and choose Update Diagram This will update the model block ports Go to the Simulation menu and select Simulation Parameters Unde
13. VTRI or current source ITRI is defined by 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 VTRI ITRI Sources 115 Attributes Parameters Description Vpeak peak Peak to peak amplitude V Frequency Frequency in Hz Duty Cycle Duty cycle D of the rising slope interval DC Offset DC offset Voffset Phase Delay Phase delay 0 of the waveform in deg The specifications of a triangular wave source are illustrated as A Voffset T 1 f When the phase delay O is positive the waveform is shifted to the right along the time axis 4 2 6 Step Sources A step voltage current source changes from one level to another at a given time Images VSTEP VSTEP_1 ISTEP ISTEP_1 o oO t Attributes 116 Other Components For VSTEP and ISTEP Parameters Description Vstep Value Vstep after the step change Tstep Time Tytep at which the step change occurs For VSTEP_1 and ISTEP_1 T_transition 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 Transition time Transition from Vstep1 to Vstep2 The specifications of the voltage step sources are illustrated as follows step VSTEP VSTEP_1 V t
14. dv dt limiter limits the rate of change of the input If the rate of change is within the limit the output is equal to the input Image 76 Control Circuit Components LIMIT_DVDT Attribute Parameter Description dv dt Limit Limit of the rate of change dv dt of the input 3 3 4 Look up Table There are two types of lookup tables one dimensional lookup table LKUP and 2 dimensional lookup table LKUP2D Images LKUP LKUP2D o Index j j ea i Index i He Attribute Parameter 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 the node at the top is for the column index input Please note that the one dimensional lookup table LKUP can also be used in the power circuit The one dimensional lookup table has one input and one output Two data arrays Other Function Blocks 77 corresponding to the input and the output are stored in the lookup table in a file The format of the table is as follows Vin VoL Vin 2 Vo 2 Vina Von The input array V must be monotonically increasing Between two points linear interpolation 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
15. will give a phase angle output of 0 Example In the circuit below the voltage v contains a fundamental component v 100 V at 60 Hz a 5th harmonic voltage v5 25 V at 300 Hz and a 7th harmonic v7 25 V at 420 Hz After one cycle the FFT block output reaches the steady state with the amplitude of 100 V and the phase angle of 0 0 00 5 00 10 00 1 1 15 00 20 00 Time ims 25 00 30 00 35 00 Computational Function Blocks 75 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 lower the output is zero If the two input are equal the output is undefined and it will keep the previous value Image COMP ee 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 3 3 2 Limiter The output of a limiter is clamped to the upper or 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 A HE Attributes Parameters Description Lower Limit Lower limit of the limiter Upper Limit Upper limit of the limiter 3 3 3 Gradient dv dt Limiter A gradient
16. 7 7 8 File Menu 158 Edit Menu 159 Axis Menu 159 Screen Menu 160 View Menu 162 Option Menu 163 Label Menu 164 Exporting Data 165 Error Warning Messages and Other Simulation Issues 8 1 8 2 8 3 Simulation Issues 167 8 1 1 Time Step Selection 167 8 1 2 Propagation Delays in Logic Circuits 167 8 1 3 Interface Between Power and Control Circuits 168 8 1 4 FFT Analysis 168 Error Warning Messages 169 Debugging 170 1 1 1 General Information Introduction PSIM is a simulation package specifically designed for power electronics and motor control With fast simulation and friendly user interface PSIM provides a powerful simulation environment for power electronics analog and digital control and motor drive system studies This manual covers both PSIM and its three add on Modules Motor Drive Module Digital Control Module and SimCoupler Module The Motor Drive Module has built in machine models and mechanical load models 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 SimCoupler Module provides interface between PSIM and Matlab Simulink for co simulation The PSIM simulation package consists of three programs circuit schematic program PSIM PSIM simulator and waveform processing program SIMVIEW The simulation environment is illustrated as fol
17. 71 Square Root Block 72 Exponential Power Logarithmic Function Blocks 72 Root Mean Square Block 73 Absolute and Sign Function Blocks 73 Trigonometric Functions 74 Fast Fourier Transform Block 74 Other Function Blocks 76 3 3 1 3 3 2 3 3 3 3 3 4 3 3 5 3 3 6 3 3 7 3 3 8 3 3 9 Comparator 76 Limiter 76 Gradient dv dt Limiter 76 Look up Table 77 Trapezoidal and Square Blocks 79 Sampling Hold Block 80 Round Off Block 81 Time Delay Block 82 Multiplexer 83 3 3 10 THD Block 84 Logic Components 86 3 4 1 3 4 2 3 4 3 3 4 4 3 4 5 3 4 6 3 4 7 Logic Gates 86 Set Reset Flip Flop 86 J K Flip Flop 87 D Flip Flop 87 Monostable Multivibrator 88 Pulse Width Counter 88 A D and D A Converters 89 Digital Control Module 90 3 5 1 3 5 2 Zero Order Hold 90 z Domain Transfer Function Block 91 3 5 2 1 Integrator 92 3 5 2 2 Differentiator 94 3 5 2 3 Digital Filters 94 3 5 3 Unit Delay 98 3 5 4 Quantization Block 98 3 5 5 Circular Buffer 99 3 5 6 Convolution Block 100 3 5 7 Memory Read Block 101 3 5 8 Data Array 101 3 5 9 Stack 102 3 5 10 Multi Rate Sampling System 103 3 6 SimCoupler Module 104 3 6 1 Set up in PSIM and Simulink 104 3 6 2 Solver Type and Time Step Selection in Simulink 107 4 Other Components 4 1 Parameter File 111 4 2 Sources 112 4 2 1 Time 112 4 2 2 DC Source 112 4 2 3 Sinusoidal Source 113 4 2 4 Square Wave Source 114 4 2 5 Triangular Source 1 4 2 6 Step Sources 11
18. 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 Power Circuit Components The file test tbl will contain the following 6 35 92 175 187 345 357 2 2 6 Single Phase Switch Modules Built in single phase diode bridge module BDIODE1 and thyristor bridge module BTHY1 are provided in PSIM The images and internal connections of the modules are shown below Images BDIODE1 BTHY1 a A e cs 1 Ct 3x DC A 44 A gt Spe aK 2K Be lc 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 i Current Flag_i Current flag for Switch i Node Ct at the bottom of the thyristor module BTHY1 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 PSIM 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 Switches 21 Examples Control of a Thyristor Bridge Ih T an The gatings for the circuit on the
19. For Blocks SIN COS and TAN the input is in deg and for Blocks SIN_I COS_1 and TG_1 the output is in deg Images SIN SIN_1 COS COS_1 TAN TG_1l Imaginary 95 TI tan fee Real The dotted note of the arc tangent block 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 e real input i e 9 tg nesinar 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 sampling points within one fundamental period should be oY where N is an integer The maximum number of sampling points allowed is 1024 The output gives the amplitude peak and the phase angle of the input fundamental component The output voltage in complex form is defined as Control Circuit Components ZIN Vo n n IN 2 1 0 o z vi x e 27nn Image FFT o Amplitude o FFT o 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 output has been internally adjusted such that a sine function V sin t
20. 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 7 7 Label Menu The Label Menu has the following functions 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 164 Waveform Processing 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 7 8 Exporting Data As stated in Section 7 1 FFT results can be saved to a text file Both simulation 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 o
21. OF Attributes Parameters Description R stator L stator R rotor L rotor Ns Nr Turns Ratio No of Poles Moment of Inertia Torque Flag Master Slave Flag Ii V S Lin Imi Lm1 oP Stator winding resistance in Ohm Stator winding leakage inductance in H Rotor winding resistance in Ohm Rotor winding leakage inductance in H Stator and rotor winding turns ratio for wound rotor machine 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 Tpm output When the flag is set to 1 the output of the internal torque is requested Flag for the master slave mode 1 master 0 slave Characteristics of the magnetizing current Z versus the magnetizing inductance Ln1 Lm1 Mm2 Lm2 Motor Drive Module 41 42 All the parameters are referred to the stator side The operation of a 3 phase induction machine with saturation is described by the following equations Pe Dared t Selina Bab abe i 7 are R Laser r Fine 5 Pane where ieee cos 0 cos 6 22 cos 6 3 2m 2 72 3 3 ial M i i aal M cos 6 zm cos 0 cos 6 22 Feel 1 2 72 cos 0 zz cos e 2r cos L J 3 3 cos8 cos 6 27 cos o 2 811 3 3 1 2 2 esac Mo cos 6 22 cos8 cos 22 ee i M A pl P 3 3 2 2 1 1 cos e 22 cos o 22 cos 49 3 3 L J In this case the inductance
22. On time pulse width in sec The input node at the bottom of the controlled monostable block is for the pulse width input 3 4 6 Pulse Width Counter 88 Control Circuit Components 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 the pulse width counter output remains unchanged Image PWCT Lith 3 4 7 A D and D A Converters A D and D A converters perform analog to digital and digital to analog conversion Both 8 bit and 10 bit converters are provided Images ADC8 For example if V 5 V Vin 3 2 V N 8 bits then V 256 5 3 2 163 84 10100011 binary The output of the D A converter is calculated as Logic Components 89 Xx ref Vo NO Vin 2 For example if V 5 V Vin 10100011 binary 163 N 8 bits then V 163 256 5 3 1836 3 5 Digital Control Module The Digital Control Module is an add on module to the basic PSIM program It provides discrete elements such as zero order hold z domain transfer function blocks digital filters etc for digital control system simulation In contrary to a s domain circuit which is continuous a z domain circuit is discrete and the calculation is only performed at the discrete sampling points There
23. Otherwise the speed sensor output will be negative For example if the speed of the master machine in the example above is positive Speed Sensor 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 Tz and T 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 7 7 whereas the loading torque of Load 2 to the master machine is Trp The operation of a dc machine is described by the following equations di v Bata Rat Lay di J F Ton T where v Vg ig and ip are the armature and field winding voltage and current respectively E is the back emf is the mechanical speed in rad sec T n is the internal developed torque and Ty is the load torque The back emf and the internal torque can also be expressed as E Laf ip Op a Tem Las ip ia where Laris the mutual inductance between the armature and the field windings It can be calculated based on the rated operating conditions as Motor Drive Module 35 36 _ V I R L af Tp On Note that the dc machine model assumes magnetic linearity Saturation is not considered Example A DC Motor with a Constant Torque Load The circuit
24. appear as follows Circuit Schematic Design PSIM Subcircuit Image C psim6_demo sub ScH zol x File Edit View Window aeae eea aia leafs aa E Subcircuit Image C psim6_de J Akeke Go back to the subcircuit window sub sch in this case and save the subcircuit The new subcircuit block image should appear in the main circuit 6 3 4 3 Including Subcircuits in the PSIM Element List If you create a directory called User Defined under the PSIM directory and place subcircuits inside this directory subcircuits will appear as items in the Element menu under Elements User Defined just like any other PSIM elements You can also create subdirectories under the directory User Defined and place subcircuits inside the subdirectories For example the Element menu may look like this Power Control Other Sources Symbols User Defined Subcircuit 1 Project A Subcircuit 2 Subcircuit 153 Subcircuit 3 Project B Subcircuit 4 In this way common used custom built subcircuits can be grouped together and easily managed and accessed 6 4 Other Options 6 4 1 Running the Simulation To run the simulation choose Run PSIM from the Simulate menu This will start the PSIM simulator To view the simulation results choose Run SIMVIEW from the Simulate menu Refer to Chapter 7 for the use of SIMVIEW 6 4 2 Generate and View the Netlist File
25. as d J ae gt Tom T where the developed torque T is defined as Motor Drive Module 39 Tem P pall 5 Mol i a For a symmetrical squirrel cage induction machine the steady state equivalent circuit is shown below In the figure s is the slip R L R L Lin n R s ls 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 fed through a diode bridge The simulation waveforms of the mechanical speed in rpm developed torque Tpm and load torque Tj q and 3 phase input currents show the start up transient VSI if pi IEA Induction Diode heheh Motor Bridge F or H mE w 3 F ac HHE gt pE oa z 3 p Speed Torque rl kA ph Senso Sensor gt r f As Fs Cc Bs S SPWM 0 00 0 10 0 20 0 30 0 40 Time 5 40 Power Circuit Components 2 6 1 3 Induction Machine with Saturation Two models of induction machines with saturation are provided 3 phase squirrel cage induction machine INDM3_S_NON 3 phase wound rotor induction machine INDM3_WR_NON Images INDM3_S_LIN INDM3_WR_LIN ast IM as IM as as bs bs bs bs cs cs cS C8 are bry ere
26. as follows x Z Li t al Ly ares and Motor Drive Module 49 2 r R 4 L L L cos 28 L 00s 26 22 2 L 00s 2 2 2 3 2 3 _ Lo 2n 2T L L1 ine L 0s 20 22 L L L 00s 28 22 e L cos 28 L L L cos 20 zr L cos 20 L L Lzcos 20 22 2 3 2 i 3 Lycos 20 L acos 20 L sin 20 Lycos 20 zz L4cos 20 22 L sin 26 z ea plas FAT 3 Lycos 20 27 L cos 2 22 L sin 26 27 S r 3 S r 3 sq f pa Lar Lar 9 0 0 Ly where 0 is the rotor angle The developed torque can be expressed as rea ia The mechanical equations are dOn J dt gt Tem T oad do Po dt 2 m 2 6 1 6 Permanent Magnet Synchronous Machine 5 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 brushless dc machine is that the machine back emf is sinusoidal The image and parameters of the machine are shown as follows 50 Power Circuit Components Image PMSM3 a aed PMSM b Shaft Node c ot l n 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 Master Slave Flag Stator winding resistance in Ohm Stator d axis inductance in H Stator q axis induct
27. as the schematic file that uses the DLL file 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 block are connected to one of these discrete elements zero order hold unit delay discrete integrators and differentiators z domain transfer 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 templates to write their own Procedures on how to 134 Other Components compile the DLL routine and link with PSIM are provided in these files and in the on ______ine 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 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 cu
28. 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 variable 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 See Section 4 1 for more details 6 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 PSIM Subcircuit Image C psim6_demo s b SCI E iol x File Edit view Window ojs eA AE Subcircuit Image Ch psim6 Aek l bicolol A In the window the diamonds marked red are the connection nodes of the subcircuit 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 drawing 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
29. enable disable signal A detailed description of the PWM lookup table controller is given in Section 4 5 3 Coupled Inductors Coupled inductors with two three and four branches are provided The following shows coupled inductors with two branches r V1 1 PY a OOA D L Oo 2 ys Let L11 and L22 be the self inductances of Branch 1 and 2 and L12 and L21 the mutual Power Circuit Components inductances the branch voltages and currents have the following relationship vi _ L11 L12 dli v L21 L22 dtli The mutual inductances between two windings are assumed to be always equal i e L12 L21 Images MUT2 MUT3 MUT4 i o AON S denn ooo ae oe Attributes Parameters Description Lii self Self inductance of the inductor i in H Lij mutual Mutual inductance between Inducto i andj in H i initial Initial 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 respectively Example Two mutually coupled inductors have the following self inductances and mutual inductance L11 1 mH L22 1 1 mH and L12 L21 0 9 mH The specification of the element MUT2 will be L11 self lm L12 mutual 0 9m L22 self 1 1m Coupled Inductors 25 2 4 Transformers 2 4 1 Ideal Transformer An ideal transformer has no losses and no leakage flux
30. is no calculation between two sampling points 3 5 1 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 Attribute Parameter Description Sampling Frequency Sampling frequency of the zero order hold in Hz Like all other discrete elements the zero order hold has a free running timer which determines the moment of sampling The sampling moment is synchronized with the origin of the simulation time For example if the zero order hold has a sampling frequency 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 90 Control Circuit Components Vin 10 00 Gy G Vin Vo F OH 5 00 i if Ls 0 00 TN 500 Time m5 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 Since only the calculation at the discrete sampling points is needed the simu
31. of time interval It for example can be used to model the propagation delay of a logic element Image Attribute Parameter Description Time Delay Time delay in sec Note that the difference between this block and the unit delay block UDELAY in Digital Control Module 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 1 ms and the second block has a delay time of 4 ms This example illustrates that the input of the time delay block can be either an analog or a digital signal Control Circuit Components Vind 1 50 1 00 0 50 0 00 1 50 1 00 f 0 50 f 0 00 20 00 10 00 e 5 EEEa E Mhgeeen 0 00 z Ag 40 00 i VoD g 20 00 i b i i ooo 500 1000 Woz Vin2 15 00 20 00 25 00 30 00 Time ms 3 3 9 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 Images MUX2 MUX4 MUX8 do do d0 dl 4 MUX H Y dl d2 BE MUX Y d3 4 s0 d7 Bee s2 sl s0
32. the controlling voltage or current can not be an independent source Note that controlled sources can be used in the power circuit only Images VVCVS VCCVS VCCVS_1 IVCCS ICCCS ICCCS_1 X y i VVCVSV IVCCSV o o o o Vink vx k Vin2 Vini x E Vin2 Other Components Attribute Parameter Description Gain Gain of the source For voltage controlled sources VVCVS and IVCCS the controlling voltage is from the positive node to the negative node For current controlled sources VCCVS and ICCCS the control nodes are connected across a RLC branch and the direction of the controlling current is indicated by the arrow For current controlled sources VCCVS_1 and 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 The output of a controlled source except variable gain controlled sources is equal to the gain multiplied by the controlling voltage or current For the variable gain controlled sources VVCVSV and IVCGSV the output is equal to the following Vo k i Vin2 Vint io k Vin2 Vint Input 1 is on the side with the multiplication sign and Input 2 is on the side with the letter k The difference between variable gain controlled sources and nonlinear sources VNONM and INONM described in the following section is that for VNONM and INONM values of both vin and vi at the current ti
33. the dc component The cut off frequency determines the transient response of the filter Except the voltage and current probes VP VP2 IP the readings of all the meters are meaningful 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 01 J2Vsin ft oy i t J21 sin t 0 2 sin t 03 where is the fundamental frequency and all others are harmonic frequencies We have the rms values of the voltage and current as Vins JVi Vi s 2 2 Lms Jiti The apparent power is defined as S Ving L rms rms The real power or average power is defined as Probes and Meters 1 P ql CO idr where T is the fundamental period The total power factor PF and the displacement power factor DPF are then defined as follow PF 5 DPF cos 90 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 that is vat v v 0 i ti t i 0 4 5 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 an
34. the internal torque is requested Master Slave Flag 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 Refer to Section 2 6 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 stator neutral point is accessible The operation of a 3 phase induction machine is described by the following equations ated Rl Linked Cel Gilet Ma a lel Pate RJ Lia Le Geli Me Gilat where Power Circuit Components Vas Var las l abe Vp s Pegga Voor EN lh s pw lpr Vos Vor los lor For squirrel cage machines Va r Vp Ve 0 The parameter matrices are defined as R 0 0 R 0 0 R 0 R 0 R 0 R 0 0 0 R 0 0 R Sr M Sr M L M S 5 L M 35 M M M rase ae a S Il Ses e eee 2 S Sr 2 r Sr M M Sr Sr L M sr sr L M 2 2 al 2 2 cos8 cos 0 27 cos 22 m i M cos mee cos0 cos 22 sr 3 3 cos 22 cos o 22 cos L 3 3 where M is the mutual inductance between the stator and rotor windings and is the mechanical angle The mutual inductance is related to the magnetizing inductance as 3 Ly Ms The mechanical equation is expressed
35. this a time delay element with the delay period of one time step needs to be Simulation Issues inserted between QO and the input J of the second flip flop 8 1 3 Interface Between Power and Control Circuits In PSIM power circuits are represented in the discrete circuit form and control circuits are represented in 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 Similarly 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 there is a direct connection between the output of a control circuit element and the power circuit a control power interface block CTOP will be automatically inserted This is illustrated in the examples below Comparator Comparator y Cc ae ag YQ Transfer Function H c dranster Fitiction 4 Cc bi owl Ho a S ii H EJT CE 7 Lop amp op amp It should be noted that in PSIM the power circuit and the control circuit are solved separately There is one time s
36. two types of integrators One is the regular integrator I_D The other is the resettable integrator I_LRESET_D 92 Control Circuit Components Images PEL gam I_RESET_D Attribute Parameters Description Algorithm Flag Flag for integration algorithm Initial Output Value Reset Flag Sampling Frequency 0 trapezoidal rule 1 backward Euler 2 forward Euler Initial output value Reset flag 0 edge reset 1 level reset Sampling frequency in Hz The output of a resettable integrator can be reset by an external control signal at the bottom of the block With the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal With the level reset reset flag 1 the integrator output is reset to zero as long as the control signal is high 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 With backward Euler A z NIN ose z l y n y n 1 5 u n u n 1 H z T y n y n 1 T u n Digital Control Module 93 With forward Euler 1 A z T z l y n y n 1 T u n 1 3 5 2 2 Differentiator The transfer function of a discrete differentiator is z l where T is the sampling
37. 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 cos8 cos 6 22 cos 8 22 3 3 Va 3 Va Va 3 sin sin o 22 sin 6 2 Vb 3 3 Vo Ve 1 1 1 E 2 2 The transformation equations from dqo to abc are cos8 sin 8 1 v v 4 cos 22 sin 22 1 4 v 3 3 vg Ve cos e 22 sin 6 22 1 Vo L 3 3 ae Images ABC2DQO DQO2ABC 460 66 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 9 The simulation waveforms show the three phase ac top the angle middle and the Other Components dqo output In this example the q component is constant and both the d and the o components are zero Dia 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms 4 6 3 Math Function Blocks The output of a math function block is expressed as the mathematical function of the inputs With this block one can implement complex and nonlinear relationship easily Blocks with 1 2
38. y n 2 ay y n N If the denominator coefficients a 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 Digital Control Module 95 H z bj be by gee FO z If dg 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 The coefficient file for block FILTER_D1 and FILTER_FIR1 has the following format For Filter_FIR1 For Filter_D1 the format can be either one of the following N or N bo bo ao b bya by by an ag ay an Example To design a 2nd order low pass Butterworth digital filter with the 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 by b 96 Control Circuit Components A 1 1 561 0 6414 ay a ay The transfer function is 0 0201 0 0402 z 0 0201 z H z I 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 PSIM will be Order N 2 Coeff Do by 0 0201 0 0402 0 0201 Coeff ap ay 1 1 561 0 6414 Sampling Fr
39. 2 2 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 Diode DIAC and Zener Diode 12 Thyristor and TRIAC 14 GTO Transistors and Bi Directional Switch 15 Linear Switches 18 Switch Gating Block 19 Single Phase Switch Modules 21 Three Phase Switch Modules 22 Coupled Inductors 24 Transformers 26 2 4 1 Ideal Transformer 26 2 5 2 6 2 4 2 Single Phase Transformers 26 2 4 3 Three Phase Transformers 29 Other Elements 31 2 5 1 Operational Amplifier 31 2 5 2 dv dt Block 32 Motor Drive Module 33 2 6 1 2 6 3 2 6 4 2 6 5 Electric Machines 33 2 6 1 1 DC Machine 33 2 6 1 2 Induction Machine 37 2 6 1 3 Induction Machine with Saturation 41 2 6 1 4 Brushless DC Machine 42 2 6 1 5 Synchronous Machine with External Excitation 48 2 6 1 6 Permanent Magnet Synchronous Machine 50 2 6 1 7 Switched Reluctance Machine 54 Mechanical Loads 56 2 6 2 1 Constant Torque Load 56 2 6 2 2 Constant Power Load 57 2 6 2 3 Constant Speed Load 58 2 6 2 4 General Type Load 59 Gear Box 59 Mechanical Electrical Interface Block 60 Speed Torque Sensors 62 3 Control Circuit Components 3 1 3 2 Transfer Function Blocks 65 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 Proportional Controller 66 Integrator 67 Differentiator 68 Proportional Integral Controller 69 Built in Filter Blocks 69 Computational Function Blocks 70 3 3 3 4 3 5 3 2 1 3 2 2 3 2 3 3 2 4 3 25 3 2 6 3 2 7 3 2 8 Summer 70 Multiplier and Divider
40. 3 5 and 10 inputs are provided Images FCN_MATH FCN_MATH2 FCN_MATH3 FCN_MATHS5 FCN_MATH10 Soon Attributes Parameters Description Expression Expression of the output versus inputs where n is the K1 X9 Xp number of inputs Expression dfldx Expression of the derivative of the function f versus the ih input Function Blocks 133 The derivative df dx can be set to zero The variables that are allowed in the expression are T or t for time and x i from 1 to n which represents the i input For example for the 3 input math function block the allowed variables are T t x x2 and x3 For the l input math function block the variable x which refers to the only input is also allowed 4 6 4 External DLL Blocks An external DLL dynamic link library block allows users to write code in C 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 Images DLL_EXT1 DLL_EXT3 DLL_EXT6 1 z e 1 1 mi Lo 1 o o o DLL fo 2 DLL 2 o Lo amp Ba 3 Lo 3 o o 6 O o 6 input output Attribute Parameter Description File Name Name of the DLL file The node with a dot is for the first input in 0 The name of the DLL file can be arbitrary The DLL file however must be in the same directory
41. 52 1789 360 72 44823 80 66083 99 33917 107 5518 172 0979 180 Switch Controllers 129 130 4 6 4 6 1 187 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 controller will select the first gating pattern If the modulation index is 0 915 the controller 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 con a a o i i KRL1a KRLIk KRLIC 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ma Function Blocks 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 power circuit The output of the interface block is treated as a constant vo
42. 6 4 2 7 Piecewise Linear Source 117 4 2 8 Random Source 119 4 2 9 Math Function Source 1 4 2 10 Voltage Current Controlled Sources 120 4 2 11 Nonlinear Voltage Controlled Sources 122 4 3 Voltage Current Sensors 123 4 4 Probes and Meters 124 4 5 Switch Controllers 126 4 5 1 On Off Switch Controller 126 4 5 2 Alpha Controller 127 4 6 4 5 3 PWM Lookup Table Controller 128 Function Blocks 130 4 6 1 4 6 2 4 6 3 4 6 4 Control Power Interface Block 130 ABC DQO Transformation Block 132 Math Function Blocks 133 External DLL Blocks 134 Analysis Specification 5 1 52 5 3 Transient Analysis 137 AC Analysis 138 Parameter Sweep 142 Circuit Schematic Design 6 1 6 2 6 3 6 4 Creating a Circuit 145 Editing a Circuit 146 Subcircuit 147 6 3 1 6 3 2 6 3 3 6 3 4 Creating Subcircuit In the Main Circuit 148 Creating Subcircuit Inside the Subcircuit 148 Connecting Subcircuit In the Main Circuit 150 Other Features of the Subcircuit 150 6 3 4 1 Passing Variables from the Main Circuit to Subcircuit 151 6 3 4 2 Customizing the Subcircuit Image 152 6 3 4 3 Including Subcircuits in the PSIM Element List 153 Other Options 154 6 4 1 6 4 2 6 4 3 6 4 4 6 4 5 Running the Simulation 154 Generate and View the Netlist File 154 Define Runtime Display 154 Settings 154 Printing the Circuit Schematic 155 vi 6 5 Editing PSIM Library 155 Waveform Processing 7 1 7 2 73 74 7 5 7 6 7
43. 8 Circuit Schematic Design 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 Subcircuit 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 Port xi Subcircuit port assignments Port Name L ORO OOOOOLN OOOOON OO 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 diamond 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 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 division below the top and
44. 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 Select The schematic can also be saved to the clipboard which can be imported into a word processor such as Microsoft Word 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 PSIM Library The PSIM library consists of two parts one is the image library psimimage lib and the other is the netlist library psim lib The netlist library can not be modified But users can modify the image library or create their own image library To create or modify the image library go to Edit Edit Library Edit Library Files and follow the instructions on the screen Editing PSIM Library 155 156 Circuit Schematic Design 7 Waveform Processing SIMVIEW is PSIM s waveform display and post processing program The following shows simulation waveforms in the SIMVIEW environment eee borarik W e U Me bi A brem Feme Yee Opon iei Hein Zlaja S lole x Sm ma Sta ida ete Ers HN alfil 3 aigis SIMVIEW reads data in either ASCII text format or SIMVIEW binary format The following shows a sample text data file Time I L1 V 0 V a V pi 0 1000000E 04 0 000000E 00 0 144843E 18 0 307811E 00 0 100000E 01
45. Controlled Buck Converter e ik gn ma H UC3842 LEA sR 2p 5 3 Parameter Sweep Parameter sweep can be performed for the following parameters Resistance inductance and capacitance of RLC branches Gain of proportional blocks P Time constant of integrators I Gain and time constant of proportional integral controllers PI Gain cut off frequency and damping ratio of 2nd order low pass and high pass filters FILTER_LP2 HLTER_HP2 Gain center frequency and passing and stopping band of 2nd order bandpass and bandstop filters FILTER_BP2 FILTER_BS2 The image and parameters of the parameter sweep element are shown below 142 Analysis Specification Image PARAMSWEEP Param sweep Attributes Parameters Description Start Value Starting value of the parameter EndValue End value of the parameter Increment Step Parameter to be Swept Increment step Parameter to be swept For example let the resistance of a resistor be Ro To sweep the resistance from 2 Ohm to 10 Ohm with a step of 2 Ohm the specification will be Start Value 2 End Value 10 Increment Step 2 Parameter to be Ro Swept Parameter Sweep 143 144 Analysis Specification 6 1 6 Circuit Schematic Design PSIM s schematic program provides interactive and user friendly interface for circuit schematic entry and editing The
46. General Information A mathematical expression can contain brackets and is not case sensitive The following mathematical functions are allowed om E SQRT SIN COS TAN ATAN EXP LOG LOG10 ABS SIGN addition subtraction multiplication division to the power of Example 2 3 2 2 2 square root function sine function cosine function 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 Component Parameter Specification and Format 5 6 General Information 2 2 1 2 1 1 Power Circuit Components Resistor Inductor Capacitor Branches Resistors Inductors and Capacitors Both individual resistor inductor capacitor branches and lumped RLC branches are provided 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 voltages of the three phase branches are all zero Images R L C RL RC LC CAMA ema HE aw AE erh RC3 RLC3 R3 RL3 A ies AAA eA He ANU AAAS AT oP AS ia The names above the element images are the netlist names of the elements For exampl
47. If the inputs are scalar the output of a summer with n inputs is defined as Vo ki Vit kVa k V If the input is a vector the output of a two input summer will also be a vector which is defined as a a apl V gt b bp by V Vi Vo a b ath a b The output of a one input summer however will still be a scalar which is equal to the summation of the input vector elements that is V aj a ay Multiplier and Divider The output of a multipliers MULT or dividers DIVD is equal to the multiplication or division of two inputs Images Computational Function Blocks 71 72 3 2 3 3 2 4 MULT DIVD o Nominator o 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 V a a2 ag V2 b b gt by The output which is a scalar will be Vo Vi VT ay by a2 b2 an bn Square Root Block A square root function block calculates the square root of the input Image SQROT Exponential Power Logarithmic Function Blocks Images EXP POWER LOG LOG10 l a i xe i log 10g o Attributes for EXP and POWER Parameters Description Coefficient k Coefficient k Control Circuit Components 3 2 5 3 2 6 Co
48. M is no longer constant but a function of the magnetizing current Zp 2 6 1 4 Brushless DC Machine A 3 phase brushless dc machine is a type of permanent magnet synchronous machine with trapezoidal waveform back emf It has 3 phase windings on the stator and permanent magnet on the rotor The image and parameters of the 3 phase brushless dc machine are shown as follows Power Circuit Components Image Shaft Node NS SpS 6 pulse Hall Effect Position Sensor Attributes Parameters Description R stator resistance L stator self ind M stator mutual ind Vpk krpm Vrms krpm No of Poles P Moment of Inertia Mech Time Constant Stator phase resistance R in Ohm Stator phase self inductance L in H 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 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 rm
49. PSIM User s Guide Powersim Inc PSIM User s Guide Version 6 0 June 2003 Copyright 2001 2003 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 liable 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 for the licence to the software and documentation Powersim Inc email info powersimtech com http www powersimtech com Contents 1 General Information 1 1 1 2 1 3 1 4 1 5 1 6 2 1 2 2 2 3 2 4 Introduction 1 Circuit Structure 2 Software Hardware Requirement 2 Installing the Program 2 Simulating a Circuit 3 Component Parameter Specification and Format 3 Power Circuit Components Resistor Inductor Capacitor Branches 7 2 1 1 2 1 2 2 1 3 2 1 4 Resistors Inductors and Capacitors 7 Rheostat 8 Saturable Inductor 8 Nonlinear Elements 9 Switches 11 2 2 1 2
50. Power Circuit Components into account the saturation effect of the inductor magnetic core Image L_SAT Ln Attributes Parameters Description Current v s Inductance Characteristics of the current versus the inductance ij Ly in Lo ete Current Flag Flag for the current display The nonlinear B H curve is represented by piecewise linear approximation Since the flux density B is proportional to the flux linkage A and the magnetizing force H is proportional to the current i the B H curve can be represented by the A i curve instead as shown below A Aw A3 h ae Inductance L A i 1 The inductance is defined as L i which is the slope of the A i curve at different points The saturation characteristics can then be expressed by pairs of data points as ii L1 in L2 i3 L3 ete Nonlinear Elements Four elements with nonlinear voltage current relationship are provided Resistance type NONV v Ki Resistance type with additional input x NONV_1 v fti x Conductance type NONI i v Resistor Inductor Capacitor Branches 9 10 Conductance type with additional input x NONI_1 i f v x The additional input x must be a voltage signal Images NONV NONI NONV_1 NONL 1 Attributes For resistance type elements Parameters f Input x Description Expression Ki or f i x Expression dffdi Ini
51. 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 display purpose Brushless DC Moto ide BDCH Speed Feedback no nyet Time ms Motor Drive Module 47 2 6 1 5 Synchronous Machine with External Excitation The structure of a conventional synchronous machine consists of three stator windings one field winding on either a salient or cylindrical rotor and an optional damping winding on the rotor Depending on the way the internal model interfaces with the external stator circuitry there are two types of interface one is the voltage type interface model SYNM3 and the other is the current type interface model SYNM3_I The model for the voltage type interface consists of controlled voltage sources on the stator side and this model is suitable in situations where the machine operates as a generator and or the stator external circuit is in series with inductive branches On the other hand The model for the current type interface consists of controlled current sources on the stator side and this model is suitable in situations where the machine operates as a motor and or the stator external circuit is in parallel with capacitive branche
52. a Lav Lac la 2m 2 le faa eS o rp Laa Lap Lac lp E pm 3 L Laa Lav Lac i cos 6 22 where 9 is the rotor electrical angle and Apmis a coefficient which is defined as a 60 V krpm P m P 1000 S where P is the number of poles The stator self and mutual inductances are rotor position dependent and are defined as Laa Lj Lo Ly cos 20 2T Ly Lat L L gt cos ae 20 Lec Ly t Lo Ly cos Na Lap Lpa Lo t Lz cos 20 22 52 Power Circuit Components Loc Lea Lo thr cos 26 22 Ly Lep L L cos 28 where Ly is the stator leakage inductance The d axis and q axis inductances are associated with the above inductances as follows La iyt T L Zt 2 3 3 L byt zlo sho The developed torque can be expressed as sin 20 sin 26 22 sin 26 22 T roni i i sin 20 27 sinf20 2 sino V em 4 42 la lp le o3 r 3 sin 20 27 sin 20 sin 26 22 sin 6 2n P eN sin 6 2 2 Nom lia lp i i 3 sin 8 22 L 3 par The mechanical equations are dOn J dt Tem B i Om Toad d P a dt g 2 m 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 Tmech as below Motor Drive Module 53 J mech B T 2 6 1 7 Switched Reluctance Machine PSIM provides the model for 3 phase switched
53. able list of the subcircuit To edit the subcircuit image To display the subcircuit name Subcircuit 147 Name Show Subcircuit To display the port names of the subcircuit in the main circuit Ports Hide Subcircuit To hide the port names of the subcircuit in the main circuit Ports 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 int TTY Le ut in ut File chop sch File chop_sub sch 6 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 New Subcircuit If the file exists select Load Subcircuit instead A subcircuit block rectangle will appear on the screen Place the subcircuit 6 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 14
54. ad 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 I1 it will be modified to I1_1 automatically 158 Waveform Processing 7 2 7 3 Edit Menu The Edit Menu has the following functions Copy to Clipboard Copy the waveforms to the clipboard Edit Title Edit the printout title By default the title shows the file name and path Axis Menu The Axis Menu has the following functions 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 label Edit Default If the item is checked the first column which is usually Time will be Variable List used as the X axis The dialog box of the X Y axis settings are shown below Kk fete x Lark iak FF kaioa TEA From 7 Ta j T iag If the Auto Scale box is checked and the Grid Division is chosen as default the maximum data range will be selected and the number of axis divisions will be automatically determined Both the data range and grid division however can be manually set In the Axis Label Setting the label font size can b
55. ance 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 operating 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 Tech Output flag for internal developed torque T 1 output 0 no output Flag for the master slave mode 1 master 0 slave Motor Drive Module 51 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 are Va R 0 0J ji Aa s al g v 0 R O fis Ve 0 OR Ii Ae where va Vp Vo and ig ip and i and q Ap c are the stator phase voltages currents and flux linkages respectively and R is the stator phase resistance The flux linkages are further defined as cos Aa La
56. be equal to Vka Vg 10uQ Ixy Therefore depending on the value of Iga Vga will be slightly higher than Vp If Ix is very large Vga can be substantially higher than Vg Switches 13 14 2 2 2 Thyristor and TRIAC A thyristor is controlled at turn on The turn off is determined by circuit conditions A TRIAC is a device that can conduct current in both directions It behaviors in the same way as two thyristors in the opposite direction connected in parallel Images THY TRIAC Ao Ta K Gate Gate Attributes Parameters Description Voltage Drop Thyristor conduction voltage drop in Holding Current Minimum conduction current below which the device stops conducting and returns to the OFF state for THY only Latching Current Minimum ON state current required to keep the device in the ON state after the triggering pulse is removed for THY only Initial Position Flag for the initial switch position for THY only Current Flag Flag for switch current output TRIAC holding current and latching current are set to zero There are two ways to control a thyristor or TRIAC One is to use a gating block GATING and the other is to use a switch controller The gate node of a thyristor or TRIAC therefore must be connected to either a gating block or a switch controller The following examples illustrate the control of a thyristor switch Power Circuit Components 2 2 3 Examples Control of a Thyrist
57. below shows a shunt excited dc motor with a constant torque load Tz 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 Speed 2000 A 200 00 f ye Setai FEE EEEE E EEEE Sensor 1 T 15000 Hf neh Armature current a4 100 00 fJ oo bot spiuni saa sees S00 ise sho eSed al 2ees Le eee om i i Constant Lii 100K Torque 090K Sy Load 060K MK 020K 00K 000 020 040 060 080 Time 8 Example A DC Motor Generator Set The circuit below shows a dc motor generator set The motor on the left is set to the master 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 250 00 Motor Generator 200 00 Ia eta 150 00 amp mm 50 00 0 00 vgen 120 00 err ae B00 p aaa bape ETT eee een Generator voltage dot Pepe Moco re has secre 0 00 0 00 020 040 O60 0 80 Time Power Circuit Components 2 6 1 2 Induction Machine Two t
58. d controls switches in the power circuit One switch controller can control multiple switches simultaneously 4 5 1 On Off Switch Controller On off switch controllers are used as the interface between control gating signals and power switches The input which is a logic signal either 0 or 1 from the control circuit is passed to the power circuit as the gating signal Image ONCTRL i 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 Example 126 Other Components of the switch results in the short circuit of the resistor across the switch and the increase of the current ve v a On off Controller 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms 4 5 2 Alpha Controller An alpha controller is used for delay angle control of thyristor switches or bridges There are three input for the controller the alpha value the synchronization signal and the gating enable disable signal The transition of the synchronization signal from low to high from 0 to 1 provides the synchronization and this corresponds to the moment 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 i
59. dels 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 above 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 Motor Drive Module 61 62 2 6 5 Example A custom machine model with a constant torque load Similarly one can build a custom machine model and connect it to the mechanical load in PSIM The figure below 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 form S1 Wm x o Mechanical speed Speed Torque Sensors A speed sensor WSEN or torque sensor TSEN is used to measure the mechanical speed or torque Images WSEN TSEN J Attribute Parameter Description Gain Gain of the sensor If the reference direction of a mechanical system enters the dotted side of the sensor the sensor is along the reference direction Refer t
60. dule is an add on module to the basic PSIM program It provides machine models and mechanical load models for motor drive system studies 2 6 1 1 DC Machine The image and parameters of a dc machine are as follows Image DCM Ho Armature et Shaft Node Winding S sat Field Winding Attributes Parameters Description R armature L armature R field Ly field Moment of Inertia V rated I rated Armature winding resistance in Ohm Armature winding inductance in H Field winding resistance in Ohm Field winding inductance in H Moment of inertia of the machine in kg m Rated armature terminal voltage in V Rated armature current in A Motor Drive Module 33 34 Parameters Description n rated Rated mechanical speed in rpm If rated Rated field current in A Torque Flag Output flag for internal torque Tem 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 output file for display A machine is set to either the master or slave mode When there is only one machine in a mechanical system this machine must be set to the master mode When there are two or more machines in a system only one must be set to the master mode and the rest to the slave mode The same applies to a mechanical electrical interface block as explained later
61. e a resistor appears as Resistor in the library menu and the netlist name is R For 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 Resistor Inductor Capacitor Branches 7 Parameters Description 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 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 the 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 three phase branches respectively The resistance inductance or capacitance of a branch can not be all zero At least one of the parameters has to be a non zero value 2 1 2 Rheostat A rheostat is a resistor with a tap Image RHEOSTAT t yee Attributes Parameters Description Total Resistance Tap Position 0 to 1 Current Flag Total resistance of the rheostat R between Node k and m in Ohm The tap position Tap The resistance between Node k and t is R Tap Flag for the current that flows into Node k 2 1 3 Saturable Inductor A saturable inductor takes 8
62. e 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 is set at 20 Hz The simulation results are shown on the right 150 00 Vs ra 150 00 H alpha 30 deg E e THD ampf e ls THD 0 00 0 02 0 04 0 06 0 08 0 40 0 12 Time 5 One of the THD block output is the input current fundamental component i By comparing the phase difference between the input voltage v and the current i one can Other Function Blocks 85 calculate the input displacement power factor This together with the THD value can be used to calculate the input power factor 3 4 Logic Components 3 4 1 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 3 4 2 Set Reset Flip Flop There are two types of set reset flip flops One is edge triggered and the other is level triggered Attribute Parameter Description Trigger Flag Trigger flag 0 edge triggered 1 level triggered An edge triggered flip flop only changes the sta
63. e 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 Edit Menu 159 160 7 4 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 Note that this option can only be selected or de selected when there are no documents in the SIMVIEW environment Screen Menu The Screen Menu has the following functions 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 Waveform Processing lila Higley che Et ey ee Haas ba Nipa PFL FALlal be gree i a hee mE I Reanna Edit Box CE ee All the data variables available for display are in the Variables Available box and the variables currently being displayed are in the Variables 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 highlighting the variable and clicking on lt Remove In t
64. e following is a second order transfer function 400 e G s 1 5 res ne ee s 1200 s5 400 e In PSIM the specification will be Order n 2 Gain 1 5 Coeff By Bo 0 0 400 e3 Coeff A Ao 1 1200 400 e3 3 1 1 Proportional Controller The output of a proportional P controller is equal to the input multiplied by a gain Image P 66 Control Circuit Components 3 1 2 Attribute Parameter Description Gain Gain k of the transfer function Integrator The transfer function of an integrator is G s L There are two types of integrators One is the regular integrator I The other is the resettable integrator RESETD Images I RESETI Attributes 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 bottom 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 output 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 illust
65. e time step set by the user and the smaller value of the two will be used in the simulation If the selected time step is different from the one set by the user it will be saved to the file message doc 5 2 AC Analysis The frequency response of a circuit or a control loop can be obtained with the ac analysis A key feature of the ac analysis in PSIM is that a circuit can be in its original switchmode form and no average model is required Nevertheless with the average model the time it takes to perform the ac analysis will be shorter The following are the steps to set up the ac analysis Identify a sinusoidal source VSIN as the excitation source for the ac sweep Place ac sweep probes ACSWEEP_OUT at the desired output location To measure the loop response of a closed control loop use the node to node probe ACSWEEP_OUT2 Place the ACSWEEP element on the schematic and define the parameters of the ac sweep Run PSIM Below are the images of the ac sweep probes and the ACSWEEP element Images ACSWEEP_OUT ACSWEEP_OUT2 ACS WEEP ac 3 AC j aC sweep Attributes Parameters Description Start Frequency Start frequency of the ac sweep in Hz End Frequency End frequency of the ac sweep in Hz No of Points Number of data points 138 Analysis Specification Parameters Description Flag for Points Flag to define how the data points is generated Flag 0 Points are di
66. ed to the transistor base drive circuit through a transformer and the base current 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 0 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 Switches 17 18 2 2 4 Linear Switches Linear switches include npn bipolar junction transistor NPN_1 and pnp bipolar junction transistor PNP_1 They can operate in either cut off linear or saturation region Images NPN_1 PNP_1 Attributes Parameters Description Current Gain beta Transistor current gain B defined as B I I Bias Voltage Forward bias voltage between base and emitter for NPN_1 or between emitter and base for PNP_1 Vee sat LOr Vec sat for Saturation voltage between collector and emitter for PNP_1 NPN_1 and between emitter and collector for PNP_1 A linear BJT 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 reg
67. efficient ky Coefficient ky The output of an exponential function block EXP is defined as V ky ky For example if ky 1 ky 2 718281828 and V 2 5 then V e gt where e is the base of the natural logarithm The output of a power function block POWER is defined as V ky Via The function block LOG gives the natural logarithm base e of the input and the block LOG10 gives the common logarithm base 10 of the input Root Mean Square Block A root mean square function block calculates the RMS value of the input over a period specified by the base frequency fp The output is defined as 1 T 2 Vine fg ndt where T 1 f The output is only updated at the beginning of each period Image RMS Attribute Parameter 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 function block SIGN gives the sign of the input i e the output is 1 if the input is positive and the output is 1 if the input is negative Computational Function Blocks 73 74 3 2 7 3 2 8 Images ABS SIGN Trigonometric Functions Six trigonometric functions are provided sine SIN arc sine SIN_1 cosine COS arc cosine COS_1 tangent TAN and arc tangent TG_1 The output is equal to the corresponding trigonometric function of the input
68. eft 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 measurement boxes in these two modes are shown below Waveform Processing 7 6 aE gt alpi a oil si siaal ete le ei miele ine moe zj ileer zj Tes afte I i I ire By ia i l Peger OMi THEA EIJI dpl i a or SATB z THII 10 am m D ie go e Ku wk apni a 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 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 clicking on the arrow the waveforms will be shifted by one division Option Menu The Option Menu has the following functions FFT Perform the Fast Four
69. ement 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 compiling the PSIM simulator with increased array dimensions Please contact Powersim Technologies Inc for assistance Warning The program failed to converge after 10 iterations when determin ing switch positions The computation continues with the following switch positions This warning occurs when the program fails to converge when determining switching positions Since the computation continues based on the switch positions at the end of the 10th iteration results could be inaccurate One should Error Warning Messages 169 170 8 3 W 2 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 Check the switch gating signals Connect small resistors inductors in series with switches and voltage sources Warning The program did not reach the steady state after 60 cycles when performing the ac sweep This warning occurs when the program fails to reach the steady state after 60 cycles when performing the ac sweep The cause of the problem could be that the system is poorly damped at that particular frequency or the signal amplitude is too small You may try the following
70. ep 4 2 7 Piecewise Linear Source The waveform of a piecewise linear source consists of piecewise linear segments It is defined by the number of points the values and the corresponding time in sec Images VGNL VGNL_1 IGNL IGNL_1 t o Sources 117 Attributes For VGNL and IGNL Parameters Description Frequency No of Points n Values V1 Vn Time T1 Tn Frequency of the waveform in Hz No of points Values at each point Time at each point in sec For VGNL_1 and IGNL_1 Parameters Description Frequency Times Values tl v1 Frequency of the waveform in Hz Time and value at each point The time and value pair must be enclosed by left and right brackets The time and value 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 0 1 0 2 0 3 Time sec The specification for VGNL will be Frequency No of Points n 4 Values V1 Vn 1 1 3 3 Times T1 Tn 0 0 1 0 2 0 3 118 Other Components 4 2 8 4 2 9 The specification 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 rand
71. equency 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 Digital Control Module 97 3 5 3 Unit Delay A unit delay block provides one sampling period delay to the input Image UDELAY EF Attribute Parameter Description Sampling Frequency Sampling frequency in Hz The difference between a unit delay block and a time delay block TDELA Y is that 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 3 5 4 Quantization Block A quantization block simulates the quantization error during an A D conversion Image DIGIT gel Attributes Parameters Description No of Bits Number of bits N Vin_min Lower limit of the input value Vj min Vin_max Upper limit of the input value Vin max Vo_min Lower limit of the output value Vg min Vo_max Upper limit of the output value V max Sampling Frequency Sampling frequency in Hz 98 Control Circuit Components 3 5 5 A quantization block performs two functions scaling and quantization The input value V sampled at the given sampling frequency is first scaled based on the following Vin V l i
72. ere is the mechanical speed in rad sec Note that the torque of the general type load is dependent on the speed direction 2 6 3 Gear Box The image is a gear box is shown below Image GEARBOX Motor Drive Module 59 60 2 6 4 Attribute Parameter Description Gear Ratio The gear ratio a If the numbers of teeth of the first gear and the second gear are n and n3 respectively the gear ratio a is defined as a n np Let the radius torque and speed of these two gears be r1 r2 T1 T2 Mj and we have Ty T2 r 12 a Mechanical Electrical Interface Block This block allows users to access the internal equivalent circuit of the mechanical system of a machine Image MECH_ELEC Mechanical Side o M E Electrical Side Attribute Parameter Description Master Slave Flag Flag for the master slave mode 1 master 0 slave Similar to electric machines the mechanical electrical interface block can be used to define 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 mechanical shaft away from the mechanical node and towards the rest ofthe mechanical elements In a mechanical system only one and at least one machine interface block must be set to the master mode Refer to Secti
73. ers Description Array Length The length of the data array N for ARRAY only Values Values of the array for ARRAY only Name of the file storing the array for ARRAY 1 only If the array is read from a file the file will have the following format N ay an 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 PAD 3 5 9 Stack A Stack is a first in last out register Image Vi push vo pop 102 Control Circuit Components Attribute Parameter Description Stack Depth The stack depth The rising edge triggers the push or pop action When a pop action is performed and the stack is empty the output remains unchanged When a push action is performed and the stack is already full the data at the bottom of the stack will be pushed out and will be lost 3 5 10 Multi Rate Sampling System A discrete system can have more than one 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 output 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 wit
74. eveloped torque of the machine per phase is 1 2 dL Fem 5 dO Based on the inductance expression we have the developed torque in each stage as Le i 7 k 2 rising stage Tem 0 flat top stage Tem 7 k 2 falling stage Tem 0 flat bottom stage Note that saturation is not considered in this model Mechanical Loads Several mechanical load models are provided in PSIM constant torque constant power constant speed and general type load 2 6 2 1 Constant Torque Load The image of a constant torque load is Image MLOAD_T T om Power Circuit Components Attributes Parameters Description Constant Torque Torque constant Tponst in N m Moment of Inertia Moment of inertia of the load in kg m7 If the reference direction of a mechanical system enters the dotted terminal the load is along the reference direction and the loading torque to the master machine is Tponst Otherwise the loading torque will be T onst See Section 2 6 1 1 for more detailed explanation on the reference direction A constant torque load is expressed as T T const The torque does not depend on the speed direction 2 6 2 2 Constant Power Load The image of a constant power load is Image MLOAD_P P aE Attributes Parameters Description Maximum Torque Maximum torque Tmax of the load in N m Base Speed Base speed npase Of the load in rpm Moment o
75. f 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 Exporting Data 165 166 Waveform Processing 8 1 8 1 1 8 Error Warning Messages and Other Simulation 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 If a logic circuit uses the propagation delays for its operation a function block in PSIM called the Time Delay block TDELAY needs to be added to represent the effect of the propagation delay To illustrate this take a two bit counter circuit as an example Qo Qi D Oiv 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
76. f Inertia Moment of inertia of the load in kg m The torque speed curve of a constant power load is shown below Motor Drive Module 57 Tmax Torque N m 0 base Speed rpm When the mechanical speed is less than the base speed pase the load torque is Ty Tmax m When the mechanical speed is above the base speed the load torque is P t iw nl where P T nax pase ANd Opase 20 Npase 60 The mechanical speed is in rad sec 2 6 2 3 Constant Speed Load The image of a constant torque load is Image MLOAD_WM Tn Attributes Parameters Description Constant Speed rpm Speed constant in rp Moment of Inertia Moment of inertia of the load in kg m7 A constant speed mechanical load defines the speed of a mechanical system and the 58 Power Circuit Components speed will remain constant as defined by the speed constant 2 6 2 4 General Type Load The image of a general type mechanical load is as follows Image MLOAD LP Attributes Parameters Description Te Constant torque term k coefficient Coefficient for the linear term ky coefficient Coefficient for the quadratic term k3 coefficient Coefficient for the cubic term Moment of Inertia Moment of inertia of the load in kg m7 A general type load is expressed as i 2 3 T sign gt Te ky On ko gt On k3 On wh
77. following figure shows a rectifier circuit in the PSIM environment E inl En me bi ia hhini mair maiis pir Midosa Hei li pikaa He 2 fell Zo alpleioi i w al z Phage Contrall d Rectifler with altege Fasdbeck FE E Hes zl i Hjejle mo a Phebe eehere he s ojala In PSIM all the elements are stored under the menu Elements The elements are divided into four groups Power for power circuit element Control for control elements Other for switch controllers sensors probes interface elements and elements that are common to both power and control and Sources for voltage and current sources Creating a Circuit The following functions are provided in PSIM for circuit creation Get To get an element from the element library click on the Elements Creating a Circuit 145 Place Rotate Wire Label Assign menu Choose the submenu and highlight the element to be selected For example to get a dc voltage source click on Element Sources and Voltage then highlight DC 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 mou
78. h different sampling rates Ci nace taal 4 Hz 2 Hz Digital Control Module 103 3 6 SimCoupler Module The SimCoupler Module is an add on module to the basic PSIM software It provides interface between PSIM and Matlab Simulink for co simulation With the SimCoupler Module part of a system can be implemented and simulated in PSIM and the rest of the system in Simulink One can therefore make full use of PSIM s capability in power simulation and Matlab Simulink s capability in control simulation in a complementary way The SimCoupler interface consists of two parts the link nodes in PSIM and the SimCoupler model block in Simulink The images are shown below Images In PSIM In SimuLink SLINK_IN SLINK_OUT Gre SimCoupler Model Block In PSIM the SLINK_IN nodes receive values from Simulink and the SLINK_OUT nodes send the values to Simulink They are all control elements and can be used in the control circuit only In Simulink the SimCoupler model block is connected to the rest of the system through input output ports 3 6 1 Set up in PSIM and Simulink The use of the SimCoupler Module is easy and straightforward As an example the following shows a permanent magnet synchronous motor PMSM drive system with the power stage implemented in PSIM and the control in Simulink 104 Control Circuit Components Pe ie bee k
79. has two input and one output The output data is stored in 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 column 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 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 59 2 1 10 78 Control Circuit Components 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 3 3 5 Trapezoidal and Square Blocks Trapezoidal waveform blocks LKUP_TZ and square waveform blocks LKUP_SQ are specific types of lookup tables the output and the input relat
80. havior in the real life is that BJT switches 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 a current Switches 15 16 Images i A NP MOSFET MOSFET_P IGBT Di Attributes Parameters Description Initial Position Current Flag Initial switch position flag For MOSFET and IGBT this flag is for the active switch not for the anti parallel diode Switch current flag For MOSFET and 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 switch controller see Section 4 5 1 The gating signal is determined by the comparator output Example Control of an npn Bipolar Junction Transistor The circuit on the left uses a gating block and the one on the right uses an on off switch controller Power Circuit Components The following shows another example of controlling the BJT switch The circuit on the left shows how a BJT switch is controlled in the real life In this case the gating voltage VB is appli
81. he 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 A SQRT SIN COS TAN ATAN EXP LOG addition subtraction multiplication division to the power of Example 2 3 2 2 2 square root function sine function cosine function tangent function inverse tangent function exponential base e Example EXP x e logarithmic function base e Example LOG x In x Screen Menu 161 162 7 5 LOGIO 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 The View Menu has the following functions 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 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 toolba Status Bar To enable disable status bar A region is selected by pressing the l
82. he 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 A small resistor of 1 UQ is used in the current probe 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 C a ac EE i A Wattmeter VAR Meter 3 phase Wattmeter 3 phase VAR Meter WwW VAR W3 VAR3 VA Power Factor Meter 3 phase VA Power Factor Meter VASE VA_PF3 124 Other Components Attributes Parameters Description Operating Frequency Operating frequency or fundamental frequency of the ac meter in Hz Cut off Frequency Cut off frequency of the low pass high pass filter in Hz 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 power factor 0 no display 1 display A low pass filter is used in the dc meter and wattmeter models to filter out high frequency components whereas a high pass filter is used in the ac meter and VAR meter models to filter out
83. he synchronization signal by 10 deg Image PATTCTRL Enable Disable Delay Mod Sync Angle Index Signal 128 Other Components 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 M2 k Gris Gnas gt Gn kn where n is the number of gating patterns m is the modulation index correspondent to Pattern 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 ip pattern if the input is smaller than or equal to m If the input exceeds m the last pattern will be selected 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 187 7366 14 7 821098 187 8211 14 7 902047 72 10303 80 79825 99 20176 107 8970 172 2634 180 252 1030 260 7982 279 2018 287 8970 352 2634 360 72 27710 80 72750 99 27251 107 7229 172 1789 180 252 2771 260 7275 279 2725 287 7229 3
84. he variables must be defined as double double t delt double in out Place your code here double Voref 10 5 Va iref iL Vo Vm errv erri 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 errv uv Ts 2 iref errv yv Va Inner Loop erri iref iL Trapezoidal Rule yi yit 4761 9 errit ui Ts 2 Vm yit0 4 erri Store old values uv 33 33 errv ui 4761 9 erri Output out 0J Vm out 1 iref Place your code here end 136 Other Components 5 Analysis Specification 5 1 Transient Analysis Parameters for the transient analysis are defined by selecting Simulation Control in the Simulate menu in PSIM as follows 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 for example only one out of 10 data points will be saved This helps to reduce the output file size Load Flag Flag for the LOAD function If the flag is 1 the previous simulation values will be loaded from a file with the ssf extension as the initial conditions Save Flag Flag for the SAVE function If the flag
85. i k A in2 VNONSQ Voltage source where v k J Vinj INONSQ Current source where i k Vini VPOWERS Voltage source where v sign v k ki Vin In VPOWERS the term sign v is 1 if v is positive and it is 1 if v is negative Note that these nonlinear sources can be used in the power circuit only 122 Other Components 4 3 Images VNONM VNOND VNONSQ VPOWERS O a oO a oO O x Vim amp Vin2 Pa p INONM INOND INONSQ o a o g O K Vint Vin2 go Attributes For all the sources except VPOWERS Parameter Description Gain Gain k of the source For VPOWERS Parameters Description Gain Gain k of the source Coefficient k Coefficient k Coefficient ky Coefficient ky For VNOND and INOND Input 1 is on the side of the division sign Voltage Current Sensors Voltage current sensors measure the voltages currents of the power circuit and send them to the control circuit The current sensor has an internal resistance of 1 uQ Images VSEN ISEN pe aoa Voltage Current Sensors 123 Attribute Parameter Description Gain Gain of the sensor 4 4 Probes and Meters Probes and meters are used to measure voltages currents power or other quantities A voltage probe VP measures a node voltage with respect to ground A two terminal voltage probe VP2 measures the voltage between two nodes A current probe IP measures t
86. ier Transform analysis Time Switch from the frequency spectrum display to time domain display Set Text Fonts Change the text font type and size Set Curves Change the display of curves Set Background Set the screen background to be either Black default or White Grid Enable or disable the grid display Option Menu 163 Color 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 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 x Curves m Style Dot Appl acres aw C Rectangle C Triangle OK OK c C ia Cancel M Connect Once Color is de selected the display becomes black and white
87. ifference 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 Other Elements 31 32 2 5 2 model is accessible 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 PI regulators of both loops are implemented using op amp dv dt Block A dv dt block has the same function as the differentiator in the control circuit except that it is used in the power circuit The output of the dv dt block is equal to the derivative of the input voltage versus time It is calculated as V V t V t At S At where V t and V t At are the input values at the current and previous time step and At is the simulation time step Image DV_DT Power Circuit Components 2 6 2 6 1 Electric Machines Motor Drive Module The Motor Drive Mo
88. ions for NPN_1 are Cut off region be lt Vn Ip 9 I 0 Linear region be Vi Ip Bt Vee gt Vee sat Saturation region Vpe Vp Ie lt B Ibs Vee Vee sat where V4 is the base emitter voltage eis the collector emitter voltage and is the collector 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 connected 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 Power Circuit Components 2 2 5 Examples Circuits Using the Linear BUT Switch 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 simple test circuit NPN_1 vin ral So Ez E i l i Switch Gating Block A switch gating block defines the gating pattern of a switch or a switch module The gating pattern can be specified either directly with the gatingblock GATING or in a text file with the gating block GATING_1 Note that a switch gating block can be connected to the gate node of a switch ONLY It can not be connected to any other eleme
89. ionship is either a trapezoidal or a square waveform Images LKUP_TZ LKUP_SQ 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 Other Function Blocks 79 Attribute Parameter Description Pulse Width deg Pulse width in half cycle in deg The waveforms of these two blocks are shown below Note that the input v is in deg and can be in the range of 360 to 360 Both waveforms are half wave and quarter wave symmetrical Yo LKUP_TZ Yo LKUP_SQ Vk 1 180 Vin 6 Vin 0 p 0 l l p o o o 360 180 360 Vpk p si aai 0 3 3 6 Sampling Hold Block A sampling hold block 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 Control The difference between this block and the zero order hold block ZOH in Digital Control Module is that this block is treated as a continuous element and 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 sa
90. irab bemi lees Cee eee m ann Daa erg opr Ae oag E a at a P P 5 Se ee Power T wg in PSIM File pmsm_psim sch Control in SimuLink File pmsm_simulink md The following are the steps to set up SimCoupler for PSIM Matlab Simulink co simulation for the example above In PSIM After the rest of the power circuit is created connect three SLINK_OUT nodes to the low pass filters of Phase A B and C currents and rename them as Ja Tb and Ic and connect one SLINK_OUT node to the speed sensor output and rename it as Wrpm Connect three SLINK_IN nodes to the positive inputs of the comparators and rename them as Va Vb and Ve Go to the Simulate menu and select Arrange SLINK Nodes A dialog window will appear Arrange the order of the SLINK_IN nodes and SLINK_OUT nodes to be the same as how the input output ports would appear in the SimCoupler model block in Simulink the order of the ports is from the top to the bottom In this example the order will be Va Vb and Vc for SimCoupler Module 105 the SLINK_IN nodes and Ia Ib Ic and Wrpm for the SLINK_OUT nodes Go to the Simulate menu and select Generate Netlist File A netlist file with the cct extension will be generated and saved under the same directory as the schematic file In this example we assume that the netlist is located in the directory
91. 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 along simulation in several 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 circuit topology however must 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 or waveforms and intervals of transients It is recommended that the time step should be at least one magnitude smaller than the smallest of the above In Version 6 0 an interpolation technique is implemented which will calculate the exact switching instants With this technique the error due to the misalignment of switching Transient Analysis 137 instants and discrete simulation points is significantly reduced It is possible to simulate with a large time step while still maintaining accurate results The allowable maximum time step is automatically calculated in PSIM It is compared with th
92. l diode in V for VSI3 and VSI3_1 only Init Position_i Initial position for Switch i Current Flag_i Current flag for Switch i Similar to single phase modules only the gatings for Switch 1 need to be specified for 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 Switches 23 24 2 3 controller Similarly voltage current source inverters can be controlled by a PWM lookup table controlle PATTCTRL The following examples illustrate the control of three phase thyristor and voltage source inverter modules Example Control of Three Phase Thyristor and VSI Modules ey The thyristor circuit on the left uses an alpha controller For a three phase circuit the zero crossing of the voltage V 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 synchronization and the
93. lation time step will be equal to the sampling period and only the results at 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 iW ve Lal ZOH __ 5 00 Win Vo Tn 0 00 5 00 10 00 15 00 20 00 grei Time ms 3 5 2 z Domain Transfer Function Block A z domain transfer function block is expressed in polynomial form as N N 1 bocz b b z b H z 0 1s N 1 t9ON N 1 ay Z a Z dy_1 Z dy If dg 1 the expression Y z H z U z can be expressed in difference equation as Digital Control Module 91 y n by u n b u n 1 by u n N a y n 1 a y n 2 ay y n N Image TFCTN_D H z po Attributes Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the nominator from bg to by Coeff do ay Coefficients of the nominator from dg to ay Sampling Frequency Sampling frequency in Hz Example The following is a second order transfer function 400 e H z St Anis oy ei TG z 1200 z 400 e Assuming a sampling frequency of 3 kHz the specification will be Order N 2 Coeff bo by 0 0 400 e3 Coeff do ay 1 1200 400 e3 Sampling Frequency 3000 3 5 2 1 Integrator There are
94. le message doc for more details This message occurs when the software fails to detect the steady state at the ac sweep output after 60 cycles To address this problem one may increase damping in the circuit by including parasitic resistances for example or adjust the excitation source amplitude or reduce simulation time step The file message doc gives the information on the frequency at which this occurs and the relative error The relative error will indicate how far the data point is from reaching the steady state Example Impedance of Shunt Filters The circuit below consists of two shunt filters tuned at the 5th and 7th harmonics the fundamental frequency is 60 Hz By injecting the excitation source as the current and measuring the voltage we obtain the impedance characteristics of the filters The ac AC Analysis 139 140 analysis waveform on the right clearly shows two troughs at 300 Hz and 420 Hz 30 00 20 00 AC Sweep 48u o 00 10 00 ampiZ Veweep 20 00 phase 2m 100 00 50 00 o 00 50 00 Sth 7th 100 00 100 00 200 00 400 00 600 00800 00000 00 Frequency Hz f fundamental 60 Hs Example Open Loop Response of a Buck Converter The circuit on the left is an one quadrant buck converter An excitation source is injected to the modulation signal and the output voltage is measured The result of the ac analysis on the right shows the open loop
95. 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 that the delay angle alpha of the thyristor bridge in deg can be directly controlled 2 2 7 Three Phase Switch Modules The following figure shows three phase switch modules and the internal circuit connections The three phase voltage source inverter module VSI3 consists of MOSFET type switches and the module VSI3_1 consists of IGBT type switches The current source inverter module CSI3 consists of GTO type switches or equivalently IGBT in series with diodes Images BDIODE3 BTHY3 DC A 2 F DC 1 3 5 DC 32 Bo ran I B rh C cH ESA DC 4 6A Z c DC BTHY3H BTHY6H 1 Ct A X Al J 2 B X 3 foe e B Tok wey N c Ct A6 o l c 22 Power Circuit Components VSI3 VSI3_1 VSB DC DC o 1 3 5 ooe a 2a VSI Mp A aB DC mc rae 4 6 2 ct Jas Jia Jax DC CSI3 DC oH o A CSI B DC 4 La C la Attributes Parameters Description On Resistance On resistance of the MOSFET switch during the on state in Ohm for VSI3 only Saturation Voltage Conduction voltage drop of the IGBT switch in V for VSI3_1 only Voltage Drop Conduction voltage drop of the switch in V for CSI3 only Diode Voltage Drop Conduction voltage drop of the anti paralle
96. link In both circuits the PSIM simulation time step is 2 us Complete circuit in PSIM Power circuit in PSIM Time step 2us There are different ways of setting up Simulink to perform co simulation The recommend approach is to set the Solve Type to Fixed step and define the Fixed step size to be the same or close to PSIM s time step The figure below shows this option SimCoupler Module 107 Control in Simulink Solver Type Fixed step Time step 20 us Constant Gain Integrator SiMcoupler It is recommended that Simulink use the same time step as PSIM although we have found that even if the Simulink time step is slightly larger than PSIM time step satisfactory results are obtained In this case for example the time step is set to 20 us 10 times larger than the PSIM time step If the Simulink Solver type is instead set to Variable step the simulation results will not be correct The figure below shows this option Control in Simulink Solver Type Variable step Scope Constant Gain Integrator Scope2 SiMcoupler When the Simulink Solver type is set to Variable step in order to obtain correct results a zero order hold must be placed at the input of the SimCoupler model block Moreover the zero order hold sample time must be the same or close to PSIM time step The figure below shows the configuration 108 Control Circuit Components
97. litude 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 To facilitate the setup 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 Sources 113 Image VSIN3 TI 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 4 2 4 Square Wave Source A square wave voltage source VSQU or current source ISQU is defined by 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 Images VSQU ISQU o o 114 Other Components 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 Phase Delay Phase delay 0 of the waveform in deg The specifications of a square wave source are illustrated as follows When the phase delay 9 is positive the waveform is shifted to the right along the time axis 4 2 5 Triangular Source A triangular wave voltage source
98. lows C PSIM Schematic I Circuit Schematic Editor input sch PSIM Simulator PSIM Simulator input cct output txt SIMVIEW Waveform Processor input txt Chapter 1 of this manual describes the circuit structure software hardware requirement and parameter specification format Chapter 2 through 4 describe the power and control circuit components Chapter 5 describes the specifications of the transient analysis and 1 PSIM and SIMVIEW are copyright by Powersim Inc 2001 2003 2 Matlab and Simulink are registered trademarks of the MathWorks Inc Introduction 1 2 1 2 1 3 1 4 ac analysis The use of the PSIM schematic program and SIMVIEW is discussed in Chapter 6 and 7 Finally error warning messages are discussed in Chapter 8 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 C Power Circuit gt Switch Sensors Controllers a Control Circuit gt The power circuit consists of switching devices RLC branches 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 components such as multipliers and dividers are used in the control circuit Sensors measure power circuit voltages and cur
99. ltage source when the power circuit is solved With this block Other Components some of the functions that can only be generated in the control circuit can be passed to the power circuit Image CTOP a Example A Constant Power Load Model In a constant power dc load the voltage V current J and power P have the relationship as P V I Given the voltage and the power the current can be calculated as J 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 AMA e A HERE Or eel eee ae fel Coe Example The following circuit illustrates 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 Control Circuit Power Circuit Function Blocks 131 132 4 6 2 ABC DQO Transformation Block Function blocks ABC2DQO and DQO2ABC perform the abc dgo transformation They convert three voltage quantities from one coordinate to another These blocks can be
100. me step are used to calculate the output and are updated in each iteration But for variable gain controlled sources it is assumed that the change of v 9 is small from one time step to the next and the value of Vin at the previous time step is used at the current time step This assumption is valid as long as vin changes at a much slower rate as compared to v and the time step is small as compared to the change o v i 2 The variable gain controlled sources can be used in circuits which may otherwise have convergence problem with nonlinear sources VNONM and INONM Example The circuits below illustrates the use of current controlled voltage sources VCCVS and VCCVS_1 In the circuit on the left the voltage source VCCVS is controlled by the inductor current Sources 121 i With a gain of 1 the waveform of the voltage v is equal 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 vr Vis 4 2 11 Nonlinear Voltage Controlled Sources The output of a nonlinear voltage controlled source is either the multiplication division or square root of the inputs They are defined as VNONM Voltage source where v k Vini Vino INONM Current source where i k Vini Vino VNOND Voltage source where v k ot ind INOND Current source where
101. mechanical rotor angle They are all control nodes and should be connected to the control circuit The equation of the switched reluctance machine for one phase is d L i dt v 1 R 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 8 as shown in the following figure L Rising Flat Top Falling Flat Bottom gt ja a gt e we Lmax V a Lmin p big o 9 The rotor angle is defined such that when the stator and the rotor teeth are completely out of alignment O 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 k Lmax L 0 min we can express the inductance L as a function of the rotor angle 9 L Lypin k 8 rising stage Control signal cj 1 L Lyyax flat top stage Control signal c7 1 L Lax k 9 falling stage Control signal c3 1 Motor Drive Module 55 56 2 6 2 L Lain flat bottom stage Control signal c4 1 The selection of the operating state is done through control signals 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 L k O 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 d
102. minals 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 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 and should be connected to the control circuit The equations of the 3 phase brushless dc machine are Power Circuit Components J v R i L M Z E ii a v Ro igt L M 8 E where va vp and v are the phase voltages ig ip and i are the phase currents R L and M are the stator phase resistance self inductance and mutual inductance and E Ep and EF 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 electrical angle 0 that is The coefficients ky g ke p and ke 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 Kea A lq Kok o 180 o gt 0 360 Kpk a where Kpg is the peak trapezoidal value in V rad sec which is defined as V x krpm 1 Kok 2 1000 7 60 a
103. mpled The control signal is a square wave voltage source with an amplitude of 1 80 Control Circuit Components vin Vo 100 00 oO 50 00 3 50 00 100 00 120 1 00 F i i H i oa fhe dt db pal dd Ppp te pd bp Ds 0 00 5 00 10 00 1500 Time ms 3 3 7 Round Off Block The image of a round off block is shown below Image ROUNDOFF i Attributes Parameters Description No of Digits No of digits N after the decimal point Truncation Flag Truncation flag 1 truncation 0 round off Let the input of the round off block be V The input is first scaled based on the following expression V in new _ in If the truncation flag is 1 the output will be equal to Vin new truncated and then divided by 10 Otherwise the output will be equal to Vin new rounded off to the nearest integer and then divided by 10 Examples If Vin 34 5678 N 0 truncation flag 0 then we have the output V 35 Other Function Blocks 81 82 3 3 8 Similarly if V 34 5678 N 0 truncation flag 1 the output V 34 If Vin 34 5678 N 1 truncation flag 1 the output V 34 5 If Vin 34 5678 N 1 truncation flag 1 the output V 30 Time Delay Block A time delay block delays the input waveform by a specified amount
104. n min in min V V max V3 min in max Vin min V Ox V The number of bits determines the output resolution AV which is defined as V Vi min AV o max 2 1 The output V will be equal to the truncated value of V based on the resolution AV Example IfN 4 Vin min 0 Vin max 10 Vo min 5 Vo min 5 and Vin 3 2 then Vox 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 66665 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 Attributes Parameters Description Buffer Length The length of the buffer Sampling Frequency Sampling frequency in Hz A circular buffer stores data in a buffer When the pointer reaches the end of the buffer Digital Control Module 99 100 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 Example If a circular buffer has a buffer length of 4 and a sampling frequency of 10 Hz we have the buffer storage at different time as follows Value at Memory Location Time Input 1 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
105. near It can operates in either cut off linear or saturation region Switches in switchmode include the following Diode DIODE and DIAC DIAC Thyristor THY and TRIAC TRIAC 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 Switches 11 12 2 2 1 Bi directional switch SS WI The names inside the bracket are the netlist names used in PSIM Switch models in PSIM 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 1M Q 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 DIAC and Zener Diode The conduction of a diode is determined by circuit operating conditions A diode is turned on when it is positively biased and is turned off when the current drops to zero Image DIODE bo eg Attributes Parameters Description Diode Voltage Drop Diode conduction voltage drop in V Initial Position Flag for the initial diode position If the flag is 0 the diode is open If it is 1 the diode is closed Current Flag Flag for the diode c
106. ngle amp is determined automatically in PSIM Given the values of Vpk krpm and Vims krpm the The developed torque of the machine is Tom Ea i Ep ip i 0 The mechanical equations are Motor Drive Module 45 46 dOn J f dt em B On Tioad d P dt z Om where B is a coefficient Tj q 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 Tech as below J mech B 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 carrying a current supplied by an external source It is common to detect the emf using a signal 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 connection 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 b
107. nts Image GATING GATING_1 UL Attributes Parameters Description Frequency Operating frequency of the switch or switch module No of Points Switching Points File for Gating Table connected to the gating block in Hz Number of switching points for GATING only Switching points in deg If the frequency is zero the switching points is in second forGATING only Name of the file that stores the gating table for GATING_1 only Switches 19 20 The number of switching points is defined as the total number of switching actions in one period Each turn on or 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 the following format n Gl 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 co ae a a 0 180 360 deg The specification 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
108. o Section 2 6 1 1 for more details on the reference direction 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 other side alone the positive speed direction To illustrate this the following mechanical system is taken as an example Power Circuit Components 7 N Load 1 Load 2 IM Sensor 1 Sensor 2 Tem Ty Tr2 J J 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 J J sa Tem Tr Tr2 The equivalent electrical circuit of the equation is shown below Sensor 1 Sensor 2 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 multiplication of the current to the voltage which is the same as the torque times the mechanical s
109. om voltage source VRAND or current source IRAND is determined randomly at each simulation time step A random source is defined as oO Vo Vani n Voges where V is the peak to peak amplitude of the source n is a random number in the range of 0 to 1 and Voy is the de offset Images VRAND IRAND o t Attributes Parameters Description Peak Peak Amplitude Peak to peak amplitude of the source DC Offset DC offset Math Function Source A math function source allows one to define the source in a mathematical expression Image VMATH Sources 119 120 Attributes Parameters Description Expression The mathematical expression of the source Tstart Start time of the source In the expression T or t represents time For example to implement a sinusoidal source the expression will be sin 2 3 14159 60 t 2 09 4 2 10 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 The controlling current of a current controlled source VCCVS ICCCS must come from a RLC branch Also for a controlled current source
110. on 2 6 1 1 for more explanation on the master slave flag Let s assume that a drive system consists of a motor with a developed torque of T and a moment of inertia of J and a mechanical load with a load torque of T q and a moment of inertia of J2 The equation that describes the mechanical system is dO J Ja g dt Lon idee where is the shaft mechanical speed In PSIM this equation is modelled by an Power Circuit Components equivalent circuit as shown below Om speed node T e Tload In this circuit the two current sources have the values of T and T q and the capacitors have the values of J and J gt The node to ground voltage speed node voltage represents the mechanical speed This is analogous to C dV dt i for a capacitor where C J J5 V Om and i Tom Tload In PSIM mechanical equivalent circuits for motors and mechanical loads all use the capacitor based circuit model The mechanical electrical interface block provides 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 built in motors or mechanical loads with user defined load or motor mo
111. or Switch Gating Block Alpha A Controller 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 5 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 except pnp bipolar junction transistor BJT and p channel MOSFET are turned on when the gating is high when 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 BJT and p channel MOSFET switches are turned on when the gating is low and switches are negatively biased collector emitter or drain source voltage is negative A GTO switch is a symmetrical device with both forward blocking and reverse blocking capabilities An IGBT or MOSFET switch consist of an active switch with an anti parallel diode A bi directional switch SSWI conducts currents in both directions It is on when the gating is high and is off when the gating is low regardless of the voltage bias conditions Note that a limitation of the BJT switch models in PSIM in contrary to the device be
112. ovided as built in modules in PSIM The transfer function of these filters are listed below For a second order low pass filter 2 C 0 CU ia eo s 260 5 0 For a second order high pass filter 2 S G akz a s 260 S 0 For a second order band pass filter Transfer Function Blocks 69 G s k B s 2 2 s B s For a second order band stop filter Done 59 s 0 G s k gt s B s 0 Images FILTER_LP2 FILTER_HP2 FILTER_BP2 FILTER_BS2 Attributes Parameters Description Gain Gain k Damping Ratio Damping ratio Cut off Frequency Cut off frequency f f for low pass and high pass filters in Hz 0 Center Frequency Center frequency fo f T for band pass and band stop filter in Hz Passing Band Frequency width f f B of the passing stopping Stopping Band 27 band for band pass band stop filters in Hz 3 2 Computational Function Blocks 3 2 1 Summer 70 Control Circuit Components 3 2 2 The input of a one input summer SIM1 or two input summer SUM2 SUM2P can be either a scalar or a vector The input of a three input summer SUM3 can only be a scalar Images SUM1 SUM2 SUM2P SUM3 of Input 1 3 Input 1 Input 1 Input 2 Input 2 Input 2 Input 3 Attribute Parameter Description Gain_i Gain k for the i input For the three input summer SUM3 the input with a dot is the first input
113. peed represents the mechanical power If the power is positive it is transferred in the direction of the speed y Motor Drive Module 63 64 Power Circuit Components 3 Control Circuit Components 3 1 Transfer Function Blocks A transfer function block is expressed in polynomial form as Beg tc B s B s B G s k ot AnS Ay 5 A S AgQ Two types of transfer function blocks are provided one with zero initial values TFCTN and the other with initial values as input parameters TFCTN1 Images TFCTN TFCTN1 m Attributes Parameters Description Order n Order n of the transfer function Gain Gain k of the transfer function Coeff B Bo Coefficients of the nominator from B to Bo Coeff Ay Ag Coefficients of the denominator from A to Ao Initial Values x x4 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 Transfer Function Blocks 65 Ix looo a4 ikl B A B A ge 100 Mize ol Bi Ay B A g 0 10 04 4 a tE Ba Ar B A x 000 44 _ A x Boga EZA The output equation in the time domain can be expressed as The initial values of the state variables x to x can be specified at the input in the element TFCTN1 Example Th
114. period The input output relationship can be expressed in difference equation as y n u n u n 1 Image D_D o o Attribute Parameter Description Sampling Frequency Sampling frequency in Hz 3 5 2 3 Digital Filters Two types of digital filters are provided general digital filter FILTER_D FILTER_D1 and finite impulse response FIR filter FILTER_FIR FILTER_FIR1 For blocks FILTER_D1 and FILTER_FIR1 filter coefficients are specified through a file 94 Control Circuit Components Images FILTER_D FILTER_D1 FILTER_FIR FILTER_FIR1 a Attributes For Filter_D and FILTER_FIR Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the nominator from bg to by Coeff do ay Coefficients of the nominator from ag to ay Sampling Frequency Sampling frequency in Hz For Filter_D1 and HLTER_FIR1 Parameters Description File for Coefficients Name of the file storing the filter coefficients Sampling Frequency Sampling frequency in Hz The transfer function of the general digital filter is expressed in polynomial form as N N aes eee N 1 N 1 by t biz by_1 2 Age ge Se a Nee a EN agta Z tay _ 1 Z ay Z H 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 a y n 1 a
115. quivalent 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 To disable an element or part of a circuit When the element or the circuit is disabled it will be grayed out and will be treated as non existent as far as the simulation is concerned This function is useful if an element or circuit needs to be excluded but not deleted from the circuit To enable a previously disabled element or circuit 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 Load Subcircuit Edit Subcircuit Set Size Place Port Display Port Edit Default Variable List Edit Image Display Subcircuit To create a new subcircuit To load an existing subcircuit The subcircuit will appear on the screen as a block To edit the size and file name of the subcircuit To set the size of the subcircuit To place the connection port between the main circuit and the subcircuit To display the connection port of the subcircuit To edit the default vari
116. r Solver Options set the Type to Fixed step Set Fixed step size to be the same as or close to PSIM s time step In this case the time step is set to 0 lms More discussion on the selection of the solver option and the time step is given in the next section The setup is now complete Go to Simulink and start the simulation The SimCoupler Module supports Matlab Simulink Release 11 12 0 12 1 and 13 Please note that the SimCoupler file SimCoupler dll is created in Matlab Simulink Release 11 It is found that this file also works with higher releases of Matlab Simulink We also compiled and provided this file for other Matlab Simulink releases They are stored in SimCoupler_Rxx dll where xx is the release version number For example to 106 Control Circuit Components 3 6 2 use SimCoupler dll compiled for Release 13 first delete SimCoupler dll then copy SimCoupler_R13 dl to another file and rename that file to SimCoupler dll Solver Type and Time Step Selection in Simulink There are certain restrictions on the selection of the solver type and the time step in Simulink when performing the co simulation To illustrate this we use the following one quadrant chopper circuit with average current mode control as an example The circuit on the left is all implemented and simulated in PSIM The circuit on the right has the power stage implemented in PSIM and the control implemented in Simu
117. rates the use of the resettable integrator The input of the integrator is a dc quantity The control input of the integrator is a pulse waveform which resets the integrator output at the end of each cycle The reset flag is set to 0 Transfer Function Blocks 67 Yd Vo 15 00 10 00 Vetrl 0 00 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 A differentiator is calculated as follows Vint V t At T v4 t x where Af is the simulation time step v f and v t Af are the input values at the present and the previous time step Image DIFF o 6 Attribute Parameter 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 at the input of the differentiator 68 Control Circuit Components 3 1 4 Proportional Integral Controller The transfer function of a proportional integral PI controller is defined as 1l sT G s k T Image PI 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 Built in Filter Blocks Four second order filters are pr
118. reluctance machine with 6 stator teeth and 4 rotor teeth The images and parameters are shown as follows Image SRM3 at om S Switched b 4 aft Node eal zy Reluctance Looe c o Motor 6 4 c H JILL LILL JILL J C1C2 3C4 Cp Cg C OO Phase a Phase b Phase c Attributes Parameters Description Resistance Stator phase resistance R in Ohm Inductance Lj Inductance Lax 0 Moment of Inertia Torque Flag Master Slave Flag Minimum phase inductance in H Maximum phase inductance in H Duration of the interval where the inductance increases in deg Moment of inertia J of the machine in kg m Output flag for internal torque T When the flag is set to 1 the output of the internal torque is requested Flag for the master slave mode 1 master 0 slave The master slave flag defines the mode of operation for the machine See Section 2 6 1 1 for detailed explanation on how to set the master slave flag 54 Power Circuit Components 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 C2 c3 and c4 are the control signals for Phase a b and c respectively The control signal value is a logic value of either 1 high or 0 low Node is the
119. rents and pass the values to the control circuit Gating signals are then generated from the control circuit and sent back to the power circuit through switch controllers to control switches Software Hardware Requiremen PSIM runs in Microsoft Windows environment 98 NT 2000 XP on personal computers The minimum RAM memory requirement is 32 MB 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 shown in the table below General Information Files Description psim dll PSIM simulator psim exe PSIM circuit schematic editor simview exe Waveform processor SIMVIEW psim lib psimimage lib PSIM libraries hip Help files sch Sample schematic circuit files File extensions used in PSIM are sch PSIM schematic file binary cct PSIM netlist file text txt PSIM simulation output file text fra PSIM ac analysis output file text SMV SIMVIEW waveform file binary 1 5 Simulating a Circuit To simulate the sample one quadrant chopper circuit chop sch Start PSIM Choose Open from the File menu to load the file chop sch From the Simulate menu choose Run PSIM to start the 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 op
120. response of the output voltage versus the modulation signal 0 20 0 40 0 60 80 00 2 00 4 00 6 08 00 00 20 0080 00 Frequency KHz Example Loop Transfer Function of a Closed Loop Circuit The ac analysis can be used to find out the loop response of a closed loop system The circuit below shows a buck converter with average current mode control By injecting the excitation signal into the current feedback path and using the node to node ac sweep probe ACSWEEP_OUT2 we can obtain the loop transfer function directly With the loop transfer function one can determine the bandwidth of the control loop and Analysis Specification the phase margin Please note that the ac sweep probe should be connected such that the dotted side is connected to the node after the excitation source injection Or p 50 00 5 400 30 00 20 00 10 00 0 00 10 00 80 00 90 00 100 00 110 00 120 00 130 00 140 00 po paid 0 10 O20 040 AD A0W00 2 00 4 006 0800 00 20 00 Frequency KHz amp Ti iret Example Loop Transfer Function of a Switchmode Power Supply The loop transfer function of a switchmode power supply controlled by a PWM IC can also be determined in a similar way The figure below shows a buck converter controlled by Unitrode UC3842 The excitation source can be inserted in the feedback path before the op amp output AC Analysis 141 UC3842
121. rm display One should make sure that the print step is not too big To display all the data points set the print step to 1 Debugging 171 172 Error Warning Messages and Other Simulation Issues
122. rrent reference for monitoring purpose J SYN Sqn f amp x qe gt fa 30k 20H 30k gt 4 20H 30k iL Oki DLL gt LEP 2 ms_user4 dll 2 aoe Vo Part of the source code which is in the file pfc_vi_dll c is shown below Both the inner current loop and the outer voltage loop use a PI controller Trapezoidal rule is used to discretize the controllers Discretization using Backward Euler is also implemented but the codes are commented out Function Blocks 135 This sample program implement the control of the circuit pfc vi dll sch in a C routine Input in 0 Vin in 1 iL in 2 Vo Output Vm out 0 iref out 1 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 simuser t delt in out are not allowed include lt math h gt __declspec dilexport void simuser t delt in out Note that all t
123. rtiary 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 iy primary secondary tertiary winding All the resistances and inductances are referred to the first primary winding side Example A single phase two winding transformer has a winding resistance of 0 002 Ohm and leakage 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 Power Circuit Components is Np Ns 220 440 In PSIM the transformer will be TF_1F with the specifications as Rp primary 2m Rs secondary 2m Lp primary lm Ls secondary lm Lm magnetizing 100m Np primary 220 Ns secondary 440 2 4 3 Three Phase Transformers PSIM provides two winding and three winding transformer modules as shown below They all have 3 leg cores 3 phase transformer windings unconnected TF_3F 3 phase Y Y and Y A connected transformer TF_3YY TF_3YD 3 phase 3 winding transformer windings unconnected TF_3F_3W 3 phase 3 winding Y Y A and Y A A connected transformer TF_3YYD TF_3YDD 3 phase 4 winding transformer windings unconnected TF_3F_4W Images TF_3YY E 5 TF_3YD w ma w Q Qa N n N TF_3YYD
124. rushless 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 Moto The figure below shows an open 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 Power Circuit Components nes cx k Brushless DC Moto abe DCM VDC 300 Cee o aes La Ra j m m 1 K 1 Tem_BDCM1 lF ao 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
125. s The image and parameters of the machine are shown as follows Image SYNM3 SYNM3_I a SM b Shaft Node ea n field ma field Attributes Parameters Description R stator Stator winding resistance in Ohm L stator Stator leakage inductance in H Lam d axis mag ind d axis magnetizing inductance in Lgm g axis mag ind q axis magnetizing inductance in H R field Field winding resistance in Ohm Lg field leakage ind Field winding leakage inductance in H 48 Power Circuit Components Parameters Description Ray damping cage Rotor damping cage d axis resistance in Ohm Lari damping cage Rotor damping cage d axis leakage inductance in R damping cage Rotor damping cage q axis resistance in Ohm Lr damping cage Rotor damping cage q axis leakage inductance in Ns Nf effective Stator field winding effective turns ratio Number of Poles P Number of Poles P Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal developed torque Tom Master Slave Flag Flag for the master slave mode 1 master 0 slave All the parameters are referred to the stator side The equations of the synchronous machine can be expressed as follows M 40 where Pavsverro d E fiat te ipar ia R diag R R R R Ra R A ha Ap Ao Ay Aar val and A L Z The inductance matrix is defined
126. s updated instantaneously Image Enable Disable 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 Switch Controllers 127 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 conducting 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 ne 0101 i Z KRL 0 00 10 00 20 00 30 00 40 00 50 00 ime ms 4 5 3 PWM Lookup Table Controller There are four input signals in a PWM lookup table controller the modulation 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 synchronization 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 t
127. s values of the line to line voltage Number of poles P Moment of inertia J of the machine in kg m Mechanical time constant Tmech Motor Drive Module 43 44 Parameters Description theta_0 deg theta_advance deg Conduction Pulse Width Torque Flag Master Slave Flag 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 rotation speed Position sensor advance angle Oj 4 ance in electrical deg 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 6 1 1 for detailed explanation The node assignments of the image are Nodes a b and c are the stator winding ter
128. se 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 ar connected It is equivalent as though they were connected by wire Using labels will reduce the cross wiring and improve the schematic layout The text of a label can be moved To select the text left click on the label then press the Tab key To assign the parameters of an element double click on the element A dialog box will appear Specify the values and hit the lt Return gt key or click on OK 6 2 Editing a Circuit The following functions are provided in the Edit menu and View menu for circuit editing Select Copy 146 Circuit Schematic Design 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 6 3 Delete Move Text Disable Enable Zoom Escape Subcircuit 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 e
129. stributed linearly in LOG10 scale Flag 1 Points are distributed linearly in linear scale Source Name Name of the excitation source Start Amplitude Excitation source amplitude at the start frequency End Amplitude Excitation source amplitude at the end frequency Freq for extra Points Frequencies of additional data points If the frequency domain characteristics change rapidly at a certain frequency range one can add extra points in this region to obtain better data resolution The principle of the ac analysis is that a small ac excitation signal is injected into the system as the perturbation and the signal at the same frequency is extracted at the output To obtain accurate ac analysis results the excitation source amplitude must be set properly The amplitude must be small enough so that the perturbation stays in the linear region On the other hand the excitation source amplitude must be large enough so that the output signal is not affected by numerical errors In general a physical system has low attenuation in the low frequency range and high attenuation in the high frequency range A good selection of the excitation source amplitude would be to have a relatively small amplitude at the low frequency and a relatively large amplitude at the high frequency Sometimes after ac analysis is complete a warning message is displayed as follows Warning The program did not reach the steady state after 60 cycles See Fi
130. tep delay between the power and the control circuit solutions 8 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 168 Error Warning Messages and Other Simulation Issues 8 2 The length of the data selected for FFT should be the multiple integer of the fundamental 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 Error Warning Messages The error and warning messages are listed in the following W 1 E 2 E 3 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 simulator 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 PSIM When drawing a wire between two nodes make sure that the wire is connected to the terminal of the element Error message No of an el
131. tes at the rising edge of the set reset input The truth table of an edge triggered flip flop is S R Q Qn 0 0 no change 0 T 0 1 T 0 1 0 T T not used A level triggered flip flop on the other hand changes the states based on the input 86 Control Circuit Components level The truth table of a level triggered set reset flip flop is S R Q Qn 0 0 no change 0 1 0 1 1 0 1 0 1 1 not used Image SRFF 3 4 3 J K Flip Flop A J K flip flop is positive edge triggered The truth table is J K D Q Qn 0 0 T no change 0 1 T 0 1 1 0 T 1 0 1 1 T Toggle Image JKFF oJ Die a fon 3 4 4 D Flip Flop Logic Components 87 A D flip flop is positive edge triggered The truth table is D Clock Q Qn 0 T 0 1 1 T 1 0 Image D_FF 3 4 5 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 Images MONO MONOC yf ole If oO o tk gie o g Attribute Parameter Description Pulse Width
132. the lower two nodes are 1 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 Subcircuit 149 6 3 3 6 3 4 39 66 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 PSIM as shown below Port x Port Name in OOO int f YY YL utd o alt wiih lt gt or u ut o in amp OO The creation of the subcircuit is now complete Save the subcircuit and go back to the main circuit 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 circles Select the subcircuit block and select Show Subcircuit Port in the Subcircuit menu to display the port names as defined inside the subcircuit Connect the wires to the connection points accordingly Other Features of the Subcircuit This section describes other features of the subcircuit through an example 150 Circuit Schematic Design
133. tial Value i Lower Limit of i Upper Limit of i Expression v f i for NONV and v f i x for NONV_1 The derivative of the voltage v versus current i i e df i di The initial value of the current i The lower limit of the current i The upper limit of the current i For conductance type elements Parameters Description Expression f v or S v x Expression df dv Initial Value vo Lower Limit of v Upper Limit of v Expression i f v for NONI and i f v x for NONI_1 The derivative of the current i versus voltage v i e df v dv The initial value of the voltage v The lower limit of the voltage v The upper limit of the voltage v A good initial value and lower upper limits will help the convergence of the solution Power Circuit Components 2 2 Example Nonlinear Diode 1e 14 EXP 40 v 1 40e 14 EXP 40 v The nonlinear element NONI in the circuit above models a nonlinear diode The diode current is expressed as a function of the voltage as i 10 14 e a0 i In PSIM the specifications of the nonlinear element will be Expression fv le 14 EXP 40 v 1 Expression df dv 40e 14 EXP 40 v InitialValue vo 0 Lower Limit of v le3 Upper Limit of v 1 Switches There are two basic types of switches in PSIM One is switchmode It operates either in the cut off region off state or saturation region on state The other is li
134. tion Auto run SIMVIEW is not selected in the Options menu from the Simulate menu choose Run SIMVIEW to start SIMVIEW If the option Auto run SIMVIEW is selected SIMVIEW will be launched automatically In SIMVIEW select curves for display 1 6 Component Parameter Specification and Format The parameter dialog window of each component in PSIM has three tabs Parameters Other Info and Color as shown below Simulating a Circuit Pamasa Pawnee Ca bh Lote The parameters in the Parameters tab are used in the simulation The information in the Other Info tab on the other hand is not used in the simulation It is for reporting purposes only and will appear in the parts list in View Element List in PSIM Information such as device rating manufacturer and part number can be stored under the Other Info tab The component color can be set in the Color tab Parameters under the Parameters tab can be a numerical value or a mathematical expression A resistance for example can be specified in one of the following ways 12 5 12 5k 12 50hm 12 5kOhm 25 2 Oh 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 1 or in a main circuit if this resistor is in a subcircuit see Section 6 3 4 1 Power of ten suffix letters are allowed in PSIM The following suffix letters are supported G 10 M 10 kor K 103 m 10 u 10 n 10 p 10 12 4
135. to isolate and solve the problem Run the time domain simulation with the excitation source at that fre quency and see if time domain waveforms are oscillatory Increase the excitation voltage amplitude for larger signal level or Reduce the time step for better accuracy and resolution 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 Error Warning Messages and Other Simulation Issues 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 wavefo
136. urrent output 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 in SIMVIEW A DIAC is a bi directional diode A DIAC does not conduct until the breakover voltage is reached After that the DIAC goes into avalanche conduction and the conduction voltage drop is the breakback voltage Image DIAC aa Power Circuit Components Attributes Parameters Description Breakover Voltage Voltage at which breakover occurs and the DIAC begins to conduct in V Breakback Voltage Conduction voltage drop in V Current Flag Current flag A zener diode is modelled by a circuit as shown below Images ZENER K K Circuit Model m A Al Attributes Parameters Description Breakdown Voltage Breakdown voltage Vg 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 Vg When Vg exceeds Vp the voltage Vg will be clamped to Vz Note when the zener is clamped since the diode is modelled with an on resistance of 10H the cathode anode voltage will in fact
137. ypes of models are provided for both squirrel cage and wound rotor induction machines linear and nonlinear model The linear model is further divided into general type and symmetrical type This section describes the linear models Four linear models are provided Symmetrical 3 phase squirrel cage induction machine INDM_3S INDM_3SN General 3 phase squirrel cage induction machine INDM3_S_LIN Symmetrical 3 phase wound rotor induction machine INDM3_WR General 3 phase wound rotor induction machine INDM3_WR_LIN The images and parameters are shown as follows Images INDM_3S INDM_3SN INDM3_S_LIN I 7 IM as IM as IM as as bs bs j bs bs cs cs cst cs ns INDM3_WR INDM3_WR_LIN o as TM as IM aa bs a cs cs cs ns i ar br cr or art bre iere Motor Drive Module 37 38 Attributes Parameters Description R stator Stator winding resistance in Ohm L stator Stator winding leakage inductance in H R rotor Rotor winding resistance in Ohm L rotor Rotor winding leakage inductance in H Lm magnetizing Magnetizing inductance in H Ns Nr Turns Stator and rotor winding turns ratio for wound rotor machine Ratio only No of Poles Number of poles P of the machine an even integer Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Flag for internal torque 7 output When the flag is set to 1 the output of

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