Home

User's Guide

Contents

1. Time ms 2 8 6 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 and the other is the current type interface 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 branches Motor Drive Module 77 78 The image and parameters of the machine are shown as follows Image a SM b Shaft Node Cc a n field oun field Attributes Parameters Description R stator L stator Lgm d axis mag ind Lgm q axis mag ind R field La field leakage ind Ray damping cage Lay damping cage Ror damping cage Lor damping cage Ns
2. 2 2 7 Three Phase Switch Modules The following figure shows three phase switch modules and the internal circuit connections A three phase voltage source inverter module VSI3 consists of either MOSFET type or IGBT type switches A current source inverter module CSI3 consists of GTO type switches or equivalently IGBT in series with diodes Images no Diode full wave DC DC 1 3 5 DEF A B ct 4K 6A ZA Thyristor full wave z DC Aw h A a X C C o l C Thyristor half wave Al oJ a3 o N T F A6 Ct DCH Power Circuit Components VSB VSI3 MOSFET switches DC DC Lo 1 3 5 ie MERLENE VSI Fp a B DC ec 4 2 6 2 Zali ct J3 J3 jks DC CSI3 DC a4 E A CSI B DC 4 C Ct Attributes Parameters Description On Resistance On resistance of the MOSFET switch during the on state in Ohm for MOSFET type switches only Saturation Voltage Conduction voltage drop of the IGBT switch in V for IGBT type switches only Voltage Drop Conduction voltage drop of the switch in V for CSI3 only Diode Voltage Drop Conduction voltage drop of the anti parallel diode in V for VSI3 only Init Position_i Initial position for Switch i Current Flag i Current flag for Switch i
3. controller o RE i ya 7 AAN K L va eke a 9 ac fo A Z t E L j thy i RE Dhe lee Wy _ gt _ 2 2 4 Linear Switches Linear switches include npn bipolar junction transistor and pnp bipolar junction transistor They can operate in either cut off linear or saturation region Images BJT npn BJT pnp Switches 17 18 Attributes Parameters Description Current Gain beta Transistor current gain B defined as B I I Bias Voltage V Forward bias voltage in V between base and emitter for the npn transistor or between emitter and base for the pnp transistor Vee sat LOr Vec sat for Saturation voltage in V between collector and emitter for pnp the npn transistor and between emitter and collector for the pnp transistor A linear BJT switch is controlled by the base current I It can operate in one of the three regions cut off off state linear and saturation region on state The properties of these regions for the npn transistor are Cut off region Vbe lt Vy I 9 I 90 Linear region Vpe Vg I Bh Voe Vee sat Saturation region Vpe Vp Ie lt P lp Vee Vee sat where Vp is the base emitter voltage V is the collector emitter voltage and I is the collector current Note that for both the npn and pnp transistors the gate node base node is a power node and must be connected to a power circ
4. ji 7ocen quai f amp a qe gt i 30k 20H 30k gt Z0H 30k iL Gm DLL gt iref o ms user4 dll 5 ak 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 189 190 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 Nariables 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 dllexport void simuser t delt in out Note that all the variables must be defined as double double t delt double in out Place your code here
5. Similar to single phase modules only the gating signal for Switch 1 need to be specified for three phase modules Gating signals for other switches will be automatically derived For the 3 phase half wave thyristor bridge the phase shift between two consecutive switches is 120 For all other bridges the phase shift is 60 Thyristor bridges can be controlled by an alpha controller Similarly voltage current Switches 23 source inverters can be controlled by a PWM lookup table controller The following examples illustrate the control of three phase thyristor and voltage source inverter modules Example Control of Three Phase Thyristor and VSI Modules 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 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 inputs of the PWM lookup table controller include the delay angle the synchronization and the enable disable signal A detailed description of the PWM lookup table controller is given in the Switch Controllers section 2 3 Coupled Inductors Coupled inductors wi
6. Digital Control Module 139 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 and finite impulse response FIR filter For both types the filter coefficients can either be entered directly through the element property window or be specified through a text file Images General Digital Filter FIR Filter ol E o FIR E Attributes For elements that read the coefficients directly Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the numerator from b to by Coeff ao ay Coefficients of the denominator from ap to ay Sampling Frequency Sampling frequency in Hz For elements that read the coefficients from a text file 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 1 N 1 N P byt b z tby zP byz 2 J a w TN ataj z Fagg se ay Z 140 Control Circuit Components If dg 1 the output y and input u can be expressed in difference equation form as y n by u n b u n 1 by u n N a y n 1 4 y n 2 ay y n N If the denominator coefficients ag ay are no
7. The input node at the bottom of the controlled monostable block is for the pulse width input Pulse Width Counter A pulse width counter measures the width of a pulse The rising edge of the input activates the counter At the falling edge of the input the output gives the width of the pulse in sec During the interval of two falling pulse edges the pulse width counter output remains unchanged Control Circuit Components 3 4 7 Image LIL Up Down Counter An up down counter increments or decrements by 1 at each rising edge of the clock Image Attribute Parameter Description No of Bits Number of bits N When the Up Down input is 0 the counter decrements and when the Up Down input is 1 the counter increments The Reset input resets the counter to 0 when it is high 1 The Preset Enable input sets the counter to the preset value when it is high The truth table of the counter is Up Down Preset Enable Reset Clock Action x 0 0 x No count 1 0 0 T Count up 0 0 0 N Count down X 1 0 x Preset x x 1 x Reset x Do not care Logic Components 133 3 4 8 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 ADC 8 bit ADC 10 bit DAC 8 bit DAC 10 bit a Vref For example if Vref 5 V Vn 3 2 V
8. Attributes Parameters Description R stator resistance L stator leakage ind Vpk krpm No of Poles P Moment of Inertia Mech Time Constant Lg Lookup Table File Ly Lookup Table File dq Flag Transformation Flag Torque Flag Master Slave Flag Stator winding resistance in Ohm Stator d axis inductance in H 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 1n sec It is associated with the friction coefficient B as B J tech File name of the lookup table for Lgm File name of the lookup table for Lgm Flag for the lookup table When the flag is 0 Lgm and Lgm are function of Jy and 74 When the flag is 1 Lg and Lgm are function of the current magnitude 7 and the angle Flag for the transformation convention see details below Output flag for internal developed torque Tom Master slave flag of the machine 1 master 0 slave Power Circuit Components For more details on the definition and use of the master slave flag refer to Section 2 8 1 The relationship between the d axis q axis inductances LqlLg and the
9. The 1 channel voltage scope and the current scope have the same interface The scope is designed to operate in a similar way as the actual oscilloscope in the lab It has 3 main sections Timebase section Channel section and Trigger section In the Timebase section the scale of time x axis is defined In the Channel section the scale of the Y axis as well as the offset and the color of the 172 Other Components waveform are defined In the Trigger section the trigger conditions are defined The trigger can be set to either ON or OFF When the trigger is off the waveform is free running and the display of the waveform in the scope may vary from one frame to another If the trigger is on the waveform display will only start when the trigger conditions are met This will lead to a steady waveform display There are three trigger modes rising edge triggering falling edge triggering and one shot triggering if the once checkbox is checked the one shot triggering is selected The one shot triggering will trigger only once and it is useful for example in situations where a transient needs to be captured The trigger level sets the level at which the triggering occurs For example if Channel A is selected with the rising edge triggering and the trigger level of OV whenever the Channel A input crosses over 0 from negative to positive triggering will occur and the waveform display will start from that instant Note tha
10. 0 00 vd 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms 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 3 5 and 10 inputs are provided Images Function Blocks 181 l input 2 input 3 input 5 input 10 input S j Attributes Parameters Description Expression Expression of the output versus inputs where n is the X X0 Xp number of inputs Expression df dx Expression of the derivative of the function f versus the ih input 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 ij input For example for the 3 input math function block the allowed variables are T t x1 X2 and x3 For the l input math function block the variable x which refers to the only input is also allowed 4 7 4 Lookup Tables There are three types of lookup tables one dimensional lookup table 2 dimensional lookup table with integer inputs and 2 dimensional lookup table with floating point inputs All three types of lookup tables can be used in both power circuit and control circuit Images 1 dimensional 2 dimensional o Indexj 4 Index i o
11. 2 Input MUX 4 Input MUX 8 Input MUX s0 Y sl s0 Y s2 sl s0 Y 0 do 0 0 do 0 0 0 do dl 0 1 dl 0 0 1 dl 1 0 d2 0 1 0 d2 1 1 d3 0 1 1 d3 1 0 0 d4 1 0 1 d5 1 1 0 d6 1 1 1 d7 Note that the data input could be either an analog or digital signal Example The following circuit 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 V Other Function Blocks 127 Va KOA MUX 3 3 9 THD Block The total harmonic distortion THD of an ac waveform that contains both the fundamental and harmonic components is defined as yV 2 V THD h rms 1 V Vi where V is the fundamental component rms V is the harmonic rms value and Vms 1S the overall rms value of the waveform The THD block is modelled as shown below Image THD Circuit Model of the THD Block e HD va Vint THD Lo v t A second order band pass filter is used to extract the fundamental component The center frequency and the passing band of the band pass filter need to be specified 128 Control Circuit Components Attributes Parameters Description Fundamental Frequency Fundamental frequency of the input in Hz Passing Band Passing band of the band pass filter in Hz Example In the single phase thyristor circuit below a THD block is used to measu
12. Mechanical Elements and Sensors 109 110 An example of a PMSM drive system using the resolver is given in the sample file Resolver PMSM Drive sch 2 11 6 4 Hall Effect Sensor A hall effect sensor is a type of position sensors that provides three pulses depending on the shaft position The sensor consists of a set of semiconductor switches and trigger magnets The switches open or close when the magnetic field is higher or lower than a certain threshold value Image A EF C Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Poles Number of poles of the sensor The hall effect sensor provides three logic signal outputs A B and C which are spaced 120 electrical deg apart The hall effect sensor is the same as the built in hall effect sensor in the brushless de machine An example of a BDCM motor drive system using the hall effect sensor is given in the sample file Hall Effect Sensor BDCM_Drive sch Power Circuit Components 3 3 1 Control Circuit Components Transfer Function Blocks A transfer function block is expressed in polynomial form as n 2 B s B s B st B G s k n 2 gt 1 0 AnS HAS A s AQ n Two types of transfer function blocks are provided one with zero initial values the element is called s domain Transfer Function in the PSIM library and the other with initial values as input parameters c
13. Motor Drive Module 69 70 2 8 4 VSI Diode ire Oe E ree Bridge otor or pee a ae 7 AHE L 7 Lal i k Speed Torque l kali Sensor Sensor oF gt He f 1 E i Tem_IM4 Tload lee 600 00 2 SPWM o oo 0 40 0 20 0 30 0 40 Time 2 Induction Machine with Saturation Two models of induction machines with saturation are provided 3 phase squirrel cage induction machine 3 phase wound rotor induction machine Images Squirrel cage nonlinear i Wound rotor nonlinear ast o2 IM ast IM as as bs bs bs bs cst cst cs cs art hr P ort C Power Circuit Components 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 Ns Nr Turns Ratio Stator and rotor winding turns ratio for wound rotor machine 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 Output flag for internal torque To Master Slave Flag Master slave flag of the machine 1 master 0 slave In VS Lm Cini Lm Characteristics of the magnetizing current
14. begin 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 errvt yv Va Inner Loop erri iref iL Trapezoidal Rule yl yit 4761 9 erritui 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 Other Components 4 7 7 Embedded Software Block The Embedded Software Block is a special type of the external DLL blocks It is intended for modeling embedded software devices such as microcontrollers and DSP Attribute Parameter Description DLL File Name of the DLL file that defines the functionality and the interface of the block Number of Nodes Total number of input and output nodes The Embedded Software Block has similar functionality as the general external DLL block However unlike the general DLL block whose connection nodes are predefined as either inputs or outputs the Embedded Software Block allows the node types to be programmed as needed Also additional information such as the exact instant at which the state of a variable changes can be calculated and passed to and from PSIM The Embedded Software Block is a control circuit element and can be used in the control circuit only For more informatio
15. n channel Metal Oxide Semiconductor Field Effect Transistor MOSFET and p channel MOSFET Bi directional switch Switches 11 12 2 2 1 Switch models are ideal That is both turn on and turn off transients are neglected A switch has an on resistance of 10uQ and an off resistance of 1OM Snubber circuits are not required for switches Linear switches include the following npn bipolar junction transistor pnp bipolar junction transistor 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 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 off If it is 1 the diode is on Current Flag Current flag of the diode 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 Attributes Parameters Description Breakover Voltage Voltage at which breakover occurs and the DIAC begins to conduct in V Power Circuit Components Breakback Voltage Conduction voltage drop in V Current Flag Current flag A zener diode is
16. 202 6 1 Creating a Circuit The following functions are provided for circuit creation Get Place Rotate Circuit Schematic Design There are two ways to get an element from the element library One is to use the pull down menu Go to the Elements menu and go into the submenu and highlight the element to be selected Another is to use the Library Browser as shown below Library Browser E x Find Find e Drive Module Elements Power RLC Branches Switches Transformers Magnetic Elements Other Motor Drive Module MagCoupler Module MagCupler RT Module Mechanical Loads and Sensors Thermal Module Control Filters Computational Blocks Other Function Blocks Logic Elements Digital Control Module SimCoupler Module Other Sources Symbols Squirrel cage Ind Machine Squirrel cage Ind Machine neutral Squirrel cage Ind Machine linear Squirrel cage Ind Machine nonlinear Wound rotor Ind Machine Wound rotor Ind Machine linear Wound rotor Ind Machine nonlinear DC Machine rise 3 3g amp Ss W The Library Browser provides a convenient way of navigating through the library To display the Library Browser go to View gt Library Browser Also the most recent elements are listed in the pull down button x on the toolbar Once an element is selected from the menu the image of the element will appear on
17. Ac Sweep Vaweep 200 20k 200 00 D20 0 40 088000 200 400 entimo 20 003000 Frequency KHz 100 00 150 00 196 Analysis Specification 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 we can obtain the loop transfer function directly With the loop transfer function one can determine the bandwidth of the control loop and the phase margin Please note that the ac sweep probe should be conn ected such that the dotted side is connected to the node after the excitation source injection 50 00 40 00 30 00 20 00 10 00 0 00 10 00 20 00 80 00 100 00 110 00 120 00 130 00 140 00 0 10 0 20 0 40 60 300 2 00 4 006 0100 00 20 00 Frequency KHz 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 TI UC3842 The excitation source can be inserted in the feedback path before the op amp output AC Analysis 197 ucs84 Controlled Buck Converter We gall See La E E
18. 0 min The number of bits determines the output resolution AV which is defined as AV Vi max Vi min 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 in mi 10 V 5 V o min o min nmax 5 and V 3 2 then ox 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 3 5 5 Circular Buffer A circular buffer is a memory location that can store an array of data Image Loh 144 Control Circuit Components 3 5 6 Attributes Parameters Buffer Length Description 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 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 Convolution Block A convolut
19. 0 0201 0 0402 0 0201 1 1 561 0 6414 Or the file can also have the content as follows 142 Control Circuit Components 3 5 3 3 5 4 2 0 0201 1 0 0402 1 561 0 0201 0 6414 Unit Delay A unit delay block provides one sampling period delay to the input Image O 4 Z Attribute Parameter Description Sampling Frequency Sampling frequency in Hz The difference between a unit delay block and a time delay block TDELAY 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 Quantization Block A quantization block simulates the quantization error during an A D conversion Image TH Attributes Parameters Description No of Bits Number of bits N Vin _min Lower limit of the input value Vin min Vin_max Upper limit of the input value Vin max Digital Control Module 143 Vo_min Lower limit of the output value V min Vo_max Upper limit of the output value Vy max Sampling Frequency Sampling frequency in Hz A quantization block performs two functions scaling and quantization The input value V sampled at the given sampling frequency is first scaled based on n the following Figs Fii min Vin pint VY in min V y o max in max in min V Ox V
20. 106 The figure on the left shows a torque sensor connected with a 10 N m mechanical load and the reference direction of the mechanical system is from left to right Based on the reference direction if we use the right hand method by pointing the thumb in the reference direction and rotating the right hand the direction of the fingers will show the direction of the positive speed and torque The physical interpretation of the system is shown on the right Reference direction of the mechanical system Physical interpretation T Le J 10 Win 4 Load 10 Torque sensor In this case the direction of the positive speed and torque is in the clockwise direction The dotted side of the sensor is on the left and the load is in such a way that it tries to slow down the shaft the load torque is in the counter clockwise direction The physical meaning of the torque sensor is that if the dotted side of the sensor is fixed the sensor will measure the torque tension on the undotted side of the sensor and a positive sensor output would mean that the torque is opposite to the direction of the speed reference Therefore for the example above the positive speed reference is in the clockwise direction and the load torque is in the counter clockwise direction This will give a torque sensor reading of 10 N m Similarly if the undotted side of the sensor is fixed the sensor will measure the torque tension on the dotted sid
21. M stator mutual ind Vpk krpm Vrms krpm No of Poles P Moment of Inertia Mech Time Constant theta_0 deg theta_advance deg Stator mutual inductance M in H The mutual inductance M is a negative value Depending on the winding structure the ratio between 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 Z 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 rms values of the line to line voltage Number of poles P Moment of inertia J of the machine in kg m Mechanical time constant T mech 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 0 in electrical deg advance The advance angle is defined as such that for a brushless dc machine with a 120 trapezoidal back emf waveform if the advance angle is 0 the leading edge of the Phase A hal
22. R1 12 3 Text from the character to the end of the line is treated as comments e g R3 is the load resistance For example a parameter file may look like the following R1 12 3 R1 is defined as 12 3 R2 23 40hm Equation sign can be replaced by space R3 is the load resistance This line is comments R3 R1 R2 2 Math expression is allowed L1 3m power of ten suffix is allowed L1 0 003 C1 100uF Parameter File 158 4 2 4 2 1 4 2 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 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 DC Source A dc source has a constant amplitude The reference of the grounded dc voltage sources is the ground Images DC DC battery Grounded DC Grounded DC 1 Current a Attribute Parameter Description Amplitude Amplitude of the source Other Components 4 2 3 Sinusoidal Source A sinusoidal source is defined as Vo Vn sin 2a f t
23. See op amp It should be noted that in PSIM the power circuit and the control circuit are solved separately There is one time step 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 234 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 The data is selected by clicking on X Axis in SIMVIEW de selecting Auto scale in Range and specifying the starting time and the final time The FFT analysis is only performed on the data that are displayed on the screen Note that the FFT results are discrete The FFT results are determined by the time interval between two consecutive data points At and the data length Tjengi The data point interval At is equal to the simulation time step multiplied by the print step In the FFT results the frequency incremental step will be 1 Tiength and the maximum frequency will be 1 2 At For example if you take the FFT of a 1 kHz square waveform with a data length of 1 ms and a data point interval of 10 us that is Tjength 1 ms and At 10 u
24. versus the magnetizing inductance j Lm1 Uin2Lm2 All the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 2 8 1 The operation of a 3 phase induction machine with saturation is described by the following equations Panel edi firad e il gene a Pane Rl aed tea ad a where 1 5 a cos0 cos 0 zm cos 0 ete i Mer 5 5 a PAE cos 9 cos0 cos 0 zm ages E 3 eos 0 zm cos 0 zm cos Motor Drive Module 71 2 a ete i cos cos 0 3 cos 0 3 1 55 eee Mee cos 0 27 cos0 cos 0 i fases tM gs 5 5 lianer 1 1 cos 0 22 cos 0 22 cos8 79 In this case the inductance M is no longer constant but a function of the magnetizing current Zm 2 8 5 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 Image a aiid BDCM b gt Shaft Node A 799 Pd N Sa SpSe g 6 pulse Hall Effect Position Sensor Attributes Parameters Description R stator resistance Stator phase resistance R in Ohm L stator self ind Stator phase self inductance L in H 72 Power Circuit Components
25. 0 Sm 2k 12 Si 15 0 4 AN ii x iman O Usweep Isense 5 3 Parameter Sweep Parameter sweep can be performed for the following parameters Resistance inductance and capacitance of RLC branches Gain of proportional blocks Time constant of integrators Gain and time constant of proportional integral controllers Gain cut off frequency and damping ratio of 2nd order low pass and high pass filters Gain center frequency and passing and stopping band of 2nd order band pass and band stop filters The image and parameters of the parameter sweep element are shown below 198 Analysis Specification Image Param sweep Attributes Parameters Description Start Value Starting value of the parameter End Value End value of the parameter Increment Step Increment step Parameter to be Swept 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 Swept Ro Parameter Sweep 199 200 Analysis Specification 6 Circuit Schematic Design PSIM s schematic program provides interactive and user friendly interface for circuit schematic entry and editing The following figure shows a boost power factor
26. 182 Other Components 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 The one dimensional lookup table has one input and one output Two data arrays corresponding to the input and the output are stored in the lookup table in a file The format of the table is as follows Vin Vo Vin 2 Vo 2 V n V n 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 with integer input has two inputs 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 4 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 Ln A 2 1 A 2 2 A 2 n A m 1 A m 2 4 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 o
27. Expression fv or f v x Expression of i in terms of v and x i fv or i f v x Expression df dv Derivative of the current i versus voltage v i e df v dv Initial Value vo The initial value of the voltage v Lower Limit of v The lower limit of the voltage v Upper Limit of v The upper limit of the voltage v 10 Power Circuit Components 2 2 A good initial value and lower upper limits will help the convergence of the solution Example Nonlinear Diode Vin le 14 EXP 40 y j 1 40e 14 EEP 40 y 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 10714 e 4 1 In PSIM the specifications of the nonlinear element will be Expression f v le 14 EXP 40 v 1 Expression df dv 40e 14 EXP 40 v Initial Value vg 0 Lower Limit of v le3 Upper Limit of v 1 Switches There are two basic types of switches in PSIM One is the switchmode type It operates either in the cut off region off state or saturation region on state The other is the linear type It can operates in either cut off linear or saturation region Switches in switchmode include the following Diode and DIAC Thyristor and TRIAC Self commutated switches specifically Gate Turn Off switch npn bipolar junction transistor pnp bipolar junction transistor Insulated Gate Bipolar Transistor IGBT
28. N 8 bits then V 256 5 3 2 163 84 10100011 binary The output of the D A converter is calculated as y f V Fie in 2 For example if V 5 V Vin 10100011 binary 163 N 8 bits then V 163 256 5 3 1836 134 Control Circuit Components 3 5 3 5 1 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 is no calculation between two sampling points Zero Order Hold A zero order hold samples the input at the point of sampling The output remains unchanged between two sampling points Image o 20H 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 100
29. Rist L M g E where v4 vp and v are the phase voltages iq ip and i are the phase currents R L and M are the stator phase resistance self inductance and mutual inductance and E Ep and 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 E E ke On Power Circuit Components The coefficients ke a 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 hall effect sensor signal S where K is the peak trapezoidal value in V rad sec which is defined as K Vrf krpm 1 pk 2 1000 27 60 angle a is determined automatically in PSIM Given the values of Vpk krpm and Vrms krpm the The developed torque of the machine is Eem E j ia E i ip tE i Om The mechanical equations are dOn Be Ogi Tiad J dt em d P dt 2 m where B is a coefficient Tjoaq 1s 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 Tinech 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 Motor Drive Module 75 76 The ha
30. Vi ay a an V gt b b gt ae by The output which is a scalar will be Ve Vi 5 v a b a2 b7 an bn Square Root Block A square root function block calculates the square root of the input Image pemg Control Circuit Components 3 2 4 Exponential Power Logarithmic Function Blocks 3 2 5 The images and attributes of these function blocks are shown below Images Exponential Power LOG LOG10 fe Ap Attributes for exponential and power blocks Parameters Description Coefficient k Coefficient k4 Coefficient kz Coefficient kz The output of an exponential function block is defined as V kyo ky For example if ky 1 ky 2 718281828 and V 2 5 then V e25 where e is the base of the natural logarithm The output of a power function block is defined as Ko z ky i v 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 _ fire Lois i zh Yin tat where T 1 f The output is only updated at the beginning of each period Image os TMs Computational Function Blocks 119 120 3 2 6 3 2 7 Attri
31. smv SIMVIEW data file 1 5 Simulating a Circuit To simulate the sample one quadrant chopper circuit chop sch Start PSIM From the File menu choose Open to load the file chop sch From the Simulate menu choose Run PSIM to start the simulation Simulation results will be saved to File chop txt If the option Auto run SIMVIEW is not selected in the Options menu from the Simulate menu choose Run SIMVIEW to start SIMVIEW If the option 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 x lt O x lt xl Parameters Other Info Color Parameters Other Info Color Parameters Other Info Color Resistor Help Resistor Help Resistor Help Display Display Name R1 Name Rl Resistance 10 E Power Rating 174W L Current Flag 0 v Manufacturer Company ABC Part No 01 23456 The parameters in the Parameters tab are used in the simulation The information in the 4 General Information 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 gt Element List in PSIM Information such as device rating manufacturer and part number can be stored under the Other Info tab Th
32. 0 V offset The specifications can be illustrated as follows y Voffset t Images Voltage Current t Attributes Parameters Description Peak Amplitude Peak amplitude V Frequency Frequency f in Hz Phase Angle Initial phase angle 0 in deg DC Offset DC offset Vo gier 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 is provided The dotted phase of the module refers to Phase A Sources 159 160 Image 3 phase Voltage 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 or current source 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 Voltage Current oO a o t Other Components 4 2 5 Attributes Parameters Description Vpeak peak Peak to peak amplitude Vp Frequency Frequency in Hz Duty Cycle Duty cycle D of the high potential interval DC Offset DC offset Vo fret Phase Delay Phase delay 0 of the waveform in deg The specificatio
33. 1 1 General Information Introduction PSIM is a simulation software specifically designed for power electronics and motor drives With fast simulation and friendly user interface PSIM provides a powerful simulation environment for power electronics analog and digital control magnetics and motor drive system studies This manual covers both PSIM and the following add on Modules Motor Drive Module Digital Control Module SimCoupler Module Thermal Module MagCoupler Module MagCoupler RT Module The Motor Drive Module has built in machine models and mechanical load models for motor 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 system analysis The SimCoupler Module provides interface between PSIM and Matlab Simulink for co simulation The Thermal Module provides the capability to calculate semiconductor devices losses The MagCoupler Module provides interface between PSIM and the electromagnetic field analysis software JMAG for co simulation The MagCoupler RT Module links PSIM with JMAG RT data files In addition PSIM supports links to third party software through custom DLL blocks The overall PSIM environment is shown below 1 PSIM and SIMVIEW are copyright by Powersim Inc 2001 2006 2 Matlab and Simulink are registered trademarks of the MathWorks Inc 3 JMAG and J
34. 12 2 2 2 Thyristorand TRIAC 13 2 2 3 GTO Transistors and Bi Directional Switch 15 2 2 4 Linear Switches 17 2 2 5 Switch Gating Block 19 2 2 6 Single Phase Switch Modules 21 2 2 7 Three Phase Switch Modules 22 2 3 Coupled Inductors 24 2 4 Transformers 26 2 4 1 Ideal Transformer 26 25 2 6 DT 2 8 2 9 2 10 2 4 2 Single Phase Transformers 26 2 4 3 Three Phase Transformers 29 Magnetic Elements 30 2 5 1 Winding 30 2 5 2 Leakage Flux Path 31 2 5 3 Air Gap 32 2 5 4 Linear Core 34 2 5 5 Saturable Core 34 Other Elements 36 2 6 1 Operational Amplifier 36 2 6 2 dv dt Block 37 2 6 3 Power Modeling Block 38 Thermal Module 39 2 7 1 Device Database Editor 39 2 7 2 Diode Device in the Database 48 2 7 3 Diode Loss Calculation 49 2 7 4 IGBT Device in the Database 51 2 7 5 IGBT Loss Calculation 53 2 7 6 MOSFET Device in the Database 56 2 7 7 MOSFET Loss Calculation 58 Motor Drive Module 61 2 8 1 Reference Direction of Mechanical Systems 61 2 8 2 DC Machine 64 2 8 3 Induction Machine 66 2 8 4 Induction Machine with Saturation 70 2 8 5 Brushless DC Machine 72 2 8 6 Synchronous Machine with External Excitation 77 2 8 7 Permanent Magnet Synchronous Machine 80 2 8 8 Permanent Magnet Synchronous Machine with Saturation 83 2 8 9 Switched Reluctance Machine 87 MagCoupler Module 90 MagCoupler RT Module 95 2 11 Mechanical Elements and Sensors 98 2 11 1 Mechanical Elements and Sensors 98 2 11 1 1 Consta
35. 6 pack as shown in the figure below Thermal Module 51 Discrete Dual 6 Pack So P cond_Q i sw_O P cond_D P sw_D Q Q4 Dual Type I Dual Type II i i In the images beside the IGBT and diode terminal nodes there are four extra nodes from the top to the bottom or from the left to the right on the top for the 6 pack package They are the nodes for transistor conductor losses Peona _ the node with a circle for transistor switching losses Psw for diode conductor losses Peona p the node with a square and for diode switching losses P p respectively Absolute Maximum Ratings Vce max V Io max A T max O Electrical Characteristics Vce sat v s l 52 Power Circuit Components Maximum collector emitter voltage Maximum collector current Maximum junction temperature Transistor Collector emitter saturation voltage Vee sat V 3 collector current Z 2 7 5 Eon V S Ig Fore V 8 Le Turn on energy losses Eon v s collector current I Turn off energy losses Vs collector current Z Electrical Characteristics Diode or Anti Parallel Diode Va v s Ip ty V S Ip I v S Ip Qr V S Ip Forward conduction voltage drop v s forward current Ip Reverse recovery time v s current Ip Peak reverse recovery current v s current Ip Reverse recovery charge Q v s current Ip Electrical Characteristics Free Wheeling Diode for IGBT Diode d
36. El gied eiga ated B lael EN lated oe fellate where Va s Va r la s la r ee Vp S ane i E Vp r leew i lp S liave i 7 lp r X Ve r los le r PE For squirrel cage machines v4 Vp Ve 0 The parameter matrices are defined as R 0 0 R 0 0 R 0 R 0 RJ 0 R 0 0 0R 0 0R L M nL e L M 2 e Mor M Mo sr 3 Bet Me E 7 Lrt Ma cos cos 0 zm cos 0 m My cos 0 zm cos0 cos 0 22 cos 0 ze zm cos 0 zm cos Power Circuit Components where M is the mutual inductance between the stator and rotor windings and 6 is the mechanical angle The mutual inductance is related to the magnetizing inductance as 3 L M m 2 sr The mechanical equation is expressed as J eg eT dt em L where the developed torque T is defined as e A 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 S s s R L Ne hk ee Lm S R s s 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 T and load torque Toad and 3 phase input currents show the start up transient
37. 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 of the mechanical elements 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 7 and a moment of inertia of J2 The equation that describes the mechanical system is dO mn Ji J dt ie where is the shaft mechanical speed In PSIM this equation is modelled by an equivalent circuit as shown below Om speed node In this circuit the two current sources have the values of Tom and Tj qgq and the capacitors have the values of J and J gt The node to ground voltage speed node voltage represents the mechanical speed w This is analogous to C dV dt i for a capacitor where C J J5 V Om and i Toy T gad 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 M is connecte
38. JMAG AT Input File fles PMSMWTS ipmatt M FU_resistance E I Curent Flag fi B JMAG RT Case Text PMMotor SS RV_resistance 23 a Back emf Flag 1 r Rw_resistance j3 r Rotor Angle Flag fi r Aae F coef _flux fi 0 r Speed Flag fi r coef_inductance fi 0 r Torque Flag fi r coef_torque fi 0 B coef_magnet fi 0 L coef_material fi 0 a Edit Image Display File Read File MagCoupler RT Module 97 98 2 11 Mechanical Elements and Sensors This section describes elements that are shared by Motor Drive Module MagCoupler Module and MagCoupler RT Module The elements include mechanical loads gear boxes mechanical coupling blocks mechanical electrical interface blocks and various speed torque position sensors 2 11 1 Mechanical Loads Several mechanical load models are provided constant torque constant power constant speed general type and externally controlled loads 2 11 1 1 Constant Torque Load The image of a constant torque load is Image T goa Attributes Parameters Description Constant Torque Torque constant Toonst in N m Moment of Inertia Moment of inertia of the load in kg m 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 Tyonst Otherwise the loading torque will be Toons See Section 2 6 1 for more detailed explanation on the
39. Miller charge Qoa respectively all in nC test conditions drain to source voltage Vps in V gate to source voltage Vps in V and drain current Ip in A Input capacitance C output capacitance Coss and reverse transfer capacitance C rss respectively all in pF test conditions drain to source voltage Vps in V gate to source voltage Vps in V and test frequency in MHz Electrical Characteristics Diode Va v s Ip tr and Q Thermal Characteristics Rithg c Rene s Dimensions and Weight Length mm Width mm Height mm Weight g Forward conduction voltage drop Vg v s forward current Ip Reverse recovery time in ns and reverse recovery charge Q in uC test conditions forward current Ip in A rate of change of the current di dt in A us and junction temperature T in C Junction to case thermal resistance in C W Case to sink thermal resistance in C W Length of the device in mm Width of the device in mm Height of the device in mm Weight of the device in g The losses Poona o gt Psw o Pcond_ D 2d Psw p in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot be floating and must be connected to ground 2 7 7 MOSFET Loss Calculation A MOSFET device in the database can be selected and
40. Nf effective Number of Poles P Moment of Inertia Torque Flag Master slave Flag Stator winding resistance in Ohm Stator leakage inductance in H d axis magnetizing inductance in H q axis magnetizing inductance in H Field winding resistance in Ohm Field winding leakage inductance in H Rotor damping cage d axis resistance in Ohm Rotor damping cage d axis leakage inductance in H Rotor damping cage q axis resistance in Ohm Rotor damping cage q axis leakage inductance in H Stator field winding effective turns ratio Number of Poles P Moment of inertia J of the machine in kg m Output flag for internal developed torque Tpm Master slave flag of the machine 1 master 0 slave Power Circuit Components All the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 2 8 1 The equations of the synchronous machine can be expressed as follows A R a where T T vy vy ve vp 0 0 lap ap tla td r p R diag R R R Rp Ray Rar A da de Ne Ay Rear Ml and A L The inductance matrix is defined as follows za en Pe 3 and L 2m L 2 L L L cos 20 7 2008 20 7 7 2008 20 Es 2 2T L zal Sree T L cos 20 22 yO a Oe L 00s 20 22 cs L cos 26 L 20 L Lycos 20 zm 7 L cos 20 L L L 00s 20 Lycos 20 L acos 20 L sin 26
41. PSIM library follow these steps Go to Edit gt Edit Library gt Edit Library Files and choose the library for the new element Click on New Library to create a new image library or select an existing library and click on Edit Selected Library In the Library Editor click on the button New DLL File Enter the information to the dialog window as shown below DLL File Element j xi Name Inductor DLL Description Inductor modeled in DLL Cancel File path Jug lib Inductor_model dil Input nodes 2 ss Output nodes Poo Hide menu D Helpfile newhip Help ID frooz Test help page The explanation of each field is as follows Name Name of the new inductor element as it appears in the PSIM library Description Description of the new inductor element File Path The location of the DLL file inductor_model dll that models the new inductor element The DLL file must be placed in the lib sub folder in the PSIM directory Input Nodes Number of input terminals of the new element For the Circuit Schematic Design 6 7 6 7 1 6 7 2 Power Modeling Block this value is the number of total terminals and is read from the DLL file automatically Output Nodes Number of output terminals of the new element For the Power Modeling Block this value is 0 Hide menu Leave this box unchecked If this box is checked this element will not appear in the library Help File On line help file associated with
42. 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 property dialog window of curves is shown below Select Curves Curves Screen Variables Available Variables for Display Isa Isb Isc Tem_IM Add gt lt Remove Edit Box y Cancel 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 the Edit Box an mathematical expression can be specified A mathematical expression can contain brackets and is not case sensitive The following math functions are allowed addition subtraction i multiplication division A to the power of Example 2 3 2 2 2 228 Waveform Processing 7 5 SQRT square root function SIN sine function COS cosine function TAN tangent function ATAN inverse tangent function EXP exponential base e Example EXP x e LOG logarithmic function base e Example LOG x In x LOG10 logari
43. 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 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 Error Warning Messages and Other Simulation Issues of capacitor or capacitor voltage source loops Check the switch gating signals If necessary include overlap or dead time pulses to avoid op
44. controlling current flows from one control node to another as indicated by the arrow 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 the output is equal to the following Vo Z k g Vin2 Vini 1 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 a variable gain controlled source and a nonlinear source with multiplication is that for the nonlinear source with multiplication values of both v and v 2 at the current time step are used to calculate the output and are updated in each iteration But for the variable gain controlled source it is assumed that the change of Vin 18 small from one time step to the next and the value of v 2 at the previous time step is used at the current time step This assumption is valid as long as v 2 changes at a much slower rate as compared to v and the time step is small as compared to the change of v 9 Variable gain controlled sources can be used in circuits which may otherwise have convergence problem with nonlinear sources with multiplication Example The circuits below illustrates the use of current controlled voltage sources In the circuit on the left the voltage source is controlled by
45. current scope Other branch currents such as capacitor current load current diode current or MOSFET switch current can be displayed in the similar way 216 Circuit Schematic Design l51x it ities Window Help 8 x seee sii Aea aelel eln al a Current scope Average Current Mode Control x PSIM DAPSIM Y7 0 0001 IF Timebase Channel rl Seale 20 us Div F TA Div Channel Save _Cobor Oise la I Color Name fi2 2 S ra r e e ef m 4 Ic KL2 Timebase p Channel A Channel B Soale 20 us Scale 200m H Seale 200m ae setf04 oHsefo4 Voltage scope ea ae a F ore fm Trigger the a 0 JF 3 Oncel Levaja Running Simulation with the Command Line Option Simulation can also be launched with the command line option by running the program PsimCmd exe For example to simulate the circuit chop sch which is stored in the folder c psim examples go to the PSIM folder and run the following command PsimCmd i c psim examples chop sch o c psim examples chop smv The format of the command line is as follows PsimCmd i input file o output file v VarNamel VarValue1 v VarName2 Var Value2 t TotalTime s TimeStep g Note that the quotes aro
46. defined as S Von rms rms The real power or average power is defined as T ERCOR where T is the fundamental period The total power factor PF and the displacement power factor DPF are then defined as follow DPF cos 0 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 Probes and Meters 171 4 5 vat vp tv 9 liat ipTi 0 Voltage Current Scopes While voltage current probes and meters save the simulation results for post waveform processing voltage current scopes allow users to view simulation waveforms at runtime in the middle of the simulation Three scopes are provided l channel voltage scope 2 channel voltage scope and current scope Below are the images of the voltage and current scopes and their expanded view 2 channel voltage scope 1 channel voltage scope Current scope Jel Oscilloscope SCOP1 x Oscilloscope SCOPE2 x Timebase Channel Timebase Channel Trigger Scale 20 us H Scaie 200m Scale 200m Ch A L se 10 ms Di Scale BWW H Channel Ch A A peil OFF Save Color itset 0 4 ottsefos FF oncer Save Cobo orse HTa Tl E 2 one F Name SCOPT 2 Color ME col MM Levelf0 s f Name SCOPE2 2 Color E Level Jo r Channel B Trigger
47. external DLL dynamic link library block allows users to write code in C C compile it into DLL using Microsoft Visual C C and link it with PSIM These blocks can be used in either the power circuit or the control circuit A DLL block receives values from PSIM as inputs performs the calculation and sends the results 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 186 Other Components transfer function blocks and digital filters the DLL block is called only at the discrete sampling times Two types of DLL blocks are provided Simple DLL Block and General DLL Block The simple DLL block has a fixed number of inputs and outputs and the DLL file name is the only parameter that needs to be defined On the other hand the general DLL block allows users to define arbitrary number of inputs outputs and additional parameters Users can also customize the DLL block image In general the simple DLL block is easier to program and easier to use The images and parameters of the simple DLL blocks are shown below Images l input 3 input 6 input Tg Lo 1 1 Lo 1 DLL Ho Ze DEL e2 Bi P 6 ier input output Attribute Parameter Description File Name Name of the DLL file The node with a dot is for th
48. is reset to zero as long as the control signal is high 1 The output of the internal resettable integrator is reset to 0 when the output reaches either the lower limit or the upper limit It works in the same way as the external resettable integrator with the edge reset except that in this case users do not need to set up the external reset circuit To avoid over saturation a limiter should be placed at the integrator output Example The following circuit illustrates the use of the resettable integrator The input of the 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 vd Vo 15 00 10 00 Yetrl 0 00 0 00 1 00 2 00 3 00 4 00 Time ms 114 Control Circuit Components 3 1 3 Differentiator The transfer function of a differentiator is G s sT A differentiator is calculated as follows Vin t Vin t At t T SE el xO vi where A is the simulation time step v and v t At are the input values at the present and the previous time step Image ox ST E 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 differen
49. magnetizing inductances L g L gm 1s as follows L L a Lam L q L PD where L is the stator leakage inductance Since L is normally very small Lg can be considered equivalent to Lgm and L can be considered equivalent to Lgm The Transformation Flag defines the transformation convention between the abc frame and the dq frame When the Transformation Flag is 0 ce he eee 3 sin 0 sin zm sin 0 I lat f On atan2 1 l4 is m The current vector angle is in deg and is from 180 to 180 When the Transformation Flag is 1 20 2m O f cos 0 cos 8 22 cos 8 ber iP 3 n Sy 3 sin 0 sin 0 22 sin 0 22 i 2 Di I E Jat On atan2 Iy 14 The current vector angle is in deg and is from 0 to 360 Motor Drive Module 85 86 The Lam and Lg lookup tables have the following format m n Vests Vrz Vrm Vou Vea ae Von Li 1 253 Lip 144 1995 15225 Lmt m l m 2 gt gt Linn where m is the number of rows and n is the number of columns V is the row vector and V is the column vector and L is the Lgm or Lgm inductance value in H at Row i and Column j Note that Vectors V and V must be monotonically increasing If the input is between two points interpolation is used to calculate the value If the input is less than the minimum or greater than the maximum value the input will be set to be the same as the minimum or maximum v
50. mutual inductance between the armature and the field windings It can Motor Drive Module 65 66 2 8 3 be calculated based on the rated operating conditions as Vizla Ra L fT p Note that the dc machine model assumes magnetic linearity Saturation is not considered Example A DC Motor with a Constant Torque Load The circuit below shows a shunt excited dc motor with a constant torque load Ty Since the load is along the reference direction of the mechanical system the loading torque to the machine is Tz Also the speed sensor is along the reference direction It will give a positive output for a positive speed The simulation waveforms of the armature current and the speed are shown on the right Speed mm fn 200 00 lt aie ieee Sensor T 150 00 ee e 100 0 j 50 00 0 00 4 Constant J 100K E Torque 080K ba i ara a Load 080K 040K 020K 000K t 0 00 020 O40 0 80 080 Time 3 Induction Machine Linear and nonlinear models are provided for squirrel cage and wound rotor induction machines 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 General 3 phase squirrel cage induction machine Symmetrical 3 phase wound rotor induction machine General 3 phase wound roto
51. 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 are used to measure power circuit quantities and pass them 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 Requirement PSIM runs in Microsoft Windows environment 2000 XP on personal computers The minimum RAM memory requirement is 128 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 Files Description PSIM exe PSIM circuit schematic editor SIMVIEW exe Waveform display program SIMVIEW PcdEditor exe Device database editor s2z_converter exe s domain to z domain converter Software Hardware Requirement 3 SetSimPath exe Program to set up the SimCoupler Module psim lib psimimage lib PSIM library files File extensions used in PSIM are sch PSIM schematic file txt PSIM simulation output file text fra PSIM ac analysis output file text dev Device database file
52. sensor or torque sensor is used to measure the mechanical speed or torque Images Speed Sensor Torque Sensor i Hm T Attribute Parameter Description Gain Gain of the sensor The output of the speed sensor is in rpm The output of the speed torque sensor depends on how the sensor is connected in a mechanical system For the speed sensor if the sensor is along the reference direction of the mechanical system refer to Section 2 8 1 for more details on the definition and use of the reference direction a positive mechanical speed would give a positive sensor output Otherwise if the sensor is opposite to the reference direction of the mechanical system a positive mechanical speed would give a negative sensor output For example in the mechanical system below Speed Sensor 1 is along the reference direction and Speed Sensor 2 is opposite to the reference direction of the mechanical system If the actual mechanical speed is positive the output of Speed Sensor 1 will be positive and the output of Speed Sensor 2 will be negative 4 Reference direction of the mechanical system IM gt o Speed Sensor 1 Speed Sensor 2 The torque sensor measures the torque difference between the dotted side of the sensor and the undotted side To understand the physical meaning of the torque sensor measurement we use the diagram below as an illustration Mechanical Elements and Sensors 105
53. the inductor current 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 Sources 167 The circuit on the right is equivalent to that on the left except that a different current controlled source is used instead 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 Nonlinear multiplication Output v k Vini Ving OF io K Vini Vino ENE V y Nonlinear division Output v k or i k 4 Vin2 Vin2 Nonlinear square root Output v k vj OF ig k Vint ky Nonlinear power Output v sign y k ky Vin In the nonlinear power source 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 Images Multiplication Division Square root Power ea i a xd Vin1 amp Vin2 oe P 2 a E i E i oO x ji Vin1 ji Vin2 ra Hs Hs 168 Other Components 4 3 4 4 Attributes For all the sources except the nonlinear power source Parameter Description Gain Gain k of the source For the nonlinear power source Parameters Description Gain Gain k of the source Coefficient k Coefficient k Coeffi
54. the machine in kg m Torque Flag Output flag for internal torque To Master Slave Flag Master slave flag of the machine 1 master 0 slave For more details on the definition and use of the master slave flag refer to Section 2 8 1 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 c4 c2 3 and cy 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 Motor Drive Module 87 88 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 1 R dt where v is the phase voltage i is the phase current R is the phase resistance and L is the phase inductance The phase inductance L is a function of the rotor angle 8 as shown in the following figure L Rising Flat Top Falling Flat Bottom e a gt lt _ gt al p 6 0 The rotor angle is defined such that when the stator and the rotor teeth are completely out of alignment 0 The value of the inductance can be in either rising stage flat top stage falling stage or flat bottom stage If we define th
55. the reference direction of the overall mechanical system determine how the element interacts with the mechanical system For example if the reference direction of a machine is along the same direction as the reference direction of the mechanical system the developed torque of the machine will contribute to the shaft rotation in the positive direction However if the reference direction of the machine is opposite to that of the mechanical system the developed torque will contribute to the shaft rotation in the negative direction In the two machine example above using the notation of the reference direction if we define the machine IM1 as the master unit the reference direction of the overall mechanical system will be from left to right as shown below Based on this direction the machine IM1 will be along the reference direction and the machine IM2 will be Power Circuit Components opposite to the reference direction This leads to the equivalent circuit of the mechanical system as shown on the right Ha Circuit Reference direction d 1 dWm dt Tem1 T Tem2 Similarly if we define the machine IM2 as the master unit the reference direction of the overall mechanical system will be from right to left as shown below Based on this direction the machine IM1 will be opposite to the reference direction and the machine IM2 will be along the reference direction This leads to the equivalent circuit of th
56. the screen and move with the mouse Click the left button of the mouse to place the element Before the element is placed right click to rotate the element After an element is selected select Rotate to rotate the element 6 2 Wire Label Assign To connect a wire between two nodes select Wire The image of a pen will appear on the screen To draw a wire keep the left button of the mouse pressed and drag the mouse A wire always starts from and end at a grid intersection For easy inspection a floating node is displayed as a circle and a junction node is displayed as a solid dot If two or more nodes are connected to the same label they are connected It is equivalent as though they were connected by wire Using labels will reduce the cross wiring and improve the 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 Editing a Circuit Double left click or single right click on top of an element will bring up the property dialog window Also to move the whole schematic right click and drag the mouse The following functions are provided in the Edit menu for circuit editing Select Copy Delete Move Text To select an element click on the element A rectangle will appear around
57. this element Help ID The ID used in the help map file to link the designated help page In the next dialog window set the new element size as Width 5 and Height 2 Then create an image for this element or accept the default image Click on the buttons Save Image Library and Update Menu The new element will appear in the library and will be ready to use The information regarding the number of parameters and the parameter description for the new inductor element is obtained from the DLL file automatically In this case the new element will have one parameter as Inductance The process of creating the on line help file is the same as described in the previous section Other Options Generate and View the Netlist File To generate the netlist choose Simulate gt Generate Netlist File 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 Simulate gt View Netlist File Set Path The Set Path function in the Options menu allows users to define additional search paths when loading an external DLL file For example if a schematic file uses a DLL file and this DLL file is placed in a directory other than the schematic directory or the PSIM directory this directory can be included in PSIM by using the Set Path function PSIM searches the DLL files in the following order PSIM directory Schemati
58. to print the selected region of a circuit by choosing Print Selected The schematic can also be saved to the clipboard which can be imported into a word 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 224 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 Simview Indm_FOC txt D File Edit Axis Screen Measure View Option Label Window Help Bix remeg gorma 28a lol x l x Time s 4 i T SAAN T oms gt Ready SIMVIEW reads data in either ASCII text format or SIMVIEW binary format The following shows a sample text data file Time Isa Isc Isb Tem_IM 5 000000000E 006 0 000000000E 000 0 000000000E 000 0 000000000E 000 7 145888260E 048 1 000000000E 005 0 000000000E 000 0 000000000E 000 0 000000000E 000 1 082981714E 046 1 500000000E 005 0 000000000E 000 0 000000000E 000 0 000000000E 000 5 408644357E 046 2 000000000E 005 1 139566166E 001 2 279132474E 001 1 139566166E 001 1 613605209E 017 2 500000000E 005 5 072914178E 001 1 014582858E 000 5 072914178E 001 3 598226665E 015 Functions in each menu are explained in the following sections Other Options 225 7 1 File Menu The Fi
59. under Original data type choose Delimited Click on Next In the dialog window Text Import Wizard Step 2 of 3 under Delimiters choose Space Click on Next In the dialog window Text Import Wizard Step 3 of 3 under Column data format choose General Click on Finish 232 Waveform Processing 8 8 1 8 1 1 8 1 2 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 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 Qo Qi Q 45 oa Pal J Q a DUU J Q fox kK t K ck 2 E 7 clock L clock ai is 2 1V m In the circuit on the left the initial values of both Qo and Q are a
60. used in the simulation for loss calculation A MOSFET in the Thermal Module library has the following parameters Power Circuit Components Attributes Parameters Description Device The specific device selected from the device database Frequency Frequency in Hz under which the losses are calculated Vaga upper level Vaga lower level Rg on turn on Rg off turn o ff Rps ony Calibration Factor gf Calibration Factor Peona Q Calibration Factor Pow Q Calibration Factor Poond p Calibration Factor Poy p Calibration Factor Upper level of the gate source voltage in V Lower level of the gate source voltage in V Gate resistance during turn on Gate resistance during turn off In most cases the turn on gate resistance Ro on and the turn off gate resistance Ry off are identical The calibration factor of the on state resistance Rpg on The calibration factor of the forward transconductance gp The calibration factor Keong _ of the transistor conduction losses Pond Q The calibration factor K of the transistor switching losses Ps o The calibration factor Kong p of the diode conduction losses Poond D The calibration factor K p of the diode switching losses P sw_D The parameter Frequency refers to the frequency under which the losses are calculated For example if the device operates at the switching frequency of 10 kHz and the parameter Frequency is also set to 1
61. v s Ip under Electrical Characteristics by clicking on the Edit button on top of the Vg v s Ip graph area The following dialog window will appear The dialog window has two pages Graph and Conditions The Graph page contains thee x and y axis settings as well as the data points and the graph In this case the y axis is the conduction voltage drop V4 and the x axis is the forward current J The x and y axis can have multiplying factors such as m for 10 u for 10 etc The Conditions page contains the conditions under which the graph is obtained Thermal Module 41 42 On state voltage drop YF v s IF ioj x Graph Conditions Graph wizard icons gt Help area x0 fo Xmax fo XinLog T x X and Y Yo jo Ymax fo YinLog x axis settings Enter Values in following Format x11 x2 y2 x3 y3 Refresh Data area X Y axis multiplying factor Graph area Clear Redraw OK There are two ways to define the graph One is to enter the graph data points manually Another is to use the Graph Wizard to capture the graph directly from the datasheet image Defining the graph manually is preferred if there is only one data point or there are just a few data points However if the graph image is available it is easier with the Graph Wizard To Define the Graph Manually Refer to the Maximum On State Characteristics graph of the datasheet and
62. y n by u n b u n 1 by u n N a y n 1 ay y n 2 ays y n N Image osH Zz Attributes Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the numerator from bg to by Coeff ao ay Coefficients of the denominator from ag to ay Sampling Frequency Sampling frequency in Hz Example The following is a second order transfer function 400 e A z SS 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 ag ay 1 1200 400 3 Sampling Frequency 3000 Digital Control Module 137 138 3 5 2 1 Integrator There are three types of integrators regular integrator external resettable integrator and internal resettable integrator Images Regular Integrator External Resettable Integrator Internal Resettable Integrator Attribute Parameters Description Algorithm Flag Flag for integration algorithm 0 trapezoidal rule 1 backward Euler 2 forward Euler Initial Output Value Initial output value Reset Flag Reset flag 0 edge reset 1 level reset for external resettable integrator only Lower Output Limit Lower limit of the output for internal resettable integrator only Upper Output Limit Upper limit of the output for internal resettable integrator only Sampling Frequency
63. 0 Hz The input and output waveforms are shown on the left Digital Control Module 135 136 vin 10 00 ay ante Vin Vo ZOH 500 ts iE N 5 00 Q 140 00 0 00 5 00 10 00 15 00 20 00 Time ms Note that in above circuit a continuous domain integrator is also connected to the input sine source This makes it a mixed continuous discrete circuit and a simulation time step selected for the continuous circuit will be used With this time step the familiar staircase like waveform can be observed at the zero order hold output Without the integrator the circuit becomes a discrete circuit Since only the calculation at the discrete sampling points is needed the simulation 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 Win Vo iO Or taal ZOH L_ 5 00 10 00 1 0 00 5 00 10 00 15 00 20 00 Time ms 3 5 2 z Domain Transfer Function Block A z domain transfer function block is expressed in polynomial form as 1 byi Z by N 1 Ay9 Z a Z t tay Zt ay If dg 1 the expression Y z H z U z can be expressed in difference equation as Control Circuit Components
64. 0 kHz the losses will be the values for one switching period However if the parameter Frequency is set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter Peona Calibration Factor is the correction factor for the transistor conduction losses For the example if the calculated conduction losses before the correction is Pognd Q cab then P cond Q7 Kcond Q P cond Q cal Thermal Module 59 60 Similarly the parameter P Calibration Factor is the correction factor for the transistor switching losses For the example if the calculated switching losses before the correction is Psy Q cap then Pw o Ksw o Psw Q cal Parameters Poong p Calibration Factor and P p Calibration Factor work in the same way except that they are for the diode losses Conduction Losses The transistor conduction losses is calculated as Conduction Losses 7 pa Rps on where Ip is the drain current and Rps on 1s the static on resistance Switching Losses The transistor turn on losses is calculated as Transistor Turn on Losses Eon f where is the transistor turn on energy losses and fis the frequency as defined in the input parameter Frequency The transistor turn off losses is calculated as Transistor Turn off Losses Eo f where Eois the transistor turn off energy losses The energy losses Eon and Epp are calculated based on the information of the gate current input output reverse tr
65. 11 6 2 Incremental Encoder An incremental encoder is a position sensor that produces quadrature outputs which indicate the speed angle and direction of the shaft Image Power Circuit Components Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Lines Number of lines that are in the code pattern of the code disk of the encoder The two quadrature outputs are A and A A is the inverse of A and B and B They are offset by 90 In addition the encoder provides separate index signal output Z and Z that provide one count per revolution An example of an induction motor drive system using the incremental encoder is given in the sample file Incremental Encoder INDM Drive sch 2 11 6 3 Resolver A resolver is essentially a rotary transformer with one rotor winding and two stator windings These two stator windings referring to as the COS winding and SIN winding are located 90 apart As the shaft rotates the output voltages of the COS and SIN windings vary as the cosine and sine functions of the shaft angle Image ta 4 6S 88 oo nn Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Poles Number of poles of the resolver The resolver has four outputs cos cos the inverse of cos sint and sin the inverse of sin The peak amplitude of all the outputs is 1
66. 2 2 1 2 1 1 Power Circuit Components Resistor Inductor Capacitor Branches Resistors Inductors and Capacitors Both individual resistor inductor capacitor 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 AM me Hee Aa Mwe emp R3 RL3 RC3 RLC3 RLC AAA EA a Ab APT b Afb AANA Afr APU AAA AAT ohh Ahir be 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 Initial Current Initial inductor current in A Initial Cap Voltage Initial capacitor voltage in V Resistor Inductor Capacitor Branches 7 Current Flag Flag for branch current output If the flag is zero there is no current output If the flag is 1 the current will be available for display in the runtime graphs under Simulate gt Runtime Graphs It will also be saved to the output file for display in SIMVIEW The current is positive when it flows into the dotted terminal of the branch Current Flag A Current flags for Phase A B and C of three
67. 2 Coefficient K for the core B H curve Coefficient Kexp2 Coefficient Koxp for the core B H curve Current Flag Display flag of the electric current that flows through the resistor R If the rms value of the current is J the core losses can be calculated as Poore joss fers R In the element image the nodes M and M are the two nodes that connect the core to other magnetic elements such as winding flux leakage path air gap etc The node marked with a dot is Node My Node C is a control output node which shows the flux in Weber flowing through the core from Node M to M A differential voltage probe connected between Node M to M will measure the mmf in ampere turn applied to the core The coefficients Psap K1 Kexp1 Kz and Keyp2 are used to fit the B H curve of an actual magnetic material A good initial guess of is the maximum flux of the B H curve in deep saturation To calculate this flux multiply the corresponding flux density B by the cross section area of the core Coefficient K usually varies between 0 7 and 1 depending on the core material Coefficient Keyp saturation and is in the range between 10 and 200 10 for low permeability ferrite and 200 for metglas mainly affects the rate of the core The coefficients Ky and Keyp are used in very rare occasions such as for ferroresonant regulators They are normally set as follows to keep them from affecting the B H curve Reso K
68. 27251 107 7229 172 1789 180 252 2771 260 7275 279 2725 287 7229 352 1789 360 72 44823 80 66083 99 33917 107 5518 172 0979 180 Switch Controllers 177 187 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 Yab 200 00 100 00 100 00 APOO cGy 30 00 15 00 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time m2 178 Other Components 4 7 4 7 1 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 b
69. 5 regardless of the column index the output will be 0 The following shows a 2 dimensional lookup table with floating point inputs 3 4 1 1 2 2 33 184 Other Components 1 2 2 3 3 4 4 5 1 2 4 1 25325558 3 8 2 9 If the row input is 2 and the column input is 3 the following table shows the four points that enclose the input point and the output value of 3 826 through interpolation Column 2 3 3 3 4 1 1 2 4 Row 2 2 091 3 826 4 818 2 2 3 5 4 7 5 C Script Block The C script block allows users to enter C code directly without compiling the code unlike in the case of external DLL blocks where users need to compile the code into a DLL using a compiler The code of the C script block will be interpreted and executed at runtime by a built in C interpreter in PSIM This block makes it very easy to support custom C codes and to define and modify the functionality of the block The interface of the C script block dialog window is shown below In the Number of Input Output Ports section the number of input and output ports of the ports is defined After the number of ports is changed the image of the block in the schematic will change accordingly In the Function Type section there are four choices Variable Function Definitions For includes statements and global variable definition OpenSimUser Fen The function that is called only once at the beginning of the simulati
70. 82 C Script Block 185 External DLL Blocks 186 Embedded Software Block 191 5 Analysis Specification 5 1 5 2 5 3 Transient Analysis 193 AC Analysis 194 Parameter Sweep 198 6 Circuit Schematic Design 6 1 6 2 6 3 6 4 6 5 6 6 6 7 vi Creating a Circuit 202 Editing a Circuit 203 Saving a File 206 Subcircuit 207 6 4 1 6 4 2 6 4 3 6 4 4 Creating Subcircuit In the Main Circuit 208 Creating Subcircuit Inside the Subcircuit 208 Connecting Subcircuit In the Main Circuit 210 Other Features of the Subcircuit 210 6 4 4 1 Passing Variables from the Main Circuit to Subcircuit 211 6 4 4 2 Customizing the Subcircuit Image 212 6 4 4 3 Including Subcircuits in the PSIM Element List 213 Running the Simulation 214 Managing the PSIM Library 218 Other Options 223 6 7 1 6 7 2 6 7 3 6 7 4 Generate and View the Netlist File 223 Set Path 223 Settings 224 Printing the Circuit Schematic 224 Waveform Processing 7 1 7 2 7 3 74 7 5 7 6 7 7 7 8 File Menu 226 Edit Menu 226 Axis Menu 227 Screen Menu 228 View Menu 230 Option Menu 231 Label Menu 231 Exporting Data 231 Error Warning Messages and Other Simulation Issues 8 1 8 2 8 3 Simulation Issues 233 8 1 1 Time Step Selection 233 8 1 2 Propagation Delays in Logic Circuits 233 8 1 3 Interface Between Power and Control Circuits 234 8 1 4 FFT Analysis 234 Error Warning Messages 235 Debugging 236 vii viii 1
71. Array Length The length of the data array N for the element Array only Values Values of the array for the element Array only File for Coefficients Name of the file storing the array for the element 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 Re ON lS Digital Control Module 147 148 3 5 9 Stack A stack is a first in last out register Image V push j Vo pop P 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
72. 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 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 position where the line begins and drag the mouse while keeping the left button pressed Dotted lines and lines with arrows are drawn in the same way If one is in the Zoom or Measure mode and wishes to edit a text or a label one should first escape from the Zoom Measure mode by selecting Escape in the View menu Exporting Data 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 Option Menu 231 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
73. Control Circuit Components Attribute Parameter Description Gain Gain k of the transfer function 3 1 2 Integrator The transfer function of an integrator is G s T There are three types of integrators regular integrator external resettable integrator and internal resettable integrator Images Regular Integrator External Resettable Integrator Internal Resettable Integrator Attributes For Regular Integrator Parameters Description Time Constant Time constant T of the integrator in sec Initial Output Value Initial value of the output For External Resettable Integrator 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 Transfer Function Blocks 113 For Internal Resettable Integrator Parameters Description Time Constant Time constant 7 of the integrator in sec Initial Output Value Initial value of the output Lower Output Limit Lower limit of the output Upper Output Limit Upper limit of the output The output of the external 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
74. Coupler RT Phish Attributes Parameter Description Netlist XML File The XML file that defines the interface between PSIM and JMAG RT It has the xml extension JMAG RT Input File The JMAG RT data file It has the rtt extension Note that the xml file and the rtt file must be in the same directory JMAG Case Text Comments for the JMAG RT circuit Terminal Names Terminal names of the block MagCoupler RT Module 95 96 In the MagCoupler RT block images the electric nodes such as 4 B C A A B B C and C as shown above are placed at the top of the block arranged from the left to the right The rotor shaft nodes are placed on the left and right of the block with the first shaft node such as M as shown above on the right and the second shaft node such as M on the left The electric nodes and rotor shaft nodes as well as the rest of the interface between PSIM and the JMAG RT data files are defined in the JMAG RT Input File This file is in XML format and is generated by the JMAG RT Manager To specify this file click on the browse button at the right of the edit field The JMAG RT Input File is the JMAG RT data file for the device modeled The file has the rtt extension and is defined in the JMAG RT Input File Note that the rtt file and the xml file must be in the same directory The JMAG Case Text is a text identifying the specific JMAG RT study case It can be any text The Terminal
75. DC Machine The image and parameters of a dc machine are as follows Image ar Armature 5 Shaft Node Winding Field Winding Attributes Parameters Description R armature Armature winding resistance in Ohm La armature Armature winding inductance in H Ry field Field winding resistance in Ohm Ly field Field winding inductance in H Power Circuit Components Moment of Inertia Moment of inertia of the machine in kg m V rated Rated armature terminal voltage in V I rated Rated armature current in A n rated Rated mechanical speed in rpm Iy rated Rated field current in A Torque Flag Output flag for internal torque Tem Master Slave Flag The master slave flag of the machine 1 master 0 slave When the torque flag is set to 1 the internal torque generated by the machine will be saved to the output file for display For more details on the definition and use of the master slave flag refer to Section 2 8 1 The operation ofa dc machine is described by the following equations di v Ea tig Rat La ls diy ae ae J dt em where v vy ig and iy are the armature and field winding voltage and current respectively is the back emf o is the mechanical speed in rad sec Tp is the internal developed torque and Ty is the load torque The back emf and the internal torque can also be expressed as E Lar ip Om Tem Lage ip ia where Laris the
76. Edit Default Variable List add the variables L and C as the default variables This step is necessary as the new element obtains the parameter information from the default variable list The default variable list window should appears as follows Subcircuit Default ariable List x Variable Label Variable Name Variable Value Inductance L 1m t Capacitance C 100u Add Modify Remove Here Variable Label is the text that describes the parameter Variable Name is the variable that is used as the parameter value in the subcircuit and Variable Value is the Managing the PSIM Library 219 default value of the parameter For example for the inductance L the Variable Label is Inductance the Variable Name is L and the Variable Value is 1m Adding the New Element to the PSIM Library To add the subcircuit element into the PSIM library follow these steps Go to Edit gt Edit Library gt Edit Library Files and choose the library for the new element Click on New Library to create a new image library or select an existing library and click on Edit Selected Library In the Library Editor click on the button New Subcircuit Enter the information to the dialog window as shown below Subcircuit Element i x Name LC Fitr Description LC Fiter ts File path fftkey_debug ib LC_fiter sch Hide menu I Help file LC_Fite hip f Help ID fioor oo Test help page Cancel The explanat
77. IVI 600 400 200 Li 100 101 CYCLES AT REVERSE RE CHARACTE 102 Then press the Print Screen key the key is labeled as Prt Scr on the keyboard to copy the screen image to the clipboard Thermal Module 43 Click on the forward wizard icon 5 to paste the screen image into the graph window in the database editor Position the graph image properly in the graph window by dragging the left mouse so that the complete graph is displayed within the window If the graph image is either too large or too small go back to the previous step by clicking on the backward wizard icon l Then resize the image of the graph in the Adobe Acrobat and copy the screen image to the clipboard again The graph dialog window should look something like follows On state voltage drop YF v s IF Graph Conditions els Position the graph properly in the graph window by draging the left mouse so that the complete graph is displayed within the window Click on the graph Wizard to proceed to the n next step x0 fo Xmax jo XinLog x yo 0 Ymax 0 YinLog J v Enter Values in following a mat x1 y1 x2 p2 x3 y3 Refresh Clear Redraw OK Click on the forward wizard icon to move on to the next step 44 Power Circuit Components In this s
78. LC_FILTER 1001 Here the text LC FILTER must be the same as the label in the LC_Filter rtf file and the number 1001 must be the same as the Help ID defined for the LC filter element when it was created In the Help Workshop project file LC_Filter hpj have the following settings Click on the Files button and add the file LC_Filter rtf Click on the Options button and in the Files tab set Help File as LC Filter hip Click on the Map button and then click on Include to include the map file HelpMap txt Click on Save and Compile to create the help file LC_Filter hlp Place this file in the PSIM directory 6 6 2 Adding a New DLL Element into the Library Similar to that of a subcircuit element there are three main steps to add a new element modeled in a DLL into the PSIM library Create the model in the DLL file Add this element to the PSIM library Create an on line help file for this new element Managing the PSIM Library 221 222 To illustrate this process an inductor is used as an example Creating the DLL The first step is to create the inductance model in DLL Please refer to the relevant section on how to create a custom DLL Here we assume that the DLL file inductor_model dll has already been created using the Power Modeling Block It has one parameter called Inductance and two connecting nodes Adding the New Element to the PSIM Library To add the DLL element into the
79. MAG RT are copyright by the Japan Research Institute Ltd 1997 2006 Introduction 1 2 1 2 Third party Software Matlab Simulink Control systems Power Pe ee JMAG Analog digital control JMAG RT Motor drives D Finite element analysis Electric machines and other magnetic devices The PSIM simulation environment consists of the circuit schematic program PSIM the simulator engine and the waveform processing program SIMVIEW The simulation process is illustrated as follows C PSIM Schematic Circuit Schematic Editor input sch C PSIM Simulator PSIM Simulator output smv or txt C SIMVIEW J Waveform Processor input smv or 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 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 General Information 1 3 1 4 q Power Circuit Switch Sensors Controllers Control Circuit P The
80. Names are the names of the interface nodes The nodes on the top of the block are the power circuit nodes and the nodes on the left and right of the blocks are the mechanical shaft nodes Example A PMSM motor drive system with PMSM modeled in JMAG RT The figure below shows a permanent magnet synchronous motor PMSM drive system with the PMSM modeled in JMAG RT The figure below shows the property window of the MagCoupler RT PMSM block The xml file in this example defines three electric nodes Nodes U V and W and two rotor shaft nodes Nodes shaft and shaft The shaft nodes can be connected directly to Power Circuit Components other mechanical elements in the PSIM library as shown in this case Besides the information of the rtt file and the terminal names the property window also shows a set of parameters that allow users to modify the values of selected variables in the JMAG RT data file The last five parameters are the flags that when set to 1 will display the currents back emf as well as the rotor angle speed and the developed torque of the machine For definitions and the usage of these parameters please consult the relevant JMAG RT document x MagCoupler RT Block Help Display Display Display Name fipmy E shaftl_Momentoflnertia fo 0002 L tums_coill 35 0 E Netlist XML File magR T_PMSM_Y xml fd shaftt_MechT imeConst 4 9266 T turms_coil2 35 0 al
81. OSFET To make a copy of an existing device in the same database file highlight the device in the list and choose Device gt Save Device As To make a copy of an existing device and save it in a different database file first highlight the device in the list then highlight the file name in the File Name list and choose Device gt Save Device As 40 Power Circuit Components Adding a Device to the Database To illustrate how to add a device to a database file below is the step by step procedure to add the Powerex discrete diode CS240650 600V 50A into the device database file diode_new dev Launch PcdEditor exe Go to File gt New Device File and create a file called diode _new dev This file will be placed in the device sub folder under the PSIM program folder by default With the file name diode new highlighted in the File Name list Choose Device gt New Diode A diode will be added to the database file with Manufacturer as New and Part Number as New Obtain the datasheet of Powerex diode CS240650 from the web site www pwrx com Show the PDF file of the datasheet on the screen By referring to the information from the datasheet in the database editor enter the following information for this device Manufacturer Powerex Part Number CS240650 Package Discrete and under Absolute Maximum Ratings Virm max V 600 IF max A 50 Tj max C 150 Define the forward voltage characteristics Vg
82. PSIM User s Guide Powersim Inc PSIM User s Guide Version 7 0 Release 4 June 2006 Copyright 2001 2006 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 Introduction 1 1 2 Circuit Structure 2 1 3 Software Hardware Requirement 3 1 4 Installing the Program 3 1 5 Simulating a Circuit 4 1 6 Component Parameter Specification and Format 4 2 Power Circuit Components 2 1 Resistor Inductor Capacitor Branches 7 2 1 1 Resistors Inductors and Capacitors 7 2 1 2 Rheostat 8 2 1 3 Saturable Inductor 9 2 1 4 Nonlinear Elements 10 2 2 Switches 11 2 2 1 Diode DIAC and Zener Diode
83. Sampling frequency in Hz The output of an external 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 The output of an internal resettable integrator is reset to 0 whenever the output reaches either the lower limit or the upper limit The integrator works in the same way as the external resettable integrator with the edge reset except that users do not need to set up the external reset circuit in this case If we define u t as the input y Z 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 Control Circuit Components under different integration algorithms as follows With trapezoidal rule T zt 2 A z ae y n y n 1 E u n a n 1 With backward Euler eee H z T y n yn 1 T u n With forward Euler 2 1 A z T oy 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 period The input output relationship can be expressed in difference equation as y n u n u n 1 Image
84. a circuit while inspecting key waveforms using voltage current scopes until desired performance is achieved Running Simulation in the Free Run Mode To illustrate how to run a simulation in the free run mode a buck converter circuit shown below is used as an example The circuit on the left was originally set up for the one time simulation with the total simulation time set to a specific value 214 Circuit Schematic Design One time simulation Simulation in the free run mode To set up the simulation in the free run mode In Simulation Control check the Free Run checkbox Go to Elements gt Other gt Scopes and select the 2 channel voltage scope Connect the scope as shown above on the right Double click on the scope and the scope image will appear Start the simulation and the waveforms will appear and will be updated continuously in the scope Change the scope settings as desired Elements parameters can now be adjusted in the middle of the simulation To adjust the gain of the PI controller for example right click on top of the PI block and choose Runtime Variables gt Gain The text of the gain 0 6 will be displayed if it has not been displayed already Click on the text 0 6 and a small dialog window will appear The screen should look as follows Running the Simulation 215 PSIM D PSIM 7 0 Manual schematic Scope buck i_loop sch A 5 x E Fie Edit View Subcircuit El
85. a zero order hold must be used between two elements with different sampling rates Control Circuit Components Digital Control Module 149 150 3 6 3 6 1 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 SimCoupler Model Block SLINK_IN SLINK_OUT ee 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 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
86. active switch plus the diode will be displayed A switch can be controlled by either a gating block 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 The gating signal is determined by the comparator output Example Control of a 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 Vz is applied 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
87. all the functions that can be used to interface with PSIM The list on the left called External Circuit Simulator contains the functions that are selected to interface with PSIM In this case there are two items in the JMAG list one is the Voltage Function and the other is the Current Probe Highlight the Voltage Function and click on the lt button to move the item from the list on the right to the list on the left Repeat the same step to the Current Probe Now both items should appear in the list on the left Highlight the Voltage Function and change the terminal name to VL Also change the Current Probe terminal name to iL Close the dialog window Go to the menu File gt Export and select JCF With the JCF file name defined as inductor the JCF file inductorjcf and the link table file inductor_csl xml will be generated Copy the JCF file inductor jcf and the link table file inductor_csl xml to the folder containing the PSIM schematic file inductor_jmag sch Rename the link table file to inductor_jmag xml Note that the XML file does not have to be renamed and both the JCF and XML files do not have to be moved to the folder of the schematic file They are done here for the simplicity of file management In PSIM After the rest of the power circuit is created go to Elements gt Power gt MagCoupler Module 93 MagCoupler Module and select MagCoupler Block Place the block on the schematic D
88. alled s domain Transfer Function 1 in the PSIM library Images of o Attributes Parameters Description Order n Order n of the transfer function Gain Gain k of the transfer function Coeff B Bo Coefficients of the numerator from B to By Coeff A 49 Coefficients of the denominator from 4 to Ag Initial Values x x1 Initial values of the state variables x to x for the element s domain Transfer Function 1 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 111 112 x 000 0 4 4 lx By Ao B A af 100 0 44n fee Bir 8 4 gx 0 1 0 0 A A x te B A B A VY x 0 00 1 A 1 4 x ey Ure ee A The output equation in the time domain can be expressed as B y x tk 7 u The initial values of the state variables x to x can be specified as the inputs in the element s domain Transfer Function 1 Example The following is a second order transfer function 400 e G s 1 5 ao a FO s 1200 s 400 e In PSIM the specification will be Order n 2 Gain 1 5 Coeff B By 0 0 400 3 Coeff A A 1 1200 400 3 3 1 1 Proportional Controller The output of a proportional P controller is equal to the input multiplied by a gain Image H
89. alue This PMSM model with saturation can also be used as the linear PMSM model if the lookup tables are defined such that Lgm and Lgm are linear function of 74 and 14 The following shows an example of the lookup table 4 15 5 7155 4 8990 4 0825 3 2660 5 7155 4 8990 4 0825 3 2660 2 4495 1 6330 0 8165 0 0 8165 1 6330 2 4495 3 2660 4 0825 4 8990 5 7155 0 0109 0 0109 0 0107 0 0104 0 0102 0 0100 0 0098 0 0098 0 0098 0 0100 0 0102 0 0104 0 0107 0 0109 0 0109 0 0109 0 0109 0 0109 0 0106 0 0109 0 0106 0 0105 0 0105 0 0105 0 0106 0 0109 0 0106 0 0109 0 0109 0 0109 0 0109 0 0109 0 0109 0 0109 0 0111 0 0108 0 0106 0 0106 0 0106 0 0108 0 0111 0 0109 0 0109 0 0109 0 0109 0 0110 0 0110 0 0111 0 0110 0 0110 0 0109 0 0108 0 0107 0 0108 0 0109 0 0110 0 0110 0 0111 0 0110 0 0110 Power Circuit Components 2 8 9 Switched Reluctance Machine The model of a 3 phase switched reluctance machine with 6 stator teeth and 4 rotor teeth is provided The images and parameters are shown as follows Image at 4 e Switched b i E Reluctance a c Motor 6 4 A gt LLLI ILLL ILLL l C1 C2C3 C4 C C4 Cy C4 0 Phase a Phase b Phase c Attributes Parameters Description Resistance Stator phase resistance R in Ohm Inductance Lin Minimum phase inductance in H Inductance Lpax Maximum phase inductance in H 0 Duration of the interval where the inductance increases in deg Moment of Inertia Moment of inertia J of
90. ansfer capacitances and gate charges of the MOSFET devices The loss calculation for the anti parallel diode or free wheeling diode is the same as described in the diode device section Power Circuit Components 2 8 Motor Drive Module The Motor Drive Module is an add on module to the basic PSIM program It provides machine models and mechanical load models for motor drive system studies The Motor Drive Module includes electric machines as described in this section and mechanical elements and speed torque position sensors as described in Section 2 11 2 8 1 Reference Direction of Mechanical Systems In a motor drive system in order to formulate equations for the mechanical system a position notation needs to be defined Take the following motor drive system as an example Isa IM2 In IM The system consists of two induction machines IM1 and IM2 connected back to back One operates as a motor and the other as a generator From the point of view of the first machine IM1 the mechanical equation can be written as T eml em2 dO ith y where J and J gt are the moment of inertia and 7 and T 7 are the developed torques of the machine IM1 and IM2 respectively From the point of view of the second machine IM2 however the mechanical equation can be written as em2 Temi Jag 200 7 Ji 2 dt These two equations are equally valid but will produce opposite mechanical speed In order
91. ator self and mutual inductances are rotor position dependent and are defined as Laa Lst L t La cos 28 2m Lpp Lt L tL cos 20 7 Lec Lt Lo tL cos 20 zm L Lap Lia arg a cos 20 22 L zz 3 E Ope 7 L cos 20 3 L Lie Lop sgri i cos 20 where L is the stator leakage inductance The d axis and q axis inductances are associated with the above inductances as follows 3 3 Ly Let shot 5h te abe 3 Ey Let 5h 5ho The developed torque can be expressed as 82 Power Circuit Components 2 8 8 sin 20 sin 20 22 sin 20 zm sin 20 22 sin 20 zm sin 20 lil sin 20 sin 20 sin 20 22 sin 0 sin 0 zm 2 4 sin o 3 Rom li is i The mechanical equations are where B is a coefficient Tjoaq 1s 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 Tinech aS below J mech B T Permanent Magnet Synchronous Machine with Saturation A 3 phase PMSM machine with saturation differs from that of a linear 3 phase PMSM machine in that the d axis and q axis magnetizing inductances Lgm and Lgm can be expressed as a nonlinear function of the d axis and q axis currents in the lookup table form The image and parameters of the machine are shown as follows Image Motor Drive Module 83 Shaft Node
92. be egg etd bp peed dd bP ogo fp 4 4 f t t Ly fabs bh 4 f t pepe Pwk es Go OOD do PDD ekek 0 00 0 00 5 00 10 00 1500 Time ms 3 3 6 Round Off Block The image of a round off block is shown below Image o INT 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 N Vin new Vin 10 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 V 34 5678 N 0 truncation flag 0 then we have the output Vp 35 Similarly if V 34 5678 N 0 truncation flag 1 the output V 34 Other Function Blocks If V 34 5678 N 1 truncation flag 1 the output Vp 34 5 If V 34 5678 N 1 truncation flag 1 the output V 30 3 3 7 Time Delay Block A time delay block delays the input waveform by a specified amount of time interval It for example can be used to model the propagation delay of a logic element Image o iLL Attribute Paramet
93. 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 0 1 0 2 0 3 Time sec The specification for the piecewise linear voltage source will be Frequency 0 No of Points n 4 Values V1 Vn lo 1 3 3 Times T1 Tn 0 0 1 0 2 0 3 164 Other Components 4 2 8 4 2 9 The specification for the piecewise linear 1 voltage source will be Frequency 0 Times Values t1 v1 0 1 0 1 1 0 2 3 0 3 3 Random Source The amplitude of a random voltage source VRAND or current source IRAND is determined randomly at each simulation time step A random source is defined as Vo 7 Vm nt V offset where V is the peak to peak amplitude of the source n is a random number in the range of 0 to 1 and Vofger is the de offset Images Voltage Current 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 Sources 165 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 exam
94. bute Parameter Description Base frequency Base frequency fp in Hz Absolute and Sign Function Blocks An absolute value function block 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 Images Absolute Sign 3 x oxy Sign o Trigonometric Functions Six trigonometric functions are provided sine sin arc sine sin cosine cos arc cosine cos tangent tan and arc tangent tg The output is equal to the corresponding trigonometric function of the input For the sin cos and tan blocks the 1 input is in deg and for the sin cos and tg blocks the output is in deg Images o sin osi o cos cogs Imaginary o aT os tan aIta H 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 Himasiner real input i e 8 ig real Control Circuit Components 3 2 8 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 ma
95. c file directory Other Options 223 Directories as defined in the Set Path function The first time that the DLL file is encountered it will be loaded For example assume that the PSIM program files are in C PSIM the schematic file is in C TEMP and the directory as defined in the Set Path function is C TEMPDLL The DLL file can be in one of the three places C PSIM C TEMP C TEMPDLL 6 7 3 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 Also in the Settings option if Disable simulation warning messages is checked warning messages generated during the simulation will be suppressed Otherwise warning messages will be shown before waveforms are displayed in SIMVIEW 6 7 4 Printing the Circuit Schematic The circuit schematic can be printed from a printer by choosing Print in the File menu It is also possible
96. ce 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 File message txt for more details This message occurs when the software fails to detect the st
97. cient k Coefficient k gt For the nonlinear division source 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 Tbe aor Attribute Parameter Description Gain Gain of the sensor 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 the current through the probe Note that all the probes and meters except the node to ground probe VP are allowed in the power circuit only Voltage Current Sensors 169 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 2 ERER iY Pa G TA Wp OR v v JAR Jah Wattmeter VAR Meter 3 phase Wattmeter 3 phase VAR Meter VA Power Factor Me
98. control input output terminals and mechanical shaft terminals and equations can be either algebraic or differential linear or nonlinear A significant feature of the Power Modeling Block is that these equations are assembled and solved simultaneously with the other equations from the rest of the PSIM circuit resulting a very robust stable and efficient solution For more information on how to use the Power Modeling Block refer to the document Help Power Modeling Block pdf Power Circuit Components 2 7 Thermal Module The Thermal Module is an add on module to the basic PSIM program It provides a quick way of estimating the losses of semiconductor devices diodes IGBT and MOSFET The core of the Thermal Module is the device database A device database editor is provided to allow users to add new devices to the database and to manage the database easily The devices in the database can then be used in the simulation for the loss calculation The following illustrates the process of how a device in the database is used in the simulation and how the losses are calculated The behavior model of the device is used in the simulation The behavior model takes into account the static characteristics of the device such as conduction voltage drop on state resistance etc but not the dynamic characteristics such as turn on and turn off transients Based on the voltage and current values from the simulation PSIM accesses the de
99. correction circuit in the PSIM environment PSIM D PSIM7 0_trial_powersim ex Ef Fie Edt cut Ek usme eA lol xi Utilities Window Help 18 x alaka Aao aelel mini mi sl a UC3854 Controlled PFC Converter a Or 11a SAYA int eas aa aw i pie x can ed bu je St vin 1 atu H Bf ol ma m em rT ke in a Litk 33k na t Oscilloscope SCOPEL el Rez 20k 100 a00pe F 10K Tee cep Tsanpe gape J RVAC Bis i Seam REL a very 150k Ah REED z sk cee neez cerz tpi O 1ve an Datur ie i cve i EE p Timebase Channel A r Channel B Trigger ajaa l a m De x Ta EW Hela la Pole leler Bl S 500 us H Scale 1 Di H scale 100 v Ch A Ej 100 i ce F I Save Color osef orse F amp Once I Level 0 Name SCOP 2 Color IN Color I In PSIM all the elements are stored under the Elements menu 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 Parameter Sweep 201
100. cuit Components 345 357 2 2 6 Single Phase Switch Modules Built in single phase diode bridge module and thyristor bridge module are provided The images and internal connections of the modules are shown below Images Diode bridge Thyristor bridge Ate ppe Ik 3 DC Atl ae m 1 x Ct 3 DC es A TE ee ArT ZP Dc DC g S DC aK 2 DC Attributes Parameters Description Diode Voltage Drop or 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 7 Node C at the bottom of the thyristor module is the gating control node for Switch 1 For the thyristor module only the gating signal for Switch 1 needs to be specified The gating signals for other switches will be derived internally in the program Similar to the single thyristor switch a thyristor bridge can also be controlled by either a gating block or an alpha controller as shown in the following examples Examples Control of a Thyristor Bridge The gating signal for the circuit on the left is specified through a gating block and the gating signal for the circuit on the right is provided 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 Switches 21 22
101. cuit in an actual circuit It receives the input from the control circuit and controls switches in the power circuit One switch controller can control multiple switches simultaneously 4 6 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 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 at the time of 12 ms The closure of the switch results in the short circuit of the resistor across the switch and the increase of the current Image Example 174 Other Components On off a Controller 100 00 i J 0 00 500 10 00 15 00 20 00 25 00 30 00 Time me 4 6 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 a
102. d to a mechanical shaft the electrical side with the letters E 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 models Mechanical Elements and Sensors 103 104 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 IM Mechanical load model El i Jload Tload 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 1 Mechanical speed Power Circuit Components 2 11 5 Speed Torque Sensors A speed
103. defined saturation characteristics must be such that the flux linkage A is monotonically increasing That is L4 i lt Ly i gt lt L3 i3 etc Also similar to the saturation characteristics in the real world the slope of each linear segment must be monotonically decreasing as the current increases In certain situations circuits that contain saturable inductors may fail to converge Connecting a very small capacitor across the saturable inductor may help the convergence Resistor Inductor Capacitor Branches 2 1 4 Nonlinear Elements The following elements with nonlinear voltage current relationship are provided Resistance type v ft Resistance type with additional input x v f i x Conductance type i f v Conductance type with additional input x i f v x The additional input x must be a voltage signal Images Nonlinear element Nonlinear element with additional input F o o A A s o Inputx 4 4 Attributes For resistance type elements Parameters Description Expression fli or f i x Expression of v in terms of i and x v fi or v f i x Expression df di The derivative of the voltage v versus current i i e df i di Initial Value i The initial value of the current i Lower Limit of i The lower limit of the current i Upper Limit of i The upper limit of the current i For conductance type elements Parameters Description
104. defining and programming for the general DLL block please refer to the help file Help General DLL Block pdf and related examples The name of the DLL file can be arbitrary The DLL file can be placed in one of the three places in the order of precedence in the PSIM directory in the same directory as the schematic file that uses the DLL file or in the directory as defined in the Options gt Set Path function in PSIM Sample DLL files are provided in PSIM and users can use these files as the templates to Other Components write their own Procedures on how to compile the DLL routine and link with PSIM are provided in these files and in the on line help Example The following shows a power factor correction circuit with the inductor current and the load voltage feedback The input voltage is used to generate the current reference The control scheme is implemented in a digital environment with a sampling rate of 30 kHz The control scheme is implemented in an external C code and is interfaced to the power circuit through a simple 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 current reference for monitoring purpose
105. e figure below Power Circuit Components Discrete n channel p channel So P cond _Q P sw Q P cond_D P sw_D Dual Qi Q4 In the images beside the MOSFET and diode terminal nodes there are four extra nodes from the top to the bottom or from the left to the right on the top for the 6 pack package They are the node for transistor conductor losses Poong the node with a circle for transistor switching losses P 9 for diode conductor losses Poong p the node with a square and for diode switching losses Pow p respectively Absolute Maximum Ratings Vps max V Tp max A Tj max C Electrical Characteristics Rps on ohm Vescthy V Sts S t ns and t ns Maximum drain to source voltage Maximum continuous drain current Maximum junction temperature Transistor Static drain to source on resistance test conditions gate to source voltage Vgs in V and drain current Ip in A Gate threshold voltage Vgsan test condition drain current Ip in A Forward transconductance gg test conditions drain to source voltage Vps in V and drain current Jp in A Rise time and fall time test conditions drain to source voltage Vps in V drain current Jp in A and Thermal Module 57 58 Qs Qgs and Qga Ciss Cogs and Css iss oss gate resistance Ro in ohm Total gate charge Q gate to source charge Q and gate to drain
106. e mechanical system as shown on the right Master Unit f PO Equivalent Circuit IMI IM2 vin IM IM 7 7 Temi 4 N J2 4 Tem2 1 Reference direction A E Teno Tort The following shows another mechanical system with sensors and loads connected in different ways Master Unit Reference direction of the mechanical system Load 1 Speed Torque Load 2 Speed Torque Tij Sensor 1 Sensor 1 Tr Sensor2 Sensor 2 Motor Drive Module 63 64 2 8 2 In this mechanical system the machine on the left is the master unit The reference direction of the mechanical system is from left to the right along the mechanical shaft Comparing this direction with the reference direction of each element Load 1 Speed Sensor 1 and Torque Sensor 1 will be along the reference direction and Load 2 Speed Sensor 2 and Torque Sensor 2 will be opposite to the reference direction of the mechanical system Therefore if the speed of the machine is positive Speed Sensor 1 reading will be positive and Speed Sensor 2 reading will be negative Similarly the two constant torque mechanical loads with the amplitudes of Tz and T 2 interact with the machine in different ways Load 1 is along the reference direction and the loading torque of Load 1 to the master machine will be 7 On the other hand Load 2 is opposite to the reference direction and the loading torque of Load 2 to the machine will be 77 gt
107. e 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 Go to the Simulation menu and select Simulation Parameters Under 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 13 and 14 Please also note that when the SimCoupler model block is used in a feedback system in Simulink the SimCoupler model block may be part of an algebraic loop please refer to 152 Control Circuit Components 3 6 2 Matlab Help for more information on algebraic loops Some versions of Matlab Simulink can not solve a system containing algebraic loops and other can solve the system but with degraded performance To break an algebraic loop place a memory block at each output of the SimCoupler model block The memory block introduces one integration time step delay 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 c
108. e 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 0hm R1 R2 R1 0 5 Vo 0 7 Io where R1 R2 Vo and Io are symbols defined either in a parameter file see Section 4 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 korK 10 m 103 u 106 n 10 j 1072 A mathematical expression can contain brackets and is not case sensitive The following mathematical functions are allowed E addition subtraction w multiplication division A to the power of Example 2 3 2 2 2 SQRT square root function SIN sine function COS cosine function Component Parameter Specification and Format 5 ASIN ACOS TAN ATAN ATAN2 SINH COSH EXP LOG LOG10 ABS SIGN 6 General Information sine inverse function cosine inverse function tangent function inverse tangent function inverse tangent function 7 lt atan2 y x lt n hyperbolic sine function hyperbolic cosine 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
109. e constant k as we can express the inductance L as a function of the rotor angle 0 L Liyjint k 9 rising stage Control signal c 1 L Lmax flat top stage Control signal c gt 1 L Lmnax k 9 falling stage Control signal c3 1 L L piia flat bottom stage Control signal c4 1 The selection of the operating state is done through control signals cj C2 c3 and c4 which are applied externally For example when c in Phase a is high 1 the rising stage is selected and Phase a inductance will be L Lmin k 9 Note that only one and at least one control signal out of c4 C2 cz and c4 in one phase must be high 1 Power Circuit Components The developed torque of the machine per phase is _1 2 dL Dem 5 i d0 Based on the inductance expression we have the developed torque in each stage as Long PEs 2 rising stage I om O flat top stage Ton P k 2 falling stage T em 0 flat bottom stage Note that saturation is not considered in this model Motor Drive Module 89 2 9 MagCoupler Module The MagCoupler Module provides interface for co simulation between PSIM and the software JMAG JMAG is an electromagnetic field analysis software for the development and design of electric machines actuators and other electrical and electronic devices and components With the MagCoupler Module one can perform power electronics and control analysis and simulation as well as the electromagnetic field analysis all in
110. e current values of around 1A 10A 100A and 300A are captured Again right click to zoom in On state voltage drop YF v s IF E Holi Graph Conditions z 231 30 0 44 Click on the graph to capture the data points Right mouse click to zoom Click on the graph Wizard to complete the data capture process xo fi Xmax frooo XinLog IV z Yo fos Ymax fog YinLog M x Enter Values in following Format 1 y1 x2 p2 x3 y3 1 00 0 71 10 07 1 06 95 30 1 79 278 47 2 39 Refresh Data points j NA 46 Power Circuit Components As data points are captured red lines will appear that will connect the data points Then click on the forward wizard icon to complete the data capture process The final graph dialog window should appear as follows ox Graph Conditions pa 1309 54 0 73 xO fi max 1000 XinLog M z Yo 0 6 Ymax 2s YinLog 7 Enter Values in following Format x191 x24233 10 07 1 06 95 30 1 79 278 47 2 39 1000 0 To see the x and y axis values of a particular data point on the graph place the cursor inside the graph area The cursor image will change to a cross image and the x and y coordinates of the cursor will be displayed at the upper right corner of the dialog
111. e database Frequency Frequency in Hz under which the losses are calculated The calibration factor Keong g of the transistor conduction losses Peond Q The calibration factor K of the transistor switching losses Psw o The calibration factor Kong p of the diode conduction losses Puond D The calibration factor K p of the diode switching losses P sw_D The parameter Frequency refers to the frequency under which the losses are calculated For example if the device operates at the switching frequency of 10 kHz and the parameter Frequency is also set to 10 kHz the losses will be the values for one switching period However if the parameter Frequency is set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter P g Calibration Factor is the correction factor for the transistor cond _ conduction losses For the example if the calculated conduction losses before the correction is Pognd Q cab then P cond Q7 Keond_O E cond Q cal Similarly the parameter P Calibration Factor is the correction factor for the transistor switching losses For the example if the calculated switching losses before the correction is Psy Q cap then Pw o Koy o Psy Q cal Parameters Poong p Calibration Factor and P y p Calibration Factor work in the same way except that they are for the diode losses Conduction Losses The transistor conduction losses is calculated as Transistor Conduc
112. e first input in 0 The sequence of the input output nodes is from the top to the bottom The images and parameters of the simple DLL blocks are shown below Image for a block with 2 inputs and 3 outputs 2 2 3 input output Function Blocks 187 188 Attribute Parameter Description DLL File Name of the DLL file Input Data File Name of the input data file that the DLL routine reads optional Number of Input Number of input nodes optional Nodes Number of Output Number of output nodes optional Nodes IN Nodes List of input nodes optional OUT Nodes List of output nodes optional Parameter 1 Parameter to be passed from PSIM into the DLL routine optional Parameter 2 Parameter to be passed from PSIM into the DLL routine optional Edit Image button Click this button to edit and customize the image of the DLL block Display File button Click this button to display the content of the Input Data File optional Read File button If the Input Data File is modified click this button to reload the data file optional The node with a dot is for the first input in 0 The sequence of the input output nodes is from the top to the bottom By default users define the number of inputs and outputs But the number of inputs and outputs the node names as well as the number of parameters and the parameter names can all be defined inside the DLL routine For more details on
113. e inductance factor Az and the resistor R For the element Air Gap the inductance factor can be calculated from the air gap length and the cross section area as where u 47 107 The losses on the resistor represents the losses due to the fringing effect which can be expressed as P isss r rms R where J is the rms value of the current i flowing through the resistor Magnetic Elements 33 34 2 5 4 2 5 5 Linear Core This element represents a linear lossless core Image Attributes Parameters Description Inductance Factor Ay Inductance factor A of the core defined as the inductance per turn squared If the length of the core is Lje A is expressed as ngth and the cross section area is A the inductance factor _ Ho Hp Ae A 7 length where 44 is the relative permeability of the core material Saturable Core This element models a magnetic core with saturation and hysteresis Image Power Circuit Components Attributes Parameters Description Inductance Factor A Inductance factor A of the core defined as the inductance per turn squared Resistance for Losses Resistance R in Ohm that represents the core losses Coefficient phi_sat Coefficient at for the core B H curve in Weber Coefficient K1 Coefficient K4 for the core B H curve Coefficient Kexp1 Coefficient K for the core B H curve Coefficient K
114. e of the sensor in the positive direction of the speed reference For example in the system below the torque sensor is flipped with the dotted side on the right If the undotted side is fixed the load torque is applied to the dotted side of the sensor in the opposite direction of the speed reference The torque sensor output will be 10 N m instead Reference direction of the mechanical system Physical interpretation T ka l 10 Win 4 Load 10 Torque sensor To understand how the torque sensor is modeled in the equivalent circuit of the mechanical system we use the following system as an example Power Circuit Components Sensor 1 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 em dO Ota tJa Teta Tio The equivalent electrical circuit of the equation is shown below Sensor 1 Sensor 2 p HE GY o m J12 Machine Load 1 Load 2 The node voltage in the circuit represents the mechanical speed m The current probe on the left represents the reading of the Torque Sensor 1 Similarly the current probe on the right represents the reading of the Torque Sensor 2 Note that the second cur
115. eady 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 txt 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 AC Analysis 195 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 analysis waveform on the right clearly shows two troughs at 300 Hz and 420 Hz amp 30 00 20 00 10 00 o 00 10 00 20 00 phasetz 100 00 50 00 o 00 50 00 Sth Teh 100 00 100 00 200 00 400 00 00 00800 00000 00 E fundamental 60 Hz i Frequency Hz 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 response of the output voltage versus the modulation signal 30 00 es Wo 20 00 10 0 5 0 00 10 00 20 00 0 00 50 00
116. ed it can be saved to a binary file by choosing the Save or Save As function in the File menu By choosing File gt Save with Password one can protect a file with a password When a file is password protected it can still be used in the simulation but one needs to enter the correct password in order to see the schematic The password protection is used in 206 Circuit Schematic Design 6 4 situations where the person who created the file needs to share it with someone else but does not wish to reveal the details of the schematic The function Save in Package File in the File menu allows users to save all the files that are associated with a simulation to one single file This is especially useful if the main circuit calls multiple subcircuits and one needs to send the files to someone else Rather than finding and collecting all the subcircuit files one can just create the package file and send the single file out The function Save as Version 6 2 in the File menu saves a file in the Version 6 2 format Note that if the file uses elements that are unique in Version 7 0 these elements will be omitted Also Version 6 2 file format is very close to Version 6 1 format and a file in Version 6 2 format can be opened by PSIM Version 6 1 Subcircuit The following functions are provided for subcircuit editing and manipulation New Subcircuit To create a new subcircuit Load Subcircuit To load an existing subcircuit The subcircuit wil
117. ements Simulate Options Utilities Window Help 5 x uelas teea al eR aloels o emp si a D Average Current Mode Control Oscilloscope SCOP1 a N E 0 0001 Timebase Scale us Div H Gain of the PI controller Er r Channel A r Channel B Scale 200m Scale 200m H Ofsefos H Oitset 04 Color _ B Color E a Trigger Che A o CB OFF F E Oncel Levas f 4 4 ma Sole elelee w calealse se e a a e l 6min5S7s 4 Place the cursor inside the input field of the dialog window for the gain and change the gain either by pressing on the upper down arrow keys on the keyboard or by entering a new value and then clicking on Apply Watch how the waveforms change as the gain is changed Other parameters such as current reference dc input voltage inductance capacitance and load resistance can be changed in the similar way Branch currents can also be displayed in the free run mode To display the inductor current for example right click on top of the inductor and a menu will appear Choose Current Scopes and the branch current name An image of the current scope similar to the voltage scope image but without connection terminals will appear Double click on the scope to expand and view the inductor waveform Below is how the window would look like with both the voltage scope and the
118. en circuit or shooting through If an initial current is assigned to an inductor initial switch positions should be set such that a path is provided for the current flow Otherwise the inductor current will be forced to start from zero Symptom Simulation waveforms look incorrect or inaccurate or the waveform resolution is poor Solution This may be caused by two reasons One is the time step Since PSIM uses the fixed time step during the entire simulation one should make sure that the time step is sufficiently small As a rule of thumb the time step should be several tens times smaller than the switching period Another reason is the problem of waveform display One should make sure that the print step is not too big To display all the data points set the print step to 1 Debugging 237 238 Error Warning Messages and Other Simulation Issues
119. enter the values for the x y axis settings as follows Power Circuit Components X0 Xmax YO Ymax X in log 1 1000 0 6 2 6 checked Visually inspect the graph and select a few data points Enter the data points in the data area as follows 1 0 7 10 1 05 100 1 8 200 2 2 300 2 4 Then click on the Refresh button to display the graph Click on the Conditions tab and enter the Junction Temperature as 25 C Alternatively the graph can be defined in this case using the Graph Wizard To Define the Graph Using the Graph Wizard Click on the forward wizard icon 5 to start the Graph Wizard Display the graph of the datasheet on the screen as follows E Adobe Acrobat Powerex C5240650 600 50A pdf Y File Edt Document Tools View Window Help A gt SUAS T B 7 2 BS ojx 2181 103 8864 48 B k C A ORES 9Q R s MAXIMUM i ON STATE CHARACTERISTICS S A 2 6 TTTT a Tj 25 C 2 z amp 22 a 2 EEE 7 A H 2 14 al fej 2 2 inf Z 10 z Zz 5 2 06 LU LUL 100 101 102 INSTANTANEOUS ON STATE CURRENT lpm AMPERES MAXIMUM ON STATE POWER DISSIPATION b M 4l sots H BSxttin OIH W 4 MAXIMUM PEAK SURGE NON REPETITIVE CURRENT lps AMPERES 1000 MAXIMUM ALLOWAB NON REPETIT
120. equivalent circuit can be shown as Ry Lp R L Np Ns o o a o ARAM Primary n Secondary Ideal In the circuit R and R are the primary and secondary winding resistances L and L are the primary and secondary winding leakage inductances and L is the magnetizing inductance All the values are referred to the primary 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 N N 220 440 The transformer will be specified as R primary 2m R secondary 2m L primary Im L secondary lm Ln magnetizing 100m N primary 220 N secondary 440 2 4 3 Three Phase Transformers Two winding and three winding transformer modules are provided as shown below They all have 3 leg cores 3 phase transformer windings unconnected 3 phase Y Y and Y A connected transformer 3 phase 3 winding transformer windings unconnected 3 phase 3 winding Y Y A and Y A A connected transformer 3 phase 4 winding transformer windings unconnected Images Y Y Y D D D 2 winding unconnected Ao g a A E s a A a Ato 3 at A a B b B Ye b cs b B b B b 0 c c c Cc c C c N n N c Me Y D D 3 windin
121. er 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 Wint 1 50 1 00 0 50 0 00 1 50 1 00 f 0 50 f 0 00 20 00 10 00 0 00 40 00 fone eeeeeeedeeeee eee ees 20 00 0 00 5 00 10 00 Vo2 vinz 3 y 15 00 20 00 045 00 30 00 Time ms 126 Control Circuit Components 3 3 8 Multiplexer The output of a multiplexer is equal to a selected input depending on the control signal Three multiplexers are provided multiplexers with 2 inputs 4 inputs and 8 inputs Images 2 input 4 input 8 input do do I a dl MUX gt Y dl d2 aa Wie Auu h Y d3 J 7 oe s2 sls0 In the images d0 d7 are the data inputs and s0 s2 are the control signals The truth tables of the multiplexers are as follows
122. er block is a power circuit element The way it interfaces with the rest of the circuit is that both the inputs and outputs are voltage signals no electric current flows into the input node To convert a branch current into a voltage signal or vice versa one can use a current controlled voltage source or voltage controlled current source The Link Table File in XML format defines the input output interface and correspond ing functions in JMAG This file is generated automatically by JMAG To locate this file click on the browse button El at the right of the edit field The JMAG Input File is the JCF input data file that is read by the JMAG solver The name is defined in the Link Table File Note that JCF input file jcf must be in the same directory as the input link table file xml If any material database is used in JMAG it should also be placed in the directory of the xml file Also the xml file does not have to be in the same directory as the schematic file However if a xml file with the same name is present in the schematic directory PSIM will read the one in the schematic directory first The JMAG Case Text is a text identifying the specific JMAG circuit It can be any text describing the JMAG circuit The JN Nodes are the nodes through which PSIM passes the values to JMAG In the MagCoupler block image the order of the input nodes is from the top to the bottom The order can be changed by highlighting the node and click
123. evice only Va v s Ip ty V S Ip I v S Ip Qr V S Tp Thermal Characteristics Ring c transistor Ring c diode Rin c s Dimensions and Weight Length mm Width mm Height mm Weight g Forward conduction voltage drop v s forward current Ip Reverse recovery time v s current Ip Peak reverse recovery current v s current Ip Reverse recovery charge Q v s current Ip Transistor junction to case thermal resistance in C W Diode junction to case thermal resistance in C W Case to sink thermal resistance in C W Length of the device in mm Width of the device in mm Height of the device in mm Weight of the device in g The losses Poona o gt Psw o Pcond_ D and Psw p in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot be floating and must be connected to ground IGBT Loss Calculation An IGBT device in the database can be selected and used in the simulation for loss calculation An IGBT device in the Thermal Module library has the following parameters Thermal Module 53 54 Attributes Peona Q Calibration Factor Psw Q Calibration Factor Poond p Calibration Factor Poy p Calibration Factor Parameters Description Device The specific device selected from the devic
124. example if the delay angle is 10 deg the gating pattern will be leading the synchronization signal by 10 deg Image Enable Disable Delay Mod Sync Angle Index Signal 176 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 ky Gn Fy 2 gt Grin 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 i 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
125. exp2 gt 20 Magnetic Elements 35 2 6 Other Elements 2 6 1 Operational Amplifier Three op amp elements are provided in the PSIM Library Op Amp Op Amp 1 and Op Amp 2 An ideal operational amplifier op amp is modelled using power circuit elements as shown below Images Op Amp Op Amp 1 Op Amp 2 Vv v Vi Vo Vo Vo V4 V4 vV gnd gnd Circuit Model of the Op Amp AAA et y V4 A Ro A Yy vo c A V V vel Vst SIO gnd where V V noninverting and inverting input voltages Vo output voltage A op amp gain A is set to 100 000 Ro output resistance R is set to 80 Ohms Attributes Parameters Description Voltage Vs Upper voltage source level of the op amp Voltage Vs Lower voltage source levels of the op amp 36 Power Circuit Components 2 6 2 The difference between the element Op Amp and Op Amp 1 or Op Amp 2 is that for the Op Amp element the reference ground of the op amp model is connected to the power ground whereas for Op Amp 1 or Op Amp 2 the reference ground node of the model is accessible and can be floating Note that the image of an op amp is similar to that of a 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 sho
126. formation They convert three voltage quantities from one coordinate to another These blocks can be used in either the power circuit or the control circuit Images ABC to DQO DQO to ABC a dix d a e b fo q bh Cc ie o Z ie 0 0 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 Also if an input terminal is not used such as in the DQO to ABC transformation block where only Phase D and Q are not used and Phase O is not used it must be connected to ground The transformation equations from abc to dqo are l l l 2 2 2 The transformation equations from dqo to abc are Other Components cos cos 0 22 cos 0 zm sin sin 0 22 sin 0 zm 4 7 3 cos sin 1 a Vv ahs cos 0 2z sin 0 2z 1 v 3 3 Ye cos 0 zm sin 0 zz 1 Yo Example In this example three symmetrical ac waveforms are transformed into dqo quantities The angle O is defined as O t where 2n 60 Since the angle changes linearly with time a piecewise linear voltage which has a ramp waveform is used to represent 0 The simulation waveforms show the three phase ac top the angle O middle and the dqo output In this example the q component is constant and both the d and the o components are zero vd vq
127. forms on the screen to the clipboard To save the memory and have the waveform image in black amp white first go to Option and de select Color to have a black amp white display then copy the waveform to the clipboard 226 Waveform Processing 7 3 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 Choose X Axis Variable By default the first column of the data is selected as the X axis However other columns can also be selected as the X axis through this function The dialog box of the X Y axis settings are shown below Scale Range Grid Division giy MV Auto Scale MV Auto Grid D From jo No of Division To 0 4 j Cancel If the Auto Scale and Auto Grid boxes are checked 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 By default the first column of the data which is usually Time is used as the X axis However any other column of the data can be used as the X axis For example the following figure shows a sine waveform as the X axis versus a cosine waveform in the Y axis KR2 150 00 100 00 BO OD eaa a aaa 0 00 50 00 100 00 150 00 150 00 100 00 50 00 0 00 50 00 100 00 150 00 KR1 Axis Menu 227 7 4 Screen Menu
128. g unconnected 4 winding unconnected Ato BL g at 3 A R P Saatat Ae a A AS a Bt b N c B b B b C c B B b Co c C ct bb ce At aar BB BB bb cet at bbs cc CC pe T ce Transformers 29 30 2 5 2 5 1 Attributes Parameters Description Rp primary Resistance of the primary secondary tertiary winding in R secondary Ohm R tertiary Ly pri leakage Leakage inductance of the primary secondary tertiary L sec leakage winding in H L ter leakage Lm magnetizing Magnetizing inductance in H seen from the primary side Np primary No of turns of the primary secondary tertiary winding N secondary N tertiary In the images P refers to primary S refers to secondary and 7 refers to tertiary All resistances and inductances are referred to the primary or the first primary winding side Three phase transformers are modeled in the same way as single phase transformers Magnetic Elements A set of magnetic elements including winding leakage flux path air gap linear core and saturable core is provided to model magnetic devices These elements are the basic building blocks of magnetic equivalent circuits and they provide a very powerful and convenient way of modeling any types of magnetic devices Winding A winding element provides the interface between the electric circuit and the magnetic equivalent circuit Image E 2 M gt Po
129. 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 nes Fa ka Brushless DC Motor Har BDCM voc t Ha Da cae 300 boa 5 dx Ra he L Tem_BDChMt 1 la lb l Time ms Power Circuit Components Example Brushless DC Motor with Speed Feedback The figure below shows a brushless dc motor drive system with speed feedback The speed control is achieved by modulating sensor commutation pulses Vgs for Phase A in this case with another high frequency pulses Vgfb for Phase A The high frequency pulse is generated from a dc current feedback loop The simulation waveforms show the reference and actual mechanical speed in rpm Phase A current and signals Vgs and Vgfb Note that Vgfb is divided by half for display purpose j nes BE jex Brushless DC Motor aac BDCH allen Se a the he he OO os 300 no nef Ygfb eH i E Vgs CH x hn ref y s m HEE AHE
130. ge Tstep Time Trep at which the step change occurs For the Step 1 type source Parameters Description Vstep1 Value Vstep before the step change Vstep2 Value Vstep2 after the step change Tstep Time T tep at which the step change occurs T_transition Transition time Tyansition OM Vgtep1 tO V step The specifications of the voltage step sources are illustrated as follows Step Type Step 1 Type V step V step2 T transition step 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 The values and times can be entered either separately or in pair Images Voltage Current t E Sources 163 Attributes For the sources that define the values and times separately Parameters Description Frequency Frequency of the waveform in Hz No of Points n No of points Values V1 Vn Values at each point Time T1 Tn Time at each point in sec For the sources that define the values and times in pair Parameters Description Frequency Frequency of the waveform in Hz Times Values tl v1 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
131. he 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 154 Control Circuit Components Control in Simulink Solver Type Variable step ZOH Sample Time 2 us Scope Constant Gain Zero Order Scope2 Hold Integrator SiMcoupler Therefore Simulink must be set up to have the Solver Type as 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 155 156 Control Circuit Components 4 4 1 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 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 Rl 12 3 or a mathematical expression e g R3 R1 R2 2 The name and the value can be separated by either an equation sign e g R1 12 3 or a space e g
132. he device stops conducting and returns to the OFF state for thyristor only Latching Current Minimum ON state current required to keep the device in the ON state after the triggering pulse is removed for thyristor only Initial Position Flag for the initial switch position for thyristor only Current Flag Flag for switch current output Note that for the TRIAC device the 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 and the other is to use a switch controller The gate node of a thyristor or TRIAC must be connected to either a gating block or a switch controller The following examples illustrate the control of a thyristor switch Examples Control of a Thyristor Switch Gating Block t Dk ai vs R Alpha Y Controller 14 Power Circuit Components 2 2 3 This circuit on the left uses a switching gating block The switching gating pattern and the frequency are pre defined and remain unchanged throughout the simulation The circuit on the right uses an alpha switch controller 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 signal is high when a voltage of 1V or higher is applied to
133. hine as a generator at 1000 rpm and measuring the peak line to line voltage No of Poles P Number of poles P Moment of Inertia Moment of inertia J of the machine in kg m Mech Time Constant Mechanical time constant T mech Torque Flag Output flag for internal developed torque Tom Master slave Flag Master slave flag of the machine 1 master 0 slave 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 For more details on the definition and use of the master slave flag refer to Section 2 8 1 The equations of the permanent magnet synchronous machine are Va R 0 0 ia j Aa v 0 R 0f t7 Ap Ve 0 OR Ji he where va Vp Ve and ig i and ic and q p 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 Motor Drive Module 81 cos Na Laa Lab Digg i 2 Al Loa Lon Lonel fin Apm ae coe Boake sede j c ca ch cc le cos 0 where 0 is the rotor electrical angle and Apn is a coefficient which is defined as 60 V krpm pm J3 m P 1000 where P is the number of poles The st
134. ice View Help Device D S e oe File Name database Manufacturer Powerex T Patt Number CN240610 IGBT eae aa 3 MOSFET files _ p Package ES ual Type z Device Device Type information All Types T Absolute Maximum Ratings TEON Vim max V 600 IF max A 100 Timax oC 150 V4 Al Manufacturers gt Electrical Characteristics Pat Number Votege Cwen VdvelF Edt tvsiF Edt Inv IF Edf Quv s IF Edt IKF CM1000HA 24H 1200 1000 i IK cMto0TU 12H 600 100 I cMeooDu 24F 1200 600 rt gt H CN240610 600 100 gt C5240650 600 50 Thermal Characteristics Dimensions and Weight Device Erara e as Rihi c 05 Rihfesk 0 4 Length mm 535 Width mm 36 5 list KF SKM300GARO 600 400 fallin ofA Height mm 31 Weight g 1S F E Ready To create a new device file choose File gt New Device File To load a device files into the editor choose File gt Open Device File To unload a device file from the editor choose File gt Close Device File Three types of devices can be added to a device files diode IGBT and MOSFET However since dual IGBT diode modules have a different set of parameters as compared to the regular IGBT devices they are treated as a separate type referred to as the IGBT DIODE type The sections that follow describe in more details each type of devices To create a new device go to the Device menu and choose either New Diode New IGBT New IGBT Diode or New M
135. ick on OK to close the window and go back to the Editing a Circuit 205 Custom Toolbars window Check new in the Custom Toolbars dialog window and the new toolbar will appear Uncheck the box will hide the toolbar Customizing Keyboard To define the key r for getting a resistor from the library for example do the following Choose View gt Custom Keyboard The Custom Toolbars dialog window will appear Choose New Toolbar and the following window will appear Customize Keyboard E Add Shortcut Key Current Shortcut Keys Elements Commands ACSWEEP ACSWEEP FILE FILE Flip T B F3 PARAMSWEEP Heb Index F1 1 channel Scope hal ra 1 channel Scope Be A Pity 1 ph 3 w Transforme aste rl 1 ph 3 w Transforme Print Ctrl P 1 ph 4 w Transforme Press new shortcut key Save Ctrl S ph 4 w Transforme Switch to next pane F6 ph 5 w Transforme ph 5 w Transforme ph 5 w Transforme x Ext OOO gt Switch to previous Shift F6 F4 Close Assign Top Page Pa In the section Add Shortcut Key select the option Elements Then find and highlight the element Resistor Move the cursor into the input field of Press new shortcut key and press the key r on the keyboard Then click on Assign The key r will be assigned to the resistor and the definition will appear in the Current Shortcut Key list 6 3 Saving a File After a schematic is creat
136. in Simulink Control Circuit Components fZ PSIM C Fliers Simcoupler PMSM_psim sch 5 xj Fa File Edit View Subcircuit Elements Simulate Options Window Help 18 x njejes Haea ae Ae elele Fl a D th Bb ABS Power gt Sr lon ee lee in PSIM l Ae gt H BHH I 3 File pmsm_psim sch Ta Wrpm gt 3 1b i S Ic Elpmsm_simulink File Edit View Simulation Format Tools Help DSBS tree n eale amp lol xi W_ret RPM Control in SimuLink iq Integrator File pmsm_simulink mdl reas rose l bds The following are the steps to set up SimCoupler for PSIM Matlab Simulink co simulation for the example above Adding the SimCoupler Block to the Simulink Library Run the program SetSimPath exe to add the SimCoupler block to the Simulink library and set up the SimCoupler Module for co simulation of PSIM and Matlab Simulink After the execution the SimCoupler block will appear as S function SimCoupler in the Simulink Library Browser Note that this step is necessary otherwise Simulink will not be able to find PSIM With this it is also not necessary to manually add the PSIM folder to the Matlab path Also this program needs to be run only once It needs to be run again only if the PSIM folder or Matlab folder has changed SimCoupler Module 151 In PSIM After the rest of
137. ion block performs the convolution of two input vectors vector Image The output is also a or Let the two input vectors be A am Am Amz a1 Digital Control Module B bn bn 1 bn 2 b1 We have the convolution of A and B as C A B Cm n 1 Cm n 2 c where ci apg bj 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 3 5 7 Memory Read Block A memory read block is used to read the value of a memory location of a vector Image scu 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 3 5 8 Data Array This is a one dimensional array The output is a vector The data are either entered directly the element is called Array in the PSIM library or specified in a file the element is called Array 1 in the PSIM library 146 Control Circuit Components Image Attributes Parameters Description
138. ion of each field is as follows Name Name ofthe new element as it appears in the PSIM library Description Description of the new element File Path The location of the subcircuit schematic file LC_filter sch The subcircuit file must be placed in the lib sub folder in the PSIM directory Hide menu Leave this box unchecked If this box is checked this element will not appear in the library Help File On line help file associated with this element Help ID The ID used in the help map file to link the designated help page Click on the buttons Save Image Library and Update Menu The new element will appear in the library and will be ready to use 220 Circuit Schematic Design Creating the On Line Help File for the New Element An on line help file can be created for this new element so that when the Help button is clicked in the property dialog window the corresponding help page will come up The following is the procedure to create the help file using Microsoft Help Workshop Prepare the help content in the rtf file LC_Filter rtf using Microsoft Word Note that the footnote of the file should look as follows LC_FILTER SLC_FILTER KLC_FILTER LC filter Here the label is used to link the help page with the LC filter element in PSIM The k label will appear in the Index in the Help file and the label is not used Prepare the help map file HelpMap txt It is a text file and has the following content
139. istance of the primary secondary tertiary winding in R secondary Ohm R tertiary L pri leakage Leakage inductance of the primary secondary tertiary L sec leakage winding in H seen from the primary L ter leakage Ln magnetizing Magnetizing inductance in H N primary No of turns of the primary secondary tertiary winding N secondary N tertiary Transformers 27 28 All the resistances and inductances are referred to the primary winding side If there are multiple primary windings they are referred to the first primary winding side For the transformers with more than 1 primary winding or more than 3 secondary windings the attributes are as follows Attributes Parameters Description R i primary i Resistance of the i primary secondary tertiary winding R secondary i in Ohm Lp pri 7 leakage Leakage inductance of the iy primary secondary tertiary L sec i leakage winding in H referred to the first primary winding Ln magnetizing Magnetizing inductance in H seen from the first primary winding N i primary i No of turns of the i primary secondary tertiary winding N Secondary All the resistances and inductances are referred to the first primary winding side Modeling of a Transformer A transformer is modeled as coupled inductors For example a single phase two winding transformer is modeled as two coupled inductors The
140. l effect sensor signal will align with the intersection of the rising ramp and the flat top of the back emf trapezoidal waveform Motor Drive Module 73 74 Conduction Pulse Position sensor conduction pulse width in electrical deg Width 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 Torque Flag Output flag for internal developed torque Tom Master Slave Flag Master slave flag of the machine 1 master 0 slave 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 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 For more details on the definition and use of the master slave flag refer to Section 2 8 1 The equations of the 3 phase brushless dc machine are di v R i L M p Ea di v R ip L M Ey gt c di v
141. l appear on the screen as a block Edit Subcircuit To edit the size and file name of the subcircuit Set Size To set the size of the subcircuit Place Port To place the connection port between the main circuit and the subcircuit Display Port To display the connection port of the subcircuit Edit Default To edit the default variable list of the subcircuit Variable List Edit Image To edit the subcircuit image Display Subcircuit To display the subcircuit name 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 Subcircuit 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 z Utt in ut File chop sch File chop_sub sch 6 4 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
142. l be calculated based on and Z If both are not given the losses will be treated as 0 Example Diode Loss Calculation The circuit below shows a sample circuit that uses the Powerex s discrete diode CS240650 600V 50A The conduction losses and the switching losses are measured through two ammeters Power Circuit Components Once the information of the losses is available by building the thermal equivalent circuit the device junction temperature can be calculated The circuit shows a thermal circuit without considering the thermal transient Rth_ic Rth cs F_heatsink 2 7 4 IGBT Device in the Database An IGBT device has three types of packages discrete dual or 6 pack For the dual package both the top and the bottom switches can be IGBT s full bridge configuration or one of the switches is IGBT and the other is a free wheeling diode half bridge configuration For the half bridge dual IGBT device since the free wheeling diode parameters can be different from these of the anti parallel diode this type of device is referred to as the IGBT Diode device and is treated as a different type in the simulation But for the convenience of discussion both devices are referred to as the IGBT devices here The following information is defined for an IGBT device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Package It can be discrete dual or
143. le Menu has the following functions Open Load a data file in ASCII text format with txt extension or SIMVIEW binary format with smv extension Merge Merge another data file with the existing data file for display Re Load Data Re load data from the same text file Save As Save the waveforms to either binary data format or text format When saving to the binary format the current settings are also saved In the FFT display this will save the FFT results to a text file specified by the user Print Print the waveforms Print Setup Set up the printer Print Page Setup Set up the hardcopy printout size Print Preview Preview the printout Exit Quit SIMVIEW When the data of a file are currently being displayed if new data is available by selecting Re Load Data new data will be loaded and waveforms will be re drawn 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 If the second file also contains a curve with the same name I1 it will be modified to I1_1 automatically 7 2 Edit Menu The Edit Menu has the following functions Undo Go back to the previous X and Y axis settings Copy to Clipboard Copy the waveforms to the clipboard Note that the Copy to Clipboard function will copy the displayed wave
144. ll 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 brushless motor If the trigger magnets are separate they should have the matched pole spacing with respect to the rotor magnets and should be mounted on the shaft in close proximity to the hall switches If the trigger magnets use the rotor magnets of the machine the hall switches must be mounted close enough to the rotor magnets where they can be energized by the leakage flux at the appropriate rotor positions Example Start Up of an Open Loop Brushless DC Motor The figure below shows an open 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
145. lpha degrees is generated and sent to the thyristors The alpha value is updated instantaneously Image Enable Disable Sync Signal alpha Attributes Parameters Description Frequency Operating frequency of the controlled switch switch module in Hz Pulse Width On time pulse width of the switch gating in deg The input for the delay angle alpha is in deg Switch Controllers 175 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 0 00 10 00 20 00 30 00 40 00 50 00 Vsync Time ms 4 6 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
146. lter 2 2 sS tO G s k gt s B sto Computational Function Blocks Summer The input of a one input summer or two input summer can be either a scalar or a vector The input of a three input summer can only be a scalar Images l input 2 input 2 input 3 input oF Input 1 C Input 1 Input 1 4 Input 2 Input 2 Input 2 Input 3 Attribute Parameter Description Gain_i Gain k for the ig input For the three input summer the input with a dot is the first input If the inputs are scalar the output of a summer with n inputs is defined as V kV tk V k V o If the input is a vector the output of a two input summer will also be a vector which is defined as Computational Function Blocks 117 118 3 2 2 3 2 3 V ay a ag V gt b bp by VY V Vo aytby agthy antby 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 a az a Multiplier and Divider The output of a multipliers or divider is equal to the multiplication or division of two inputs Images Multiplier Divider o 5 Numerator o g o Eg E Denioiinator For the divider the dotted node is for the numerator 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
147. modelled by a circuit as shown below Images Zener K K Circuit Model w Vs CY A A Attributes Parameters Description Breakdown Voltage Breakdown voltage Vz of the zener diode in V Forward Voltage Drop Voltage drop of the forward conduction diode voltage drop from anode to cathode in V Current Flag Flag for zener current output from anode to cathode When the zener diode is positively biased it behaviors as a regular diode When it is reverse biased it will block the conduction as long as the cathode anode voltage Vx is less than the breakdown voltage Vp When V4 exceeds Vp the voltage Vx will be clamped to Vz Note when the zener is clamped since the diode is modelled with an on resistance of 10 the cathode anode voltage will in fact be equal to Vg4 Vg 10uQ I 4 Therefore depending on the value of Ig4 Vga will be slightly higher than Vp If In is very large Vx can be substantially higher than Vg 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 opposite thyristors connected in parallel Switches 13 Images Thyristor TRIAC A K ae Gate Attributes Parameters Description Voltage Drop Thyristor conduction voltage drop in V Holding Current Minimum conduction current below which t
148. n on how to use the Embedded Software Block please refer to the document Help Embedded Software Block pdf Function Blocks 191 192 Other Components 5 Analysis Specification 5 1 Transient Analysis The transient analysis is set up by selecting Simulation Control in the Simulate menu in PSIM and defining the parameters as follows Time Step Total Time Free Run checkbox Print Time Print Step Load Flag Save Flag Simulation time step in sec Total simulation time in sec When the Free Run checkbox is not checked the simulation will run up to the Total Time and then stop But when it is checked the simulation will run in the free run mode and it will keep on running until manually stopped In the free run mode voltage current scopes can be used to monitor and display voltages and currents in the middle of the simulation Time from which simulation results are saved to the output file No output is saved before this time 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 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 Flag for the SAVE function If the flag is 1 values at the end of the current simulation will be saved t
149. ng frequency of 10 kHz and the Thermal Module 49 50 parameter Frequency is also set to 10 kHz the losses will be the values for one switching period However if the parameter Frequency is set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter Peona Calibration Factor is the correction factor for the conduction losses For the example if the calculated conduction losses before the correction is P then cond cab P Keond Peond cal cond Similarly the parameter P Calibration Factor is the correction factor for the switching losses For the example if the calculated switching losses before the correction is Pew cap then P sw K SW Po sw_cal Conduction Losses The diode conduction losses is calculated as Conduction Losses V4 Ip where V is the diode voltage drop and Ip is the diode forward current Switching Losses In calculating the switching losses the diode turn on losses are neglected and are not considered The diode turn off losses due to the reverse recovery is calculated as Turn off Losses 1 4 Q VR f where Q is the reverse recovery charge Vp is the reverse blocking voltage and fis the frequency as defined in the input parameter Frequency The reverse recovery charge Q is defined as Qn 1 2 byr Ly Whenever Q is given in the device database the losses will be calculated based on Q If Q is not given the losses wil
150. nother way is to add the custom model directly to an image library The advantage of this approach is that the custom element will have the same look and feel as the standard PSIM elements giving it a better interface It is also possible to associate a help file to the custom model Below are the procedures to add the custom models to the PSIM library 6 6 1 Adding a New Subcircuit Element into the Library There are three main steps to add a new element modeled in a subcircuit into the PSIM library Create the subcircuit model of the new element Add this element to the PSIM library Create an on line help file for this new element To illustrate this process a LC filter element is used as an example Creating the Subcircuit The first step is to create the subcircuit of the new element in the same way as if the subcircuit is to be called by another circuit For example the subcircuit of the 2nd order LC filter called LC_filter sch and its image are shown below Circuit Schematic Design PSIM Subcircuit Image C PSIM7 0 Fa File Edit view Window L C O In this case the inductance and capacitance values will be defined through the interface and need to appear in the property window of the new LC filter element Therefore the parameter value for the inductance needs to be defined as a variable in this case L and the value for the capacitance as C Then from Subcircuit gt
151. ns of a square wave source are illustrated as follows V offset When the phase delay O is positive the waveform is shifted to the right along the time axis Triangular Source A triangular wave voltage source 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 Voltage Current t Sources 161 Attributes Parameters Description Vpeak peak Peak to peak amplitude Vp Frequency Frequency in Hz Duty Cycle Duty cycle D of the rising slope interval DC Offset DC offset Vo fret Phase Delay Phase delay 0 of the waveform in deg The specifications of a triangular wave source are illustrated as 4 Voffset T 1 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 Two types of step sources are provided one that changes from 0 to a certain level refer to as Step in the library and the other that changes from one level to another level referred to as Step L in the library Images Voltage Current t 162 Other Components Attributes For the Step type source Parameters Description Vstep Value Vstep after the step chan
152. nt Torque Load 98 2 11 1 2 Constant Power Load 99 2 11 1 3 Constant Speed Load 100 2 11 1 4 General Type Load 100 2 11 1 5 Externally Controlled Load 101 2 11 2 Gear Box 101 2 11 3 Mechanical Coupling Block 102 2 11 4 Mechanical Electrical Interface Block 102 2 11 5 Speed Torque Sensors 105 2 11 6 Position Sensors 107 2 11 6 1 Absolute Encoder 108 2 11 6 2 Incremental Encoder 108 2 11 6 3 Resolver 109 2 11 6 4 Hall Effect Sensor 110 3 Control Circuit Components 3 1 3 2 Transfer Function Blocks 111 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 Proportional Controller 112 Integrator 113 Differentiator 115 Proportional Integral Controller 115 Built in Filter Blocks 116 Computational Function Blocks 117 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 2 7 Summer 117 Multiplier and Divider 118 Square Root Block 118 Exponential Power Logarithmic Function Blocks 119 Root Mean Square Block 119 Absolute and Sign Function Blocks 120 Trigonometric Functions 120 3 3 3 4 3 5 3 2 8 Fast Fourier Transform Block 121 Other Function Blocks 122 3 3 1 Comparator 122 3 3 2 Limiter 122 3 3 3 Gradient dv dt Limiter 123 3 3 4 Trapezoidal and Square Blocks 123 3 3 5 Sampling Hold Block 124 3 3 6 Round Off Block 125 3 3 7 Time Delay Block 126 3 3 8 Multiplexer 127 3 3 9 THD Block 128 Logic Components 129 3 4 1 Logic Gates 129 3 4 2 Set Reset Flip Flop 130 3 4 3 J K Flip Flop 131 3 4 4 D Flip Flop 131 3 4 5 Mon
153. o a file with the ssf extension With the SAVE and LOAD functions the circuit voltages currents and other quantities can be saved at the end of a simulation session and loaded back as the initial conditions for the next simulation session This provides the flexibility of running a long simulation in 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 Transient Analysis 193 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 PSIM an interpolation technique is implemented which will calculate the exact switching instants With this technique the error due to the misalignment of switching 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 the time step set by the user and the smaller value of the two will be used in
154. ock 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 appear as follows 212 Circuit Schematic Design F PSIM Subcircuit Image C psim6_demo sub File Edit view Window Hwee eea alesis zlef alo we Subcircuit Image C psim6_de 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 4 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 Elements 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 Elements menu may look like this Power Control Other Sources Symbols User Defined Subcircuit 1 Project A Subcircuit 2 Subcircuit 213 Subcircuit 3 Project B Subcircuit 4 In this way common used custom built subcirc
155. om Keyboard To customize keyboard Functions can be assigned to the keyboard for easier circuit editing The procedures for create customized toolbars and to customize keyboards are described below Customizing Toolbars To create a toolbar called new and add the AND gate to the toolbar for example do the following Choose View gt Custom Toolbars The Custom Toolbars dialog window will appear Choose New Toolbar and the following window will appear Toolbar Name fo Toolbar Cancel iconarea Predefined Image Command icon images Load Button _ Ea Add Button Add Separator Update Button Insert Button Insert Separator Delete Button Delete Separator r Edit Image r Edit Command aa A Elements Commands PARAMSWEEP 1 channel Scope 1 ph 3 w Transform 1 ph 4 w Transform 1 ph 5 w Transform 1 ph 5 w Transform 1 ph 6 w Transform 1 ph 7 w Transform 1 pl 1 pl Icon editing area h 8 w Transform Print Selected h Diode Bridge wf Print Selected Prev w 4 gt 4 Specify the Toolbar Name as new Draw the AND gate icon in the icon editing area Or if the icon is already available in the predefined icon images select the icon and copy it to the icon editing area Under the Edit Command section with the option Elements selected highlight AND Gate Then click on the Add Button The icon will appear in the toolbar icon area Cl
156. on for initialization RunSimUser Fen The function that is called at each simulation step CloseSim User Fen The function that is called only once at the end of the simulation for termination When one of the choices is selected the area underneath shows the corresponding code The complete code consists the combined code of all the four parts Function Blocks 185 Script Block x Parameters Color Input output ports n r Block umber of Input Output Ports Name fscB2 E Input 0 Output 0 Function C C Code selection Function Type Variable Function Definitions OpenSimUser Fen C CloseSimUser Fen g_nStepCount In case of error uncomment next two lines Set pnError to 1 and copy Error message to szErrorMsg pnError 1 sticpy szErrorMsq Place Error description here Area for custom code Edit Image Check Code Click on the Check Code button to check if the code has any compiling errors Click on the Edit Image button to customize the image of the C script block The difference between the C script block and the external DLL block is that even though the C script block is easier to use it does have the disadvantage that the custom code in the C script block can not be debugged while in the external DLL block it is possible to set break points and trace step through the code for debugging 4 7 6 External DLL Blocks An
157. on the upper or down arrow The OUT Nodes are the nodes through which JMAG passes the values back to PSIM In the MagCoupler block image the order of the output nodes is from the top to the bottom The order can be changed by highlighting the node and click on the upper or down arrow By clicking on the Edit Image button one can edit and customize the image of the MagCoupler block Clicking on the Display File button will display the Link Table File in the Microsoft Internet Explorer environment and clicking on the Read File button will read or re load the Link Table File Set up in JMAG and PSIM Using the MagCoupler block it is easy to set up the link between JMAG and PSIM for co simulation It involves two main steps setting up the circuit in JMAG and generating MagCoupler Module 91 92 the link table file and loading the link table file into PSIM An inductor example below is used to illustrate this process In the PSIM circuit of this example the circuit on the left uses the built in inductor element from the PSIM library and the circuit on the right has the inductor implemented in JMAG In this case the inductor is modelled as a controlled current source in PSIM The voltage across the inductor is first converted to a node to ground voltage through a voltage controlled voltage source and the value is passed to the input node VL of the MagCoupler block At each time step PSIM calls JMAG functions which calculate the inducto
158. one integral environment The MagCoupler Module includes the MagCoupler interface block as described in this section and mechanical elements and speed torque position sensors as described in Section 2 11 To run the MagCoupler Module the path of the JMAG directory must be included in PSIM so that PSIM can load JMAG DLL files To set the JMAG directory path in PSIM go to Options gt Set Path and click on Add Folder to include the JMAG directory Also the MagCoupler Module requires Microsoft Internet Explorer Version 6 or higher It will not work with Internet Explorer Version 5 Image Block with 4 inputs and 4 outputs Attributes Parameter Description Link Table File The XML file that defines the interface between PSIM and JMAG It has the xml extension JMAG Input File The JCF input data file for JMAG It has the jcf extension Note that the xml file and the jcf file must be in the same directory JMAG Case Text Comments for the JMAG circuit IN Nodes Nodes that pass the values from PSIM to JMAG 90 Power Circuit Components OUT Nodes Nodes that pass the values from JMAG to PSIM The number of input and output nodes may vary depending on the actual number of input output nodes in a particular circuit The MagCoupler block accepts voltages currents and positions as inputs and it provides voltages currents positions torques and force as the outputs In PSIM the MagCoupl
159. ontrol 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 Simulink 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 153 Control in Simulink Solver Type Fixed step Time step 20 us Constant Gain Integrator Scope SilMcoupler 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 t
160. or the Black amp White option The Black amp White option will result in a smaller image file size To draw images on the schematic for display purposes The following images are provided line ellipse rectangle and half circle To add or remove the current scope for elements that have current flags After this is selected a scope image will appear with the mouse Then click on top of an element with the current flag and select the branch current name Select the branch current again to remove the current scope To show or hide the parameters of elements that can be changed at runtime in the middle of the simulation After this is selected the text of the parameter will appear Click on the text and a small dialog window will appear Enter the new value directly in the data field and click Apply Or alternatively click on the up down arrow keys on the keyboard to increase decrease the value In addition the following functions are provided in the View menu Zoom Element List Element Count 204 Circuit Schematic Design 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 To generate the parts list of the circuit To count the number of elements Voltage current probes and meters are not included in the element count Custom Toolbars To create customized toolbars Cust
161. ostable Multivibrator 132 3 4 6 Pulse Width Counter 132 3 4 7 Up Down Counter 133 3 4 8 A D and D A Converters 134 Digital Control Module 135 3 5 1 Zero Order Hold 135 3 5 2 z Domain Transfer Function Block 136 3 5 2 1 Integrator 138 3 5 2 2 Differentiator 139 3 5 2 3 Digital Filters 140 3 5 3 Unit Delay 143 3 5 4 Quantization Block 143 3 5 5 Circular Buffer 144 3 5 6 Convolution Block 145 3 5 7 Memory Read Block 146 3 5 8 Data Array 146 3 5 9 Stack 148 3 6 3 5 10 Multi Rate Sampling System 148 SimCoupler Module 150 3 6 1 Set up in PSIM and Simulink 150 3 6 2 Solver Type and Time Step Selection in Simulink 153 Other Components 4 1 4 2 4 3 4 4 4 5 4 6 4 7 Parameter File 157 Sources 158 4 2 1 Time 158 4 2 2 DC Source 158 4 2 3 Sinusoidal Source 159 4 2 4 Square Wave Source 160 4 2 5 Triangular Source 161 4 2 6 Step Sources 162 4 2 7 Piecewise Linear Source 163 4 2 8 Random Source 165 4 2 9 Math Function Source 165 4 2 10 Voltage Current Controlled Sources 166 4 2 11 Nonlinear Voltage Controlled Sources 168 Voltage Current Sensors 169 Probes and Meters 169 Voltage Current Scopes 172 Switch Controllers 174 4 6 1 On Off Switch Controller 174 4 6 2 Alpha Controller 175 4 6 3 PWM Lookup Table Controller 176 Function Blocks 179 4 7 1 Control Power Interface Block 179 4 7 2 ABC DQO Transformation Block 180 4 7 3 Math Function Blocks 181 4 7 4 4 7 5 4 7 6 4 7 7 Lookup Tables 1
162. ouble click on the MagCoupler block to bring out the property window click on the browser button A next to the Link Table File edit field to locate and select the file inductor_jmag xml After the file is read the property window will display the IN node VL and the OUT node iL Connect the MagCouple block to the rest of the circuit in the schematic The setup is now complete and the simulation is ready to run 94 Power Circuit Components 2 10 MagCoupler RT Module The MagCoupler RT Module provides interface between PSIM and JMAG RT data files JMAG RT is another way of modeling electromagnetic devices The JMAG RT data files are obtained by running the JMAG simulation in advance and are stored in a lookup table form During the PSIM simulation JMAG is no longer needed and PSIM interfaces directly with the JMAG RT data The biggest advantage of JMAG RT is that since the JMAG RT data files are obtained from the JMAG dynamic simulation the accuracy of the JMAG RT model is comparable to that of a JMAG dynamic model However since JMAG is not involved in the PSIM simulation the PSIM simulation is significantly faster The MagCoupler Module includes the MagCoupler RT blocks as described in this section and mechanical elements and speed torque position sensors as described in Section 2 11 Images MagCoupler RT PMSM Block MagCoupler RT Block A B C A A B B C C M amp 4 M htag Coupler AT hag
163. ouse 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 gi time 0 0196192 Frequency 50 9705 Time 0 0745033 Isb 25 8861 Isb 2 74662 Left mouse click Right mouse click Dm Once Measure is selected an individual curve can be selected by clicking on the pull down menu isb on the Measure toolbar The functions Max Min Next Max Next Min Avg and rms can be used to evaluate the curve Note that these functions are only enabled in the Measure mode 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 Escape To escape from the Zoom or Measure mode Waveform Processing 7 7 7 8 7 9 Standard Toolbar To enable disable standard toolbar Measure Toolbar To enable disable measure toolbar Status Bar To enable disable status bar Option Menu The Option Menu has the following functions FFT Perform the Fast Fourier Transform analysis Time Switch from the frequency spectrum display to time domain display Grid Enable or disable the grid display Color Set the curves to be either Color default or Black and White
164. p flop is A level triggered flip flop S R Q Qn 0 0 no change 0 T 0 1 T 0 1 0 T t not used level The truth table of a level triggered set reset flip flop is 130 Control Circuit Components on the other hand changes the states based on the input S R Q Qn 0 0 no change 0 1 0 1 1 0 1 0 1 1 not used 3 4 3 J K Flip Flop A J K flip flop is positive edge triggered Image oJ lhe a KE The truth table is J K D Q Qn 0 0 Tt no change 0 1 T 0 1 1 0 T 1 0 1 1 Toggle 3 4 4 D Flip Flop AD flip flop is positive edge triggered Image I Logic Components 131 132 3 4 5 3 4 6 The truth table is D Clock Q Qn 0 T 0 1 1 T 1 0 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 Its on time pulse width in second is determined by the control input Images Monostable Controlled Monostable of Ole orf oO o or o Oo o Attribute Parameter Description Pulse Width On time pulse width in sec
165. phase Current Flag _B branches respectively Current Flag C 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 t yee Attributes Parameters Description Total Resistance Total resistance of the rheostat R between Node k and m in Ohm Tap Position 0 to 1 The tap position Tap The resistance between Node k and t is R Tap Current Flag Flag for the current that flows into Node k 8 Power Circuit Components 2 1 3 Saturable Inductor A saturable inductor takes into account the saturation effect of the magnetic core Image Attributes Parameters Description Current v s Inductance Characteristics of the current versus the inductance i4 Li i2 L2 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 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 Inductance L i The inductance is defined as L i the ratio of v s i at each point The saturation characteristics are defined by a series of data points as i L1 i2 L2 i3 L3 etc Note that the
166. ple to implement a sinusoidal source the expression will be sin 2 3 14159 60 t 2 09 4 2 10 Voltage Current Controlled Sources The following types of controlled sources are available Voltage controlled voltage source Current controlled voltage source Voltage controlled current source Current controlled current source Variable gain voltage controlled voltage source Variable gain voltage controlled current source The controlling current of a current controlled source must come from a RLC branch Also for a controlled current source the controlling voltage or current can not be an independent source Note that controlled sources can be used in the power circuit only Images Voltage controlled Current controlled Current controlled 1 Variable gain voltage controlled g e j Vinl E Vim Variable gain Voltage controlled Current controlled Current controlled 1 voltage controlled Q o j J Vini x E Vim 166 Other Components Attribute Parameter Description Gain Gain of the source For voltage controlled sources the controlling voltage is from the positive node to the negative node For current controlled sources with an arrow pointing from one node to another 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 with a wire connecting the two nodes the
167. r current based on the voltage input This current is then sent back to PSIM in the voltage form and is used to control the current source that represents the inductor In the JMAG circuit of this example the voltage function on the left side receives the voltage from PSIM and through the current probe in series with the FEM coil the current is calculated and sent back to PSIM The inductor structure in the JMAG environment is shown on the lower right Circuit in PSIM file inductor_jmag sch inductor jmag xml In P3IE In JMAG Power Circuit Components The setup process of calling JMAG in PSIM through the MagCoupler block is as follows In JMAG In the JMAG circuit connect a voltage function to the right of the FEM coil Under Electrical Potential in the property window choose Constant Value and set Constant Value V to 0 Connect a current probe to the left of the FEM coil Connect another voltage function to the left of the current probe the circuit will look like what is shown above In the property window choose Cooperates with an external circuit simulator Highlight the inductor structure window Go to the menu Conditions gt Create Conditions From the Conditions List highlight Coupled External Circuit Simulator and click Modify On the Coupled External Circuit Simulator dialog window there are two lists The list on the right called JMAG contains
168. r induction machine The images and parameters are shown as follows Power Circuit Components Images aT Squirrel cage Squirrel cage Squirrel cage with neutral unconnected 8 IM as IM as IM K as bs bs bs bs cs cs cst cs ns Wound rotor Wound rotor a unconnected k 2 ast TM IM a as bst bs gt bs cst cs cs ns i ar br cr or art hrt ery C Attributes Parameters Description R stator L stator R rotor L rotor L magnetizing Ns Nr Turns Ratio No of Poles Moment of Inertia Torque Flag Master Slave Flag Stator winding resistance in Ohm Stator winding leakage inductance in H Rotor winding resistance in Ohm Rotor winding leakage inductance in H Magnetizing 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 T em Output flag for internal torque Master slave flag of the machine 1 master 0 slave Motor Drive Module 67 68 All the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 2 8 1 The models of the squirrel cage induction machine with and without the neutral are the same internally The operation of a 3 phase induction machine is described by the following equations rated ki lated
169. re 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 Ws 150 00 im alpha 30 deg F THD Ti i 0 00 0 02 0 04 0 06 0 08 010 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 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 Logic Components 129 Images AND 3 input AND 7 OR 3 input OR P NOT o NAND iD XOR NOR 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 Image 75 HR Oo Attribute Parameter Description Trigger Flag Trigger flag 0 edge triggered 1 level triggered An edge triggered flip flop only changes the states at the rising edge of the set reset input The truth table of an edge triggered fli
170. reference direction A constant torque load is expressed as Tae const The torque does not depend on the speed direction Power Circuit Components 2 11 1 2 Constant Power Load The image of a constant power load is Image ae Attributes Parameters Description Maximum Torque Maximum torque Tnax of the load in N m Base Speed Base speed npase of the load in rpm Moment of Inertia Moment of inertia of the load in kg m The torque speed curve of a constant power load is shown below Tmax Torque N m 0 Npase Speed rpm When the mechanical speed is less than the base speed gase the load torque is T a are When the mechanical speed is above the base speed the load torque is t To where P Tinax pase aNd pase 2N Mpase 60 The mechanical speed is in rad sec Mechanical Elements and Sensors 99 2 11 1 3 Constant Speed Load The image of a constant torque load is Image Wr Attributes Parameters Description Constant Speed rpm Speed constant in rpm Moment of Inertia Moment of inertia of the load in kg m A constant speed mechanical load defines the speed of a mechanical system and the speed will remain constant as defined by the speed constant 2 11 1 4 General Type Load The image of a general type mechanical load is as follows Image Attributes Parameters Descrip
171. rent 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 speed represents the mechanical power If the power is positive it is transferred in the direction of the speed m 2 11 6 Position Sensors Four types of position sensors are provided absolute encoder incremental encoder resolver and hall effect position sensor They are connected to the mechanical shaft similar to the speed sensor and torque sensor and the output signals are control signals Mechanical Elements and Sensors 107 108 2 11 6 1 Absolute Encoder An absolute encoder is a position sensor that provides the shaft position within a 360 range mechanical degree Image a I e Count Position Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Bits of Resolution Number of Bits of resolution N The encoder output resolution is determined by the number of bits N The encoder has two outputs one is the number of counts the range is from 0 to 2 1 and the other is the position in mechanical deg the range is from 0 to 360 An example of a PMSM drive system using the absolute encoder is given in the sample file Absolute Encoder PMSM Drive sch 2
172. s the frequency incremental step will be Af 1 Tiength 1 kHz The maximum frequency will be finax 1 2 At 50 kHz Error Warning Messages The error and warning messages are listed in the following E 1 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 E 2 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 Warning Messages 235 236 8 3 W 1 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 be cautious when analyzing the results
173. s hollow circles Select the subcircuit block and select Show Subcircuit Ports in the Subcircuit menu to display the port names as defined inside the subcircuit Connect the wires to the connection points accordingly Other Features of the Subcircuit This section describes other features of the subcircuit through the example shown below Circuit Schematic Design C psim6_demo main sch One Quadrant DC DC Circuit File File Parameter File Help Name FILE1 h ear y File CApsim6_dem I int Gating Block File main sch Inside the subcircuit L fin ENN O a ie in gt Q File sub sch 6 4 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 tha
174. select New Subcircuit If the file exists select Load Subcircuit instead A subcircuit block rectangle will appear on the screen Place the subcircuit 6 4 2 Creating Subcircuit Inside the Subcircuit To enter the subcircuit double click on the subcircuit block Create edit the content of the subcircuit circuit exactly the same way as in the main circuit To specify the subcircuit size select Set Size in the Subcircuit menu In this example the size is set to 4x7 width of 4 divisions and height of 7 divisions Note that the size of the subcircuit should be chosen such that it gives the proper appearance and allows easy wire connection in the main circuit Once the subcircuit is complete define ports to connect the subcircuit nodes with the corresponding nodes in the main circuit Choosing Place Port in the Subcircuit menu and a port image will appear After the port is placed in the 208 Circuit Schematic Design circuit a pop up window shown on the left below will appear zi Subcircuit port assignments Port Name SS d 1 OOO 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 defa
175. sses P con Maximum junction temperature Forward conduction voltage drop Vg v s forward current Ip Reverse recovery time v s current Ip Peak reverse recovery current v s current Ip Reverse recovery charge Q v s current Ip Junction to case thermal resistance in C W Case to sink thermal resistance in C W Length of the device in mm Width of the device in mm Height of the device in mm Weight of the device in g d and Pow in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the Poon d or P node and the ground When they are not used these two nodes cannot be floating and must be connected to ground 2 7 3 Diode Loss Calculation A diode device in the database can be selected and used in the simulation for loss calculation A diode in the Thermal Module library has the following parameters Attributes Parameters Description Device The specific device selected from the device database Frequency Frequency in Hz under which the losses are calculated Pong Calibration Factor Pw Calibration Factor The calibration factor K cond Of the conduction losses Poon The calibration factor K of the switching losses P The parameter Frequency refers to the frequency under which the losses are calculated For example if the device operates at the switchi
176. ssumed to be zero At the clock rising edge Qo will change to 1 Without delay the position of Q which should remain at 0 will toggle to 1 at the same time To prevent this a time delay element with the delay period of one time step needs to be Simulation Issues inserted between Qp 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 will be automatically inserted This is illustrated in the examples below Comparator Comparator i gt ea z Transfer Function AA Transfer Function 3 EA WS y ie R Z gi L hr me L y
177. stance R is 2 Pioss T rms R Air Gap The image and attributes of an air gap element are as follows Image M1 o M2 The input parameters of the air gap can be defined in two ways One is to define the air gap length and the cross section area and the other is to define the inductance factor Az They are as follows Attributes For the element Air Gap Parameters Description Air Gap Length The length of the air gap los inm Cross Section Area Cross section of the air gap 4 in m Resistance for Losses Resistance R in ohm that represents the losses due to the air gap fringing effect Current Flag Display flag of the current that flows through the resistor R Power Circuit Components For the element Air Gap 1 Parameters Description Inductance Factor A Inductance factor Az defined as the inductance per turn squared Resistance for Losses Resistance R in ohm that represents the losses due to the air gap fringing effect Current Flag Display flag of the current that flows through the resistor R The resistance R represents the losses due to the air gap fringing effect Assuming that the mmf magnetomotive force applied across the air gap is F the electric equivalent circuit of the air gap is as follows a S The mmf in the form of a voltage source applies across the capacitor the capacitance has the value of th
178. t 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 211 In the case where the same subcircuit is used several times in one main circuit different parameters can be assigned to the same variable For example if the subcircuit sub sch is used two times in above example in one subcircuit L can be defined as 3mH and in another subcircuit L can be defined as 1mH Note that this example also illustrates the feature that parameters can be defined as a 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 4 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 15 x Zj Haea alal z elel File Edit View Window AbiclebIrlolav N In the window the diamonds marked red are the connection nodes of the subcircuit bl
179. t voltage scopes have connecting terminals which can be connected to either power circuit nodes or control circuit nodes The scopes will display the node to ground voltages at these nodes The current scope on the other hand has no connecting terminals It is associated with any element that has the parameter of the current flag and it is enabled by right clicking on top of the element and selecting the branch current under the Current Scopes as shown below After the branch current is selected a check mark will appear in front of the branch current name Cut Copy Paste Disable Enable Attributes Runtime Yariables gt Current Scopes A R3 A Voltage Current Scopes 173 If the element has multiple current flags under the Current Scopes menu there will be multiply branch currents one corresponding to each current flag For example for a 3 phase resistor R1 under the Current Scopes menu there will be three branch currents IRI A I R1 B IR1I C The letter A B and C refer to Channel A B and C respectively For example if I R1 A I R1 B and I R1 C are all selected in the current scope one can go to the Channel pull down menu in the Channel section and select one of the channels for display If Channel A is selected the scope will show the Phase A branch current I R1 4 6 Switch Controllers A switch controller has the same function as a switch gate base drive cir
180. t 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 H z bot biez t by_y 2 9 by 2 If ay 1 the output y and input u can be expressed in difference equation form as y n by u n b u n 1 by u n N 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 by by ay by by an ag ay an Digital Control Module 141 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 fe fn 1 5 0 2 B A butter 2 fc which will give B 0 0201 0 0402 0 0201 b 5 bz A 1 1 561 0 6414 agp a a The transfer function is _ 0 0201 0 0402 z 0 0201 27 Hz ea ee a 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 bo by 0 0201 0 0402 0 0201 Coeff ag ay 1 1 561 0 6414 Sampling Frequency 10000 If the coefficients are stored in a file the file content will be 2
181. tep the border of the graph area is defined by first left clicking at the origin of the graph usually the lower left corner then left clicking again at the opposite corner of the origin usually the upper right corner Note that the graph origin does not have to be the lower left corner and it can be any one of the four corners To locate the origin of the corner more accurately right mouse click to zoom in and press the Esc escape key to exit the zoom After this a blue rectangle will appear around the border of the graph and the dialog window will appear as follows On state voltage drop YF v s IF d Joj xj Graph Conditions ls Click on the graph Wizard to proceed to the next step or if you wish to Redo this step Click on Back xo jo Xmax fo Xin Log 7 z yo jo Ymax fo YinLog M 7 Enter Values in following Format x1 y1 x2 y2 x3 y3 Opposite end of the origin Origin of the graph Then click on the forward wizard icon amp amp to move on to the next step In this step the x and y axis settings will be defined Enter the settings as Thermal Module 45 follows X0 1 Xmax 1000 YO 0 6 Ymax 2 6 X in log checked Click on the forward wizard icon amp to move on to the next step Left click on top of the graph to capture the data points In this case for example four data points at th
182. ter 3 phase VA Power Factor Meter 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 170 Other Components models to filter out the dc component The cut off frequency determines the transient response of the filter Except the voltage and current probes 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 o 2V gt sin ot 5 i t J21 sin t 01 2bsin m t 05 where is the fundamental frequency and all others are harmonic frequencies We have the rms values of the voltage and current as Ving JV V Tiis i D The apparent power is
183. ter slave flag for Shaft 2 The shaft with the bigger dot is Shaft 1 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 Ti To and we have Ti T r 1r 2 054 The two shafts of the gear box can be in either master mode or slave mode For more information on the definition and use of the master slave flag refer to Section 2 8 1 2 11 3 Mechanical Coupling Block The mechanical coupler block is used to couple two mechanical systems Image Mechanical System 1 Mechanical System 2 This block is used in situations where both mechanical systems have a device in the master mode and they must be connected together to form one system Based on the connection convention in PSIM a mechanical system can have only one master device In this case the mechanical coupling block can be inserted in between and the mechanical system on each side of the coupling block can have its own device in the master mode 2 11 4 Mechanical Electrical Interface Block This block allows users to access the internal equivalent circuit of the mechanical system of a machine Image Mechanical Side M E Electrical Side Power Circuit Components Attribute Parameter Description Master Slave Flag
184. tes 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 Transformer with 1 primary and 1 secondary windings Transformer with 1 primary and 2 secondary windings Transformer with 2 primary and 2 secondary windings Transformer with 1 primary and 4 secondary windings Transformer with 2 primary and 4 secondary windings Transformer with 1 primary and 6 secondary windings Transformer with 2 primary and 6 secondary windings 26 Power Circuit Components Images 2 winding 3 winding 5 winding 6 winding 7 winding 8 winding Lae te sil sil ey le ale4 P s P o t r3 pl 3 E E s2 2 Es E s4 3 2 windinge E 4 jue F In the images p refers to primary s refers to secondary and t refers to tertiary i ree 2 ho nn a ET mat rT ta an e X 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 Attributes Parameters Description R primary Res
185. th two three and four branches are provided Images 2 branch 3 branch 4 branch a otf YYY Le ot VT Le OCON r APA YN 0 a 4 oY Le deren on 24 Power Circuit Components Attributes Parameters Description L self Self inductance of the inductor i in H Li mutual Mutual inductance between Inductor i and j in H i initial Initial current in Inductor i Iflag 7 Flag for the current printout in Inductor i In the images the circle square triangle and plus marks refer to Inductor 1 2 3 and 4 respectively The following shows a coupled inductor with two branches Let L and L gt be the self inductances of Branch 1 and 2 and L43 and L gt the mutual inductances the branch voltages and currents have the following relationship vip _ Lu L dli Va La L2 dt ly The mutual inductances between two windings are assumed to be always equal i e L12 L 1 Example Two mutually coupled inductors have the self inductances and mutual inductance as Ly 1 mH Ly 1 1 mH and 1 L21 0 9 mH The specification of this element will be Ly self Im L mutual 0 9m Lp self 1 1m Coupled Inductors 25 2 4 Transformers 2 4 1 Ideal Transformer An ideal transformer has no losses and no leakage flux E 3 The winding with the larger dot is the primary and the other winding is the secondary Images Attribu
186. the simulation If the selected time step is different from the one set by the user it will be saved to the file message txt 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 voltage source as the excitation source for the ac sweep Place ac sweep probes at the desired output location To measure the loop response of a closed control loop use the node to node probe Place the ACSWEEP element on the schematic and define the parameters of the ac sweep Run the simulation Below are the images of the ac sweep probes and the ACSWEEP sweep element Images AC Sweep Probe AC Sweep Probe loop ACS WEEP gt AC mor Sweep ei 194 Analysis Specification 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 Flag for Points Flag to define how the data points is generated Flag 0 Points are distributed linearly in LOG1O scale Flag 1 Points are distributed linearly in linear scale Sour
187. the element To select a block of a circuit keep the left button of a mouse pressed and drag the mouse until the rectangle covers the selected area To copy an element or a block of the circuit select the element or the region and choose Copy Then choose Paste place the element or circuit To delete an element a block of a circuit or a wire select the item and choose Cut or hit the lt Delete gt key Note that if Cut is used the last deleted item can be pasted back This is equivalent to un do To move an element or a circuit block select the element circuit block and drag the mouse while keeping the left button pressed To place text on the screen choose Text Enter the text in the Editing a Circuit 203 Disable Enable Escape Copy to Clipboard Drawing Add Remove Current Scope Show Hide Runtime Variables 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 Quit from any of the above editing modes by choosing Escape To copy the schematic image to the clipboard which can then be pasted back in another software One can choose either the Color option
188. the gate node and the switch is positively biased collector emitter or drain source voltage is positive It is turned off whenever the gating signal is low or the current drops to zero For pnp BJT and p channel MOSFET switches are turned on when the gating signal 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 conducts currents in both directions It is on when the gating signal is high and is off when the gating signal is low regardless of the voltage bias conditions Note that a limitation of the BJT switch model in PSIM in contrary to the device behavior in the real life is that a BJT switch in PSIM will 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 Images GTO BJT BJT MOSFET MOSFET IGBT Bi directional npn pnp n channel p channel switch ee i a a Switches 15 16 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
189. the power circuit is created connect three SLINK_OUT nodes to the low pass filters of Phase 4 B and C currents and rename them as Ia 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 the SLINK IN nodes and Ia Ib Ic and Wrpm for the SLINK_ OUT nodes Save the schematic file In this example we assume that the file is saved to C PSIM pmsm_psim sch In Simulink Start Matlab Launch Simulink Open an existing file or create a new file After the rest of the system is created go to the menu S function SimCoupler in the Simulink Library Browser select the SimCoupler block and place it on the schematic In the PMSM example file double click on the SimCoupler block and click on the Browser button to locate and select the PSIM schematic file C PSIM pmsm_psim sch Then click on Apply The number of input and output ports of th
190. the previous value Image Note that the comparator image is similar to that of the op amp For the comparator the noninverting input is at the upper left and the inverting input is at the lower left For the op amp however it is the opposite Limiter The output of a limiter is clamped to the upper 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 HF fo Control Circuit Components Attributes Parameters Description Lower Limit Upper Limit Lower limit of the limiter Upper limit of the limiter 3 3 3 Gradient dv dt Limiter A gradient 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 oy 4 o Attribute Parameter Description dv dt Limit Limit of the rate of change dv dt of the input 3 3 4 Trapezoidal and Square Blocks Trapezoidal waveform blocks and square waveform blocks are specific types of lookup tables the output and the input relationship is either a trapezoidal or a square waveform Images Trapezoidal Waveform Square Waveform PCU CaF For the trapezoidal waveform block Attributes Parameters Description Rising Angle theta Rising angle 9 in deg Peak Value Peak value V of the wa
191. thmic function base 10 ABS absolute function SIGN sign function Example SIGN 1 2 1 SIGN 1 2 1 AVG average function INT integration function 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 Also in the property dialog window in the Curves tab the curve properties such as color line thickness and marker symbol can be defined In the Screen tab the screen properties such as foreground background colors grid color and font size type can be defined Measure Menu The Measure Menu has the following functions Measure Enter the measure mode Max Find the global maximum of a selected curve Min Find the global minimum of a selected curve Next Max Find the next local maximum of a selected curve Next Min Find the next local minimum of a selected curve Avg Calculate the average of a selected curve within the selected time Avg x Calculate the average of the absolute value of a selected curve within the selected time rms Calculate the rms value of a selected curve within the selected time Measure Menu 229 230 7 6 A region is selected by pressing the left button of the mouse and at the same time drag the mouse The Measure function allows the measurement of waveforms After Measure is selected the measurement dialog box will appear By clicking the left m
192. tiator Proportional Integral Controller The transfer function of a proportional integral PI controller is defined as l sT sT G s k Image a Transfer Function Blocks 115 116 3 1 5 Attributes Parameters Description Gain Time Constant Gain k of the PI controller 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 provided as built in modules in PSIM Images Low pass Filter High pass Filter Band pass Filter Band stop Filter E Ee E Attributes Parameters Description Gain Gain k Damping Ratio Damping ratio Cut off Frequency Center Frequency Passing Band Stopping Band Cut off frequency f f for low pass and high pass filters in Hz 0 Center frequency fy f a for band pass and band stop filter in Hz Frequency width f f of the passing stopping band for band pass band stop filters in Hz The transfer function of these filters are listed below For a second order low pass filter Control Circuit Components 2 Oo C i s 2 0 s tO 3 2 3 2 1 For a second order high pass filter 2 S OS kis ae s 208 O For a second order band pass filter B s 2 CS Ska ammm s B st o For a second order band stop fi
193. tion Te Constant torque term k coefficient Coefficient for the linear term ky coefficient Coefficient for the quadratic term k gt coefficient Coefficient for the cubic term Moment of Inertia Moment of inertia of the load in kg m A general type load is expressed as 100 Power Circuit Components T SIgn Om T k g OA k On ky lonl where is the mechanical speed in rad sec Note that the torque of the general type load is dependent on the speed direction 2 11 1 5 Externally Controlled Load An externally controlled mechanical load is used to define a load of an arbitrary load profile Image a0 Attributes Parameters Description Speed Flag Flag for speed dependency Moment of Inertia Flag 0 The load is frictional and is always against the rotational direction Flag 1 The load is independent of the rotational direction Moment of inertia of the load in kg m The value of the mechanical load is defined by the voltage value at the control node 1V corresponds to 1 N m This node is a control circuit node 2 11 2 Gear Box The image is a gear box is shown below Image Shaft 1 o o p o Shaft 2 Mechanical Elements and Sensors 101 102 Attribute Parameter Description Gear Ratio The gear ratio a Shaft 1 Master Slave Flag Master slave flag for Shaft 1 Shaft 2 Master Slave Flag Mas
194. tion Losses Veefsat Te Power Circuit Components where Vee sat 1S the transistor collector emitter saturation voltage and 7 is the collect current Switching Losses The transistor turn on losses is calculated as Transistor Turn on Losses Eon f where Epp is the transistor turn on energy losses and fis the frequency as defined in the input parameter Frequency The transistor turn off losses is calculated as Transistor Turn off Losses Eog f where off 1S the transistor turn off energy losses The loss calculation for the anti parallel diode or free wheeling diode is the same as described in the section for the diode device Example IGBT Loss Calculation The circuit below shows a sample circuit that uses Powerex s 6 pack IGBT module CM100TU 12H 600V 100A The conduction losses and the switching losses of the transistors and the diodes are added separately and a thermal equivalent circuit is provided to calculate the temperature raise With the Thermal Module users can quickly check the thermal performance of a device under different operating conditions and compare the devices of different manufactures Thermal Module 55 2 7 6 MOSFET Device in the Database The following information is defined for a MOSFET device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Package It can be discrete dual or 6 pack as shown in th
195. to avoid this ambiguity in PSIM the concept reference direction is used in the mechanical system so that the mechanical equation can be uniquely defined In a mechanical system one element is designated as the master unit this element is considered to operate in the master mode and the rest of the elements are in the slave Motor Drive Module 61 62 mode Elements that can be master units are Electric machines mechanical to electrical interface blocks gear boxes and devices modeled by Power Modeling Blocks The master unit defines the reference direction of the mechanical system The direction is define as the direction from the shaft node of the master unit along the shaft to the rest of the mechanical system Once the reference direction of the mechanical system is defined the speed and torque reference of the mechanical system can be defined For example if we use the right hand method with the thumb pointing in the reference direction of the mechanical system by rotating the right hand the fingers will point to the positive direction of the speed and the torque Moreover each mechanical element has its own reference direction The following diagram shows the reference direction of each mechanical element as indicated by the arrow Machines Mechanical Loads Encoders Speed Sensor Torque Sensor Gear Box Mechanical Electrical Interface Block ar A Hk tent The reference direction of each element and
196. uffer between the control and power circuit The output of the interface block is treated as a constant voltage source when the power circuit is solved With this block some of the functions that can only be generated in the control circuit can be passed to the power circuit Image C plb Example A Constant Power Load Model In a constant power dc load the voltage V current Z and power P have the relationship as P V I Given the voltage and the power the current can be calculated as P V This can be implemented using the circuit as shown below The load voltage is measured through a voltage sensor and is fed to a divider The output of the divider gives the current value Z Since the voltage could be zero or a low value at the initial stage a limiter is used to limit the current amplitude This value is converted into the load current quantity through a voltage controlled current source LOAD y I WN I HEH L A o Ea Cr 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 Function Blocks 179 180 Control Circuit Power Circuit a Ea 4 7 2 ABC DQO Transformation Block The ABC DQO function blocks perform the abc dqo trans
197. uit 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 and pnp transistors works well in simple circuits but may not work when circuits are complex Please use this model with caution Examples Circuits Using the Linear BJT Switch Examples below illustrate the use of linear switches 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 Power Circuit Components NPN 1 F 3 Z Ec BI Eb Veo T PME t vin 5 Ro see a NPN 1 2 2 5 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 the element is called Gating Block in the library or in a text file the element is called Gating Block 1 in the library 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 elements Image muj Attributes Parameters Description Frequency Operating frequency of the switch or switch module connected to the gating block in Hz No of Points Number of switching points for the Gating Block element only Switching Points Switching points in deg If the frequenc
198. uits can be grouped together and easily managed and accessed 6 5 Running the Simulation To run the simulation choose Run PSIM from the Simulate menu This will start the PSIM simulation To view the simulation results choose Run SIMVIEW from the Simulate menu To view the simulation results in the middle of the simulation one can either go to Simulate gt Runtime Graphs to select the waveforms or use the voltage current scopes under Elements gt Other gt Probes to view the waveforms The difference between the runtime graphs and the voltage current scopes is that only waveforms that are saved for display in SIMVIEW such as voltage probes current probes current flags etc are available for the runtime graphs In addition a runtime graph display the waveform in its entirety from the beginning to the final study time Because of this the runtime graphs are disabled in the free run mode as the final study time is undetermined On the other hand voltage current scopes can be used in either the one time simulation mode or in the free run mode Voltage scopes can be connected to any nodes and will display the node to ground voltage waveforms On the other hand current scopes are available to elements that have current flags such as R L C branches and switches Moreover in the free run mode the majority of the element parameters can be changed during runtime in the middle of the simulation This makes it possible to tune
199. ult 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 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 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 Subcircuit 209 6 4 3 210 6 4 4 Port Name in OOO int gt ut al op ji in ut i gt gt OOO 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 a
200. und the parameter values must be present The command line parameters are i Input schematic file name 0 Output file name in either txt or smv extension V Variable name and value This parameter can be used multiple times For example to define the resistance R1 as 1 5 and the inductance L1 as 0 001 we have v R1I 1 5 v L1 0 001 Running the Simulation 217 218 6 6 t Total time of the simulation S Time step of the simulation g Run SIMVIEW after the simulation is complete With the command line option one can run several circuits automatically in a batch run Managing the 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 gt Edit Library gt Edit Library Files and follow the instructions on the screen Any image libraries in the PSIM directory will be automatically loaded into PSIM There are two ways to add a custom model to the PSIM library list One is to have the model in the form of a subcircuit and then place the schematic file in a folder called user defined in the PSIM directory or in one of the sub folders of the user defined folder Any schematic files and sub folders under the user defined folder will appear in the PSIM library list A
201. ut of the range for example the row index is less than 1 or greater than m the output will be zero The 2 dimensional lookup table with floating point inputs is similar to the 2 dimensional lookup table with integer inputs The difference is that in this case inputs are floating point values and interpolation is used to calculate the output The data for the lookup table are stored in a file and have the following format Function Blocks 183 m n Vey V2 aoe Vom Vu Vegan Vee A 1 1 A 1 2 ACn A 2 1 A 2 2 A 2 n A m 1 A m 2 A m n where m is the number of rows and n is the number of columns JV is the row vector and V is the column vector and A i j is the output value at Row 7 and Column j Note that Vectors V and V must be monotonically increasing If the input falls between two points interpolation is used to calculate the value If the input is less than the minimum or greater than the maximum value the input will be set to be the same as the minimum or maximum value 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 10 1 5 2 Ce 10 20 The following shows a 2 dimensional lookup table with integer inputs 3 4 1 2 4 1 E E 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
202. veform Other Function Blocks 123 For the square waveform block Attribute Parameter Description Pulse Width deg Pulse width 0 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 Vo A Trapezoidal Waveform Vo A Square Waveform Vok a 1 0 Vin 0 FE 0 5 ao 180 360 Vpk i 1 I 0 3 3 5 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 Input p Key Le i 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 sampled The control signal is a square wave voltage source with an amplitude of 1 124 Control Circuit Components Yin Vo 100 00 oO 0 00 5 50 00 100 00 120 1 00 ogo f p 4 4 4 4 f L A Ea h Stapana eksi opkk b
203. vice database and calculates the conduction losses or switching losses The static characteristics of the device are updated for the next simulation Please note that the loss calculation is only approximation and the accuracy of the results depends on the accuracy of the device data as well as proper scaling of the results from the device test condition to the actual circuit operating conditions Users should always verify the results with the measurement from the hardware setup The following sections describe how a device is added to the database and how it is used in the simulation 2 7 1 Device Database Editor The device database editor PcdEditor exe provides an easy and convenient way of adding editing and managing devices An image of the database editor is shown below On the left are the device database files that are loaded into the database editor and the list of the devices The devices can be displayed based on either Device Type or Manufacturer Also the device list can be sorted by Part Number Voltage rating or Current rating by clicking on the title bars of the list On the right is the information of each device In general the following information is defined for the device Manufacturer and Part Number Package type Absolute maximum ratings Thermal Module 39 Electrical characteristics Thermal characteristics Dimension and weight lolx File Dev
204. wer Circuit Components Attributes Parameters Description Number of Turns Winding Resistance No of turns of the winding Winding resistance in Ohm This element represents a winding on a magnetic core The two electric nodes E and E are connected to an electric circuit while the two magnetic nodes M and M3 are connected to other magnetic elements such as leakage flux path air gap and magnetic core 2 5 2 Leakage Flux Path This element models the flow path of the leakage flux Image M 23 lt M Attributes Parameters Description Inductance Factor Ay Resistance for Losses Current Flag Inductance factor Az defined as the inductance per turn squared Resistance R in Ohm that represents the losses due to the leakage flux Display flag of the current that flows through the resistor R The resistance R represents the losses due to the leakage flux Assuming that the mmf magnetomotive force applied across the leakage flux path is F the electric equivalent circuit of the leakage flux path is as follows Magnetic Elements 31 32 2 5 3 eri F L The mmf in the form of a voltage source applies across the capacitor the capacitance is Az and the resistor R Let the current flowing through this branch be i and the rms value be J the relationship between the losses due to the leakage flux and the resi
205. window Place the cursor on top of the curve to read the x and y axis readings With the same process define the reverse recovery characteristics v s Ip L Thermal Module 47 v s Ip and Q V S Ip Enter the Thermal Characteristics as Rihgj c 0 6 Rih c s 0 4 Enter the Dimension and Weight as Length mm 53 Width mm 36 Height mm 29 Choose Device gt Save Device to save the device information This completes the process of adding the diode into the database 2 7 2 Diode Device in the Database The following information is defined for a diode device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Package It can be discrete or dual packages as shown in the figure below Discrete Dual Type I Dual Type II Dual Type IID Poy 2P cond In the images beside the diode anode and cathode terminals there are two extra nodes The node with a dot is for the diode conduction losses Poong and the node with no dot is for the diode switching losses P Absolute Maximum Ratings Virm max V Peak reverse blocking voltage If max A Maximum dc current 48 Power Circuit Components Tj max C Electrical Characteristics Va v s Ip tir V S Ip Lr V s Ip Qr v s Ip Thermal Characteristics Rihgj c Rih c s Dimensions and Weight Length mm Width mm Height mm Weight g The lo
206. ws a boost power factor correction circuit The PI regulators of both the inner current loop and the outer voltage loop are implemented using op amp Vin Tin 7 Vo if ee a ieee i a i k zw JES J rs D Comparptor dv dt Block A dv dt block has the same function as the differentiator in the control circuit except that it is for the power circuit Image odv dt bo The output of the dv dt block is equal to the derivative of the input voltage versus time It is calculated as V t Vin t At y 2 ee ee At Other Elements 37 38 2 6 3 where V t and V At are the input values at the current and previous time step and At is the simulation time step Power Modeling Block The Power Modeling Block is a type of external DLL block that allows users to define algebraic and differential equations for a device and to build a model in the power circuit Unlike conventional DLL blocks that have signal inputs and signal outputs with no consideration of the power conservation no input and output power balance the Power Modeling Block allows electric currents to flow in and out of the terminals and maintains the power balance The Power Modeling Block provides a very powerful way of modeling power devices It can have power terminals
207. ximum 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 oes EFT 0 Image Amplitude oy FFT Phase Angle Attributes Parameters Description No of Sampling Points No of sampling points N Fundamental Frequency 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 wt 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 vs 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 Computational Function Blocks 121 122 3 3 3 3 1 3 3 2 150 00 100 00 F 50 00 0 00 50 00 100 00 150 00 120 00 100 00 80 00 P 60 00 40 00 20 00 1 o 00 00 10 00 18 00 20 00 25 00 30 00 34 00 Time ms Other Function Blocks 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
208. y is zero the switching points is in second for the Gating Block element only File for Gating Name of the file that stores the gating table for the Gating Table Block 1 element only 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 Switches 19 For the Gating Block 1 element 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 345357 0 180 360 deg The specification of the Gating Block element for this switch will be Frequency 2000 No of Points 6 Switching Points 35 92 175 187 345 357 The gating pattern has 6 switching points 3 pulses The corresponding switching angles are 35 92 175 187 345 and 357 respectively If the Gating Block 1 element is used instead the specification will be Frequency 2000 File for Gating Table test tbl The file test tbl will contain the following 6 35 92 175 187 20 Power Cir
209. z z 2m 20 2m L ycos 20 22 L 00s 20 22 Le sin 20 zm 2 2m T i 2m L ycos 20 22 L gcos 20 zm Ly sin 20 22 Ly Ly O Liar Lay 0 Oi GES Motor Drive Module 79 3 3 where 0 is the rotor angle The developed torque can be expressed as r F le E The mechanical equations are dOn J dt Tem eda d P dt 2 Om 2 8 7 Permanent Magnet Synchronous Machine A 3 phase permanent magnet synchronous machine has 3 phase windings on the stator and permanent magnet on the rotor The difference between this machine and the brushless de machine is that the machine back emf is sinusoidal The image and parameters of the machine are shown as follows Image a aa PMSM b gt Shaft Node sale n Attributes Parameters Description R stator resistance Stator winding resistance in Ohm Lq d axis ind Stator d axis inductance in H 80 Power Circuit Components Ly q axis ind Stator q axis inductance in H The d q coordinate is defined such that the d axis passes through the center of the magnet and the q axis is in the middle between two magnets The q axis is leading the d axis Vpk krpm 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 mac

Download Pdf Manuals

Related Search

Related Contents

Der VenenWalker® » basic  Social - La CMU nouvelle : mode d emploi  ATP検査実例報告  Abrir manual - VBB Software  Libros recuperados - Instituto Geográfico Nacional  取扱説明書 - マッサージベッドのエンバシー  31326 CASTANET TOLOSAN CAHIER DES CLAUSES  MSDS-031102  

Copyright © All rights reserved. Failed to retrieve file