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PSIM User Manual

1. Voltage Probe Current Probe DC Voltmeter AC Voltmeter DC Ammeter AC Ammeter VP VP2 IP V DC V AC A DC A AC EnS HA sv L aly ls TA JA P Gy a ET TAF Wattmeter VAR meter 3 phase Wattmeter 3 phase VAR Meter W VAR W3 VAR3 Ei G 5 5 Attributes Parameters Description Operating Frequency Operating frequency or fundamental frequency in Hz of the ac meter Cut off Frequency Cut off frequency in Hz of the low pass high pass filter A low pass filter is used in the dc meter and wattmeter models to filter out the high fre quency components whereas a high pass filter is used in the ac meter and VAR meter models to filter out the dc component The cut off frequency determines the transient response of the filter Switch Controllers A switch controller has the same function as a switch gate base drive circuit in an actual circuit It receives the input from the control circuit and controls the switches in the power circuit One switch controller can control multiple switches simultaneously On Off Switch Controllers On off switch controllers are used as the interface between the control gating signals and the power switches The input which is a logic signal either 0 or 1 from the control cir cuit is passed to the power circuit as the gating signal to control switches Image ONCTRL 4 12 PSIM User Manual Switch Controllers
2. 1 3 Software Hardware Requirement PSIM runs in Microsoft Windows 95 or NT on PC computers The RAM memory require ment is 16 MB 14 Installing the Program A quick installation guide is provided in the flier PSIM Quick Guide Some of the files in the PSIM directory are Files Description psim exe PSIM simulator simcad exe Circuit schematic editor SIMCAD simview exe Waveform processor SIMVIEW simcad lib PSIM component library hip Help files sch Sample schematic circuit files 1 2 PSIM User Manual Simulating a Circuit File extensions used in PSIM are sch SIMCAD schematic file binary cct PSIM circuit file text txt PSIM simulation output file text smv SIMVIEW waveform file binary 1 5 Simulating a Circuit To simulate the sample one quadrant chopper circuit chop sch Start SIMCAD Choose Open from the File menu to load the file chop sch From the Simulate menu choose Run PSIM A netlist file chop cct will be generated PSIM simulator will read the netlist file and start simulation The simulation results will be saved to File chop txt Any warning messages occurred in the simulation will be saved to File message doc From the Simulate menu choose Run SIMVIEW to start SIMVIEW and select curves for display PSIM User Manual 1 3 Chapter 1 General Information 1 4 PSIM User Manual Resistor Induc
3. 10 15 20 25 30 35 40 45 5 ms The rectifier is controlled through an alpha controller The synchronization of the control ler is provided by the zero crossing of the line voltage Vac The alpha value is created through the load voltage feedback loop The simulation waveforms of the PI output after the limiter the rectifier output voltage and the load voltage are shown on the right SPWM Three Phase Voltage Source Inverter vsi3spwm sch The following is a three phase voltage source inverter The gatings are generated through sinusoidal pulse width modulation The simulated waveforms of the Phase A modulation wave the triangular carrier and the three phase load currents are shown below PSIM User Manual A 105 Examples A3 E 1s h Ek EE E Ih T S T HT 1 i TT T1 TT TT DIT N o dM ma B 4 FH NI i so IRLA J RLAD 0 NRLAC 50 0 5 10 15 20 5 x L ms Phase Controlled Magnet Power Supply Using A Series Active Filter rec pwm sch The following is a phase controlled magnet power supply In this system a PWM con verter connected in series with the rectifier is used as an active filter for harmonic cancel lation and error compensation A feedforward technique is used to control the rectifier The PWM converter is controlled through the load curre
4. 6 2 PSIM User Manual Axis Menu 6 3 Axis Menu Function Description X Axis Change the settings of the X axis Y Axis Change the settings of the Y axis Axis Label Setting Change the settings of the X Y axis labels Default X Axis Time If the item is checked the first column which is usually Time will be used as the X axis The dialog box of the X Y axis settings are shown below X Axis Setting Lx r Range r Scale M Auto Scale Linear From 0 0000e 0 To 3 5000e 2 m Grid Division Iv Default No of Division i Cancel If the Auto Scale box is checked and the Grid Division is chosen as default the maximum data range will be selected and the number of axis divisions will be automatically deter mined Both the data range and grid division however can be manually set In the Axis Label Setting the label font size can be changed and the display of the label can be disabled By default the option Default X Axis Time is selected That is the first column of the data which is usually Time is used as the X axis If this option is not selected any other column of the data can be used as the X axis For example the following figure shows a sine waveform as the X axis versus a cosine waveform in the Y axis PSIM User Manual 6 3 Chapter 6 Waveform Processing Using SIMVIEW 6 4 Note that
5. PSIM User Manual 2 7 Chapter 2 Power Circuit Component 23 Attributes Parameters Description Init Position Initial position for Switch i Current Flag Current flag for Switch i Similar to single phase modules only the gatings for Switch 1 need to be specified for the three phase modules Gatings for other switches will be automatically derived For the half wave thyristor bridge BTHY3H the phase shift between two consecutive switches is 120 For all other bridges the phase shift is 60 Thyristor bridges BTHY3 BTHY3H BTHY6H can be controlled by an alpha controller Similarly PWM voltage current source inverters VSI3 CSI3 can be controlled by a PWM lookup table controller PATTCTRL The following examples illustrate the control of a three phase voltage source inverter module Examples Control of a Three Phase VSI Module The thyristor circuit on the left uses an alpha controller For a three phase circuit the zero crossing of the voltage V corresponds to the moment when the delay angle alpha is equal to zero This signal is therefore used to provide synchronization to the controller The circuit on the right uses a PWM lookup table controller The PWM patterns are stored in a lookup table in a text file The gating pattern is selected based on the modulation index Other input of the PWM lookup table controller includ
6. 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 Number of poles P of the machine an even integer Moment of inertia J of the machine in kg m Flag for internal torque 77 output When the flag is set to l the output of the internal torque is requested Flag for the master slave mode 1 master 0 slave All the parameters are referred to the stator side Again the master slave flag defines the mode of operation for the machine Please refer to Section2 5 1 1 for detailed explanation It is assumed the mechanical speed is positive when the input source sequence is positive The operation of a 3 phase squirrel cage induction machine is described by the following equations op dr Vabc s labe Ky L dt lane sS M dt labc r 0 j ca E R labc r L i dt labe r M dt labc sS Va s la s la r where Vabc s Vp lane sS x Lp sz The parameter matri Ves le s le r ces are defined as 2 18 PSIM User Manual Motor Drive Module IR 0 0 IR o 0 R OR 0 R O R 0 0 OR 0 OR z E _ 7 LEM e LM E 2
7. 4 9 2 Example The circuit below implements the step change of a load In the circuit the on off switch controller is used to control the bi directional switch The step voltage source which is connected to the controller input changes from 0 to 1 at the time of 12 ms The closure of the switch results in the short circuit of the resistor across the switch and the increase of the current Ve v s 10000 50 00 50 00 eu 7 100 00 Secs 100 00 On off 50 00 Controller na 50 00 100 00 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms Alpha Controllers The 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 gat ing enable disable signal The transition of the synchronization signal from low to high from 0 to 1 provides the synchronization and this moment corresponds to when the delay angle alpha equals zero A gating with a delay of alpha degrees is generated and sent to the thyristors The alpha value is updated instantaneously Image ACTRL Enable Disable Syne Alpha Signal Attributes Parameters Description PSIM User Manual 4 13 Chapter 4 Other Components 4 9 3 Frequency Operating frequency of the controlled switch switch module in Hz Pulse Width On time pulse width of the switch gatin
8. The voltage source is controlled by the branch current i With a gain of 1 the waveform of the voltage v is identical to that of i In this way a current quantity can be converted to a voltage quantity Nonlinear Voltage Controlled Sources The output of a nonlinear voltage controlled source is either the multiplication division or square root of the input voltage s They are defined as VNONM Voltage source where v k vi Ving 4 8 PSIM User Manual Voltage Current Sensors 4 6 INONM Current source where i k Vini Yin Vv VNOND Voltage source where v k Vin2 V INOND Current source where i k cu Vin2 VNONSQ Voltage source where v k Vini INONSQ Current source where i k Jvi Note that nonlinear voltage controlled sources can be used in the power circuit only Images VNONM VNOND VNONSQ INONM INOND INONSQ Attribute Parameters Description Gain Gain k of the source For VNOND INOND Input 1 is on the side of the division sign Voltage Current Sensors Voltage current sensors measure the voltages currents of the power circuit and send the value to the control circuit The current sensor has an internal resistance of 1 uQ Images VSEN ISEN Do dim Attribute Parameters Description PSIM User Manual 4 9 Chapter 4 Other Components 4 7 Gain Gain of the sensor Speed Torque Sensors
9. 0 00 0 02 0 04 0 06 0 08 0 10 0 12 Time s One of the THD block output is the input current fundamental component i By compar ing the phase difference between the input voltage v and the current i one can calculate the input displacement power factor This together with the THD value can be used to calculate the input power factor 3 18 PSIM User Manual Logic Components 3 5 3 5 1 3 5 2 Logic Components Logic Gates Basic logic gates are AND OR XORGATE exclusive OR NOT NAND and NOR gates Images ANDGATE ORGATE NOTGATE XORGATE ANDGATE3 ORGATE3 NANDGATE NORGATE Set Reset Flip Flops There are two types of set reset flip flops One is edge triggered and the other is level trig gered Attributes Parameters Description Trigger Flag Trigger flag 0 edge triggered 1 level triggered The edge triggered flip flop only changes the states at the rising edge of the set reset input The truth table of an edge triggered flip flop is S R Q Q 0 0 no change 0 T 0 1 T 0 1 0 T T not used The level triggered flip flop on the other hand changes the states based on the input level The truth table of a level triggered set reset flip flop is S R Q Q 0 0 no change 0 1 0 1 1 0 1 0 1 1 not used PSIM User Manual 3 19 Chapter 3 Control Circuit Components Image SRFF 3 5 3 J K Fli
10. Names Description INONSP 2 Special nonlinear current source Type 2 INT Integral controller IP Current probe IRAND Random current source I RESET D Resettable discrete integrator ISIN Sinusoidal current source ISQU Square wave current source ISTEP Step current source ITRI Triangular wave current source IVCCS Voltage controlled current source JKFF JF Flip Flop L Inductor LIM Limiter LKUP Lookup table LKUP2D 2 dimensional lookup table MEMREAD Memory read block MLOAD General type mechanical load MLOAD T Constant torque mechanical load MLOAD P Constant power mechanical load MONO Monostable multivibrator MONOC Controlled monostable multivibrator MOSFET Metal Oxide Semiconductor Field Effect Transistor MULT Multiplier MUT2 Coupled inductor with 2 branches MUT3 Coupled inductor with 3 branches MUX2 Multiplexer with 2 inputs MUX4 Multiplexer with 4 inputs MUXS Multiplexer with 8 inputs NANDGATE NAND gate NORGATE NOR gate NOTGATE NOT gate PSIM User Manual B 111 Appendix B List of Elements Names Description ONCTRL On off switch controller OP AMP Operational amplifier ORGATE OR gate ORGATE3 3 input OR gate P Proportional controller PATTCTRL PWM lookup table controller PI Proportional Integral controller POWER Power function block PWCT Pulse width counter R Resistor R3 3 phase resistor branch RC Resistor capacitor branch RC3 3 phase resistor capacitor branch RESETI Resettable integral controlle
11. Comparator Comparator tap Transfer Function E Transfer Function ica b 1 3 gt ops po X3 t 7 l acai op amp It should be noted that in PSIM the power circuit and the control circuit are solved sepa rately There is one time step delay between the power and the control circuit solutions FFT Analysis When using FFT for the harmonic analysis one should make sure that the following requirements are satisfied The waveforms have reached the steady state The length of the data selected for FFT should be the multiple integer of the fun damental period For a 60 Hz waveform for example the data length should be restricted to 16 67 msec or multiples of 16 67 msec Otherwise the FFT results will be incorrect Error Warning Messages The error and warning messages are listed in the following 7 2 PSIM User Manual Error Warning Messages E 1 E 2 Input format errors occurred in the simulation It may be caused by one of the following Incorrect Incomplete specifications Wrong input for integers and character strings Make sure that the PSIM library is not modified and the PSIM simulator is up to date In the circuit file character strings should be included between two apostrophes like test Also make sure an integer is specified for an integer variable The specification of a real number like 3 instead of 3 for an integer will trigger the error message Error
12. Symptom Simulation results show sudden changes discontinuity of inductor currents and capacitor voltages Solution This may be caused by the interruption of inductor current path and short circuit of capacitor or capacitor voltage source loops Check the switch gating signals If necessary include overlap or dead time pulses to avoid open circuit or shooting through If an initial current is assigned to an inductor initial switch positions should be set such that a path is provided for the current flow Otherwise the inductor current will be forced to start from zero Symptom Simulation waveforms look incorrect or inaccurate or the waveform resolution is poor Solution This may be caused by two reasons One is the time step Since PSIM uses the fixed time step during the entire simulation one should make sure that the time step is sufficiently small As a rule of thumb the time step should be several tens times smaller than the switching period Another reason is the problem of waveform display One should make sure that the print step Ling is not too big To display all the data points set Iprint to 1 PSIM User Manual Examples A 1 A 2 Appendix A Examples Examples are included in this Appendix to illustrate the use of the program Phase Controlled Rectifier thy 3f sch The following is a phase controlled rectifier system with feedback control 1500 1000 500
13. fs 2 2 5 kHz Normalized cut off frequency fc fc fn 1 5 0 2 B A butter 2 fc which will give B 0 0201 0 0402 0 0201 b b bo A 1 1 561 0 6414 ag a a The transfer function is H z 9 0201 0 0402 z 0 0201 z 1 1 561 2 0 6414 z The input output difference equation is y n 0 0201 u n 0 0402 u n 1 1 561 y n 1 0 6414 y n 2 The parameter specification of the filter in SIMCAD will be MATLAB is a registered trademark of MathWorks Inc PSIM User Manual 3 27 Chapter 3 Control Circuit Components 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 0 0201 1 0 0402 1 561 0 0201 0 6414 3 6 3 Unit Delay The unit delay block provides one sampling period delay of the input signal Image UDELAY i La Z Attribute Parameters Description Sampling Frequency Samping frequency in Hz The difference between the unit delay block and the 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 3 6 4 Quantization Block The quantization block is used to simulate the quantization error d
14. M M M M L L M nd L F LE d LM 3 M M b Z L M 2 E A L M cos6 cos 6 2 cos 6 22 M M cos 6 2 cos cos e 2 cos 6 2 cos 6 2 cos 8 where M is the mutual inductance between the stator and rotor windings and 0 is the mechanical angle The mutual inductance is related to the magnetizing inductance as La 2M The mechanical equation is expressed as J won Tam T where the developed torque 7 is defined as Ten P us o Mel ss The steady state equivalent circuit of the machine is shown below In the figure s is the slip PSIM User Manual 2 19 Chapter 2 Power Circuit Component R L S R L T S s r AANA CDM fH E A AP R 1 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 estab lished via a diode bridge The simulation waveforms of the mechanical speed in rpm developed torque load torque 77 44 and 3 phase input currents show the start up transient T and em 5 VSI Diode EAE EE Induction Bridge Motor i TT fa oN E Im i bo d Speed
15. Note that the torque of the general type load is dependent on the speed direction PSIM User Manual 2 25 Chapter 2 Power Circuit Component 2 26 PSIM User Manual Transfer Function Blocks 3 1 3 1 1 Chapter 3 Control Circuit Components Transfer Function Blocks A transfer function block is expressed in polynomial form as Bos 4 Bs 4B By G s k _ A eS A S ASH AS Image TFCTN Attributes Parameters Description Order n Order n of the transfer function Gain Gain k of the transfer function Coeff B B Coefficients of the nominator from B to Bo Coeff A Ao Coefficients of the denominator from A to A Example The following is a second order transfer function 400 e G s 15 a E s 1200 5 400 e In SIMCAD the specifications are Order n 2 Gain 1 5 Coeff B B 0 0 400 e3 Coeff A A 1 1200 400 e3 Proportional Controllers The output of a proportional P controller is equal to the input multiplied by a gain PSIM User Manual 3 1 Chapter 3 Control Circuit Components 3 1 2 Image P X Attribute Parameters Description Gain Gain k of the transfer function Integrators The transfer function of an integrator is ES There are two types of integrators One is the regular integrator INT The other is the resettable integrator RESET
16. PSIM User Manual 2 23 Chapter 2 Power Circuit Component 2 5 2 2 Constant Power Load The image of a constant power load is Image MLOAD P P 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 can be illustrated below Torque N m 0 base Speed rpm When the mechanical speed is less than the base speed npase the load torque is T T max When the mechanical speed is above the base speed the load torque is P L O n where P Tax Obase and Mpase 27054 60 The mechanical speed is in rad sec 2 24 PSIM User Manual Motor Drive Module 2 5 2 3 General Type Load Besides constant torque and constant power load a general type load is provided in PSIM The image of the load is as follows Image MLOAD Attributes Parameters Description Tc Constant torque term k coefficient Coefficient for the linear term k coefficient Coefficient for the quadratic term k3 coefficient Coefficient for the cubic term Moment of Inertia Moment of inertia of the load in kg m A general type load is expressed as T sign 0 T k On 4 Op ks where is the mechanical speed in rad sec
17. circuit title designer s name date etc can be 5 6 PSIM User Manual Editing SIMCAD Library 5 4 4 3 5 53 1 5 5 2 specified by choosing Print Page Setup in the File menu It can be disabled in the Set tings option In the Option menu if Auto Exit PSIM is checked if PSIM performs the simulation suc cessfully without error or warning messages the PSIM window will be closed automati cally Printing the Circuit Schematic The circuit schematic can be printed from a printer by choosing Print in the File menu It is also possible to print the selected region of a circuit by choosing Print Selected The schematic can also be saved to the clipboard which can be imported into a word pro cessor such as Microsoft Word By default the schematic image is saved in monochrome in order to save memory space One can save the image in color by selecting Edit Copy to Clipboard Color Editing SIMCAD Library The SIMCAD library can be edited by choosing Edit Library in the Edit menu The library editor allows one to edit the existing elements or to create new elements Note that new types of elements will not be recognized by PSIM simulator as it only recognizes the existing elements provided in the SIMCAD library Editing an Element To edit an element go to the specific element and double click on the element name The image of the element will appear Use the drawing tools on the left to modify the element ima
18. control scheme is implemented in a digital environment with a sampling rate of 30 kHz The control scheme is implemented in an external C code and is interfaced to the power circuit through the DLL block The input of the DLL block are the sampled input voltage inductor current and output voltage One of the DLL block outputs is the modulation wave V which is compared with the carrier wave to generate the PWM gating signal for the switch The other output is the inductor current reference for monitoring purpose 1 An gi H amp a die x gt fa 30k p 20H 30k 5 34 20H 30k iL y vm JF DLL iref ms user dll 30k Yo The source code which is stored in the file ms user4 c is shown below Both the inner current loop and the outer voltage loop use a PI controller Trapezoidal rule is used to dis cretize the controllers Discretization using Backward Euler is also implemented but the codes are commented out 4 20 PSIM User Manual External DLL Blocks This is a sample C program for Microsoft C C which is to be linked to PSIM via DLL To compile it into DLL From the command window run the command cl LD ms user4 c From Miscrosoft Developer Studio Fromthe File menu choose New Project Workspace and select Dynamic Link Libr
19. 3 L22 self 1 1e 3 2 4 Transformers 2 4 Ideal Transformers An ideal transformer has no losses and no leakage flux Image TF IDEAL The winding with the larger dot is the primary and the other winding is the secondary Attributes Parameters Description Np primary No of turns of the primary winding Ns secondary No of turns of the secondary winding Since the turns ratio is equal to the ratio of the rated voltages the number of turns can be replaced by the rated voltage at each side 2 4 2 Single Phase Transformers The following single phase transformer modules are provided in PSIM TF 1F Transformer with 1 primary and 1 secondary windings TF IF 3W Transformer with 1 primary and 2 secondary windings TF IF 4W Transformer with 2 primary and 2 secondary windings TF IF 5W Transformer with 1 primary and 4 secondary windings TF IF 7W Transformer with 1 primary and 6 secondary windings A single phase two winding transformer is modelled as 2 10 PSIM User Manual Transformers Rp Lp Rs Ls Np N Primary Lm Secondary Ideal where Rp and Rs are the primary secondary winding resistances Lp and Ls are the pri mary secondary winding leakage inductances and Lm is the magnetizing inductance All the values are referred to the primary side Images TF_1F TF IF 3W TF IF 4W TF IF 5W TF IF 7W B o o 6 o Es 3 s t mu AF
20. 3 Control Circuit Components 3 34 PSIM User Manual Simulation Control 4 1 Chapter 4 Other Components Simulation Control By selecting Simulation Control in the Simulate menu in SIMCAD the following simu lation control parameters can be modified Simulation Control Parameters Time Step Simulation time step in sec Total Time Total simulation time in sec T print Time from which simulation results are saved to the output file No output is saved before this time Iprint Print step If the print step is set to 1 every data point will be saved to the output file If it is 10 only one out of 10 data points will be saved This helps to reduce the size of the output file lisad Flag for the LOAD function If the flag is 1 the previous simulation values will be loaded from a file with the ssf extension as the initial conditions save Flag for the SAVE function If the flag is 1 values at the end of the current simulation will be saved to a file with the ssf extension With the SAVE and LOAD functions the circuit voltages currents and other quantities can be saved at the end of a simulation session and loaded back as the initial conditions for the next simulation session This provides the flexibility of running a long simulation in sev eral shorter stages with different time steps and parameters Components values and parameters of the circuit can be changed from one simul
21. A speed sensor WSEN or a torque sensor TSEN can be used to measure the mechani cal speed or torque They are available in the Motor Drive Moduleonly Images WSEN TSEN Attribute Parameters Description Gain Gain of the sensor If the reference direction of a mechanical system enters the dotted side of the sensor it is said that the sensor is along the reference direction Refer to Section 2 5 1 1 for more details Note that the output of the speed sensor is in rpm The torque sensor measures the torque transferred from the dotted side of the sensor to the other side alone the positive speed direction To illustrate this the following mechanical system is taken as an example Load 1 Load 2 IM Sensor 1 Sensor 2 T T em Ty T2 J Jr J12 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 1s from left to right The equation for this system can be written as dOn J Jj Jp ur T em Tr Ty The equivalent electrical circuit of the equation is shown below 4 10 PSIM User Manual Probes and Meters 4 8 J On Load 1 Load 2 tod T u T Ll L2 Tom Vi Vy Sensor 1 Sensor 2 The current in the circuit represents the mechanical speed The voltage probe Vj which measur
22. 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 3 14 PSIM User Manual Other Function Blocks Sel Vind 1 50 1 bo 9 50 pepe 0 00 1 50 1 00 cp a eee 0 00 20 00 10 00 0 00 10 00 i b 20 00 H 000 500 10 00 16 00 20 00 26 00 30 00 Time ms Multiplexers The output of a multiplexer is equal to a selected input depending on the control signal Three multiplexers are provided multiplexers with 2 inputs 4 inputs and 8 inputs Image MUX2 MUX4 MUX8 d0 iM do s dl MUX dl 4 d2 puer MUX Y d3 s0 d7 prone s2 s1 80 In the images dO d7 are the data inputs and s0 s2 are the control signals The truth tables of the multiplexers are 2 Input MUX 4 Input MUX 8 Input MUX sO Y sl sO Y s2 sl sO Y 0 dO 0 0 dO 0 0 0 dO 1 dl 0 1 dl 0 0 1 di 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 PSIM User Manual 3 15 Chapter 3 Control Circuit Components 3 4 3 4 1 Example The following circuit performs the functio
23. No of digits N after the decimal point Truncation Flag Truncation flag 1 truncation 0 round off Assume the input of the round off block is V this input is first scaled based on the fol lowing expression PSIM User Manual Chapter 3 Control Circuit Components 3 3 6 V V 10 in new in If the truncation flag is 1 the output will be equal to Vin new truncated and then divided by 10 Otherwise the output will be equal to Vin new rounded off to the nearest integer and then divided by 10 Examples If Vi 34 5678 N 0 truncation flag 0 then the output V 35 If V 34 5678 N 0 truncation flag 1 then the output V 34 If Vin 34 5678 N 1 truncation flag 1 then the output V 34 5 If V 34 5678 N 1 truncation flag 1 then the output Vouk 30 Time Delay Blocks A time delay block delays the input waveform by a specified amount of time interval It can be used to model the propagation delay of a logic element Image TDELAY m Attribute Parameters Description Time Delay Time delay in sec Note that the difference between this block and the unit delay block UDELA Y is that this block is a continuous element and the delay time can be arbitrarily set whereas the unit delay block is a discrete element and the delay time is equal to the sampling period For a discrete system the unit delay block should be used
24. State Feedback state 1q sch The following is a one quadrant buck type chopper circuit in transfer function block dia gram The chopper circuit is described through state space representation enclosed in the dotted box Both the output filter inductor current and the capacitor voltage are fedback to modify the pole location of the overall system An outer voltage loop with the integral reg ulator is included to ensure zero steady state error The simulated output voltage and inductor current are shown below PSIM User Manual A 107 Examples Plant 10 Vo iL 6 60 a on a E ms PSIM User Manual A 108 Appendix B List of Elements The following is the list of the PSIM elements with brief descriptions Names Description A AC AC ammeter ABC2DQO ABC DQO transformation block ABS Absolute value function block ACTRL Delay angle alpha controller A DC DC ammeter ANDGATE AND gate ANDGATE3 3 input AND gate ARRAY Vector array BDIODEI Single phase diode bridge BDIODE3 3 phase diode bridge BTHYI Single phase thyristor bridge BTHY3 3 phase thyristor bridge BTHY3H 3 pulse half wave thyristor bridge BTHY6H 6 pulse half wave thyristor bridge C Capacitor C BUFFER Circular buffer COMP Comparator CONV Convolution block COS Cosine function block COS 1 Arc cosine function block CSI3 3 phase PWM current source inverter CTOP Contr
25. Torque H3 hA des Bo Sensor Speed 1 50K s a A A 1 00K e li 0 50K c E SPWM amp 00K il 600 00 400 00 HH 0 20 Time rz 0 40 2 5 1 3 Switched Reluctance Machine PSIM provides the model for 3 phase switched reluctance machine with 6 stator teeth and 4 rotor teeth The images and parameters are shown as follows Image 2 20 PSIM User Manual Motor Drive Module SRM3 a SRNE Switched E ie Reluctance Shaft Node cto Motor 6 4 C 1 Pit DERE EEE d C1C2C3C4 Cp C4 C4 Q0 Phase a Phase b Phase c Attributes Parameters Description Resistance Stator phase resistance R in Ohm Inductance Linin Minimum phase inductance in H Inductance Lax Maximum phase inductance in H 6 Duration of the interval where the inductance increases in deg Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal torque 7 When the flag is set to 1 the output of the internal torque is requested Master Slave Flag Flag for the master slave mode 1 master 0 slave The master slave flag defines the mode of operation for the machine Please refer to Sec tion 2 5 1 1 for detailed explanation The node assignments are Nodes a a b b and c c are the stator winding terminals for Phase a b and c respectively The shaft node is the connecting terminal for the mechanical shaft They are all po
26. b b C c c od T a baer Attributes Parameters Description Rp primary Rs secondary Rt tertiary Lp pri leakage Ls sec leakage Lt ter leakage Lm magnetizing Np primary Ns secondary Nt tertiary Resistance of the primary secondary tertiary winding in Ohm referred to the primary Leakage inductance of the primary secondary tertiary winding in H referred to the primary Magnetizing inductance in H referred to the primary No of turns of the primary secondary tertiary winding In the images P refers to primary S refers to secondary and T refers to tertiary Three phase transformers are modelled in the same way as the single phase transformer All the parameters are referred to the primary side PSIM User Manual 2 13 Chapter 2 Power Circuit Component 2 5 Motor Drive Module The Motor Drive Module as an add on option to the standard PSIM program provides machine models and mechanical load models for motor drive studies 2 5 1 Electric Machines 2 5 1 1 DC Machine The image and parameters of a dc machine are as follows Image DCM p Armature ss ys Shaft Node Winding Field Winding Attributes Parameters Description R armature La armature R field Ly field Moment of Inertia V rated I rated n rated Ir rated Torque Flag Master Slave Flag Armature winding
27. message The node of an element is floating This can also be caused by a poor connection in SIMCAD When drawing a wire between two nodes make sure that the wire is connected to the terminal of the ele ment Error message No of an element exceeds the limit This error message occurs when the total number of a particular element exceeds the limit specified by the program This problem can only be solved by re compil ing the PSIM simulator with increased array dimensions Please contact Powersim Technologies Inc for assistance Warning The program failed to converge after 10 iterations when determining switch positions The computation continues with the following switch positions This warning occurs when the program fails to converge when determining switch ing positions Since the computation continues based on the switch positions at the end of the 10th iteration results could be inaccurate One should be cautious when analyzing the results There are many factors that cause this problem The following measures can be taken to isolate and solve the problem Check the circuit and make sure the circuit is correct Check the switch gating signals Connect small resistors inductors in series with switches and voltage PSIM User Manual 7 3 Chapter 7 Error Warning Messages and General Simulation Issues p Sources Debugging Some of the approaches in debugging a circuit is discussed in the following
28. naa Time amp Example A DC Motor Generator Set The circuit below shows a dc motor generator set The motor on the left is set to the mas ter mode and the generator on the right is set to the slave mode The simulation waveforms of the motor armature current and the generator voltage show the start up transient la Ia Motor Generator id A x s 20000 L vm oo reor rrr decor rc eee VJ es armature current M x 45000 L X 2 0100E armature current i 100 00 j ta 4 4 weenie eee O00 fe eer eee MN De ot eee EPA ooo i i gen E 120 00 Is TT a i i BUDO poemeoeoe eorom den Generator voltage 40000 Less ds testes 0 00 0 00 020 040 0 60 080 Time s 2 5 1 2 Induction Machine PSIM provides the model for 3 phase squirrel cage induction machines The model comes in two versions one with the stator winding neutral accessible INDM 3SN and the other without the neutral INDM 3S The images and parameters are shown as follows Image INDM_3S INDM_3SN ao IM a o IM b b c c neutral PSIM User Manual 2 17 Chapter 2 Power Circuit Component Attributes Parameters Description R stator L stator R rotor L rotor Ln magnetizing No of Poles Moment of Inertia Torque Flag Master Slave Flag
29. the nominator input The input of a multiplier can be either a vector or a scalar If the two inputs are vectors their dimensions must be equal Let the two inputs be Vi ay 2 aj V5 bi bo b The output which is a scalar will be 3 6 PSIM User Manual Computational Function Blocks 32 3 32 4 32 5 V V4 V T aj b a b a b Square Root Blocks A square root function block calculates the square root of the input quantity Image SOROT Eni Exponential Power Function Blocks Images EXP POWER Attributes Parameters Description Coefficient k Coefficient k Coefficient k Coefficient kz For the exponential function block EXP the output is defined as y k ky For example if k 1 k522 718281828 and V 2 5 then Ve where e is the base of the natural logarithm For the power function block POWER the output is defined as V ky VE Root Mean Square Blocks A root mean square function block calculates the RMS value of the input signal over a PSIM User Manual 3 7 Chapter 3 Control Circuit Components 32 6 32 7 period specified by the base frequency fp The output is defined as FL FT 2 Vims a T o n 0dt where 7 1 f The output is only updated at the beginning of each period Image RMS eme Attribute Parameters Description Base frequency Ba
30. voltage Vp Otherwise the voltage Vy will be clamped to Vp Thyristors A thyristor is controlled at turn on The turn off is determined by the circuit conditions Image THY A a K Gate Attributes Parameters Description Initial Position Flag for the initial switch position Current Flag Flag for switch current output There are two ways to control a thyristor One way is to use a gating block GATING Another is to use a switch controller Both of them must be connected to the gate node of the thyristor The following examples illustrate the control of a thyristor switch Examples Control of a Thyristor Switch Gating Block Dk pM va A R Alpha Controller Ue f e I PSIM User Manual 2 3 Chapter 2 Power Circuit Component 22 3 This circuit on the left uses a switching gating block see Section 2 2 4 The switching gating pattern and the frequency are pre defined and will remain unchanged throughout the simulation The circuit on the right uses an alpha controller see Section 4 7 2 The delay angle alpha in degree is specified through the dc source in the circuit GTO Transistors and Bi Directional Switches A self commutated switch such as GTO IGBT and MOSFET is turned on when the gat ing is high and the switch is positively biased It is turned off whenever the gating is low or the current drops to zero A GTO switch is a symmetric
31. with brackets such as I RL1a I RL1a 22 are not permitted View Menu Function Description Zoom To zoom into a selected region Re Draw To re draw the waveform using the auto scale Measure To measure the values of the waveforms Escape To escape from the Zoom or Measure mode Max To find the global maximum of a selected curve Min To find the global minimum of a selected curve Next Max To find the next local maximum of a selected curve Next Min To find the next local minimum of a selected curve Toolbar To enable disable toolbar Status Bar To enable disable status bar A region is selected by pressing the left button of the mouse and at the same time drag the mouse The Measure function allows the measurement of waveforms After Measure is selected the measurement dialog box will appear By clicking the left mouse a line will appear and the values of the waveforms will be displayed By clicking the right mouse another line will appear and the different between the current position and the previous position which is marked by the left mouse will be measured A SIMVIEW window with the measure ment boxes in these two modes are shown below PSIM User Manual 6 5 Chapter 6 Waveform Processing Using SIMVIEW HILL im LN ur MILI Pipe ER de Gomes Ves p amp e Label Hen PITE ajale 3 ape xiv e miele ff 21 Ti 4 E Ps i iu eri kas l jj ij d j i Difference x Time 8 8
32. z domain transfer fnction blocks digital filters etc for studies of digital control schemes As compared to a s domain circuit which is continuous a z domain circuit is discrete Cal culation is therefore only performed at the discrete sampling points and there is no calcu lation between two sampling points Zero Order Hold A zero order hold samples the input atthe point of sampling The output remains unchanged between two sampling points Image ZOH AOH re Attribute Parameters Description Sampling Frequency Samping frequency in Hz of the zero order hold Like all other discrete elements the zero order hold has a free running timer which deter mines the moment of sampling The sampling moment therefore is synchronized with the PSIM User Manual 3 21 Chapter 3 Control Circuit Components origin of the simulation time For example if the zero order hold has a sampling fre quency of 1000 Hz the input will be sampled at 0 1 msec 2 msec 3 msec and so on Example In the following circuit the zero order hold sampling frequency is 1000 Hz The input and output waveforms are shown on the left 10 00 vin s v Y Vin Vo Za ZOH s f Lo E ON 5 00 CO 10 00 T 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
33. zu P S P PINE 5 Z E RT c E EC s_4 E t s6 In the images p refers to primary s refers to secondar and t refers to tertiar The winding with the larger dot is the primary winding or the first primary winding for the 2 primary 2 secondary winding transformer TF 1F 4W For the multiple winding transformers the sequence of the windings is from the top to the bottom For the transformers with 2 or 3 windings the attributes are as follows Attributes Parameters Description Rp primary Resistance of the primary secondary tertiary winding in Rs secondary Ohm referred to the primary Rt tertiary Lp pri leakage Leakage inductance of the primary secondary tertiary Ls sec leakage winding in H referred to the primary Lt ter leakage Lm magnetizing Magnetizing inductance in H referred to the primary Np primary No of turns of the primary secondary tertiary winding Ns secondary Nt tertiary PSIM User Manual 2 11 Chapter 2 Power Circuit Component For the transformers with more than 1 primary winding or more than 3 secondary wind ings the attributes are as follows Attributes Parameters Description Rp i primary Resistance of the ij primary secondary tertiary winding in Rs i secondary Ohm referred to the first primary winding Lp i pri leakage Leakage inductance of the i primary secondary tertiary Ls i sec leakage winding in H re
34. 235e 3 pon si Lar Hu FT po aa Time 8 4645e 3 Tira mn I RL1a 3 7517e 1 I RL1a 7 7549e 1 I RL1b 7 5495e 1 I RL1b 1 5449e 2 3 7978e 1 7 6942e 1 Left mouse click Right mouse click Once Measure is selected an individual curve can be selected by clicking on the name of the curve at the left top of the graph and the four functions Max Min Next Max and Next Min can be used to evaluate the curve Note that these four functions are only enabled in the Measure mode and after a curve is selected 6 6 Option Menu Function Description FFT Perform the Fast Fourier Transform analysis Time Switch from the frequency spectrum display to time domain display Set Text Fonts Change the text font type and size Set Curves Change the display of curves Set Background Set the screen background to be either Black default or White Grid Enable or disable the grid display Color Set the curves to be either Color default or Black and White By selecting FFT the harmonic amplitudes of time domain waveforms can be calculated and displayed Note that in order to obtain correct FFT results the simulation should reach the steady state and the simulation data should be restricted using the manual range setting in the X Axis function to have the integer number of the fundamental period 6 6 PSIM User Manual Label Menu 6 7 The display of a curve can be changed through Set Curves Th
35. A is the data matrix The data for the lookup table are stored in a file and have the following format m n A 1 1 A 1 2 A 1 n A 2 1 A 2 2 A 2 n A m 1 A m 2 A m n where m and n are the number of rows and columns respectively Since the row or the col umn index must be an integer the input value is automatically converted to an integer If either the row or the column index is out of the range for example the row index is less than 1 or greater than m the output will be zero Images LKU LKUP2D Index j M E PSIM User Manual 3 11 Chapter 3 Control Circuit Components 3 3 4 Attribute Parameters Description File Name Name of the file storing the lookup table For the 2 dimensional lookup table block the node at the left is for the row index input and the node at the top is for the column index input Examples The following shows a one dimensional lookup table 1 10 2 30 3 20 4 60 5 50 If the input is 0 99 the output will be 10 If the input is 1 5 the output will be 1 5 1 30 10 10 2 1 20 The following shows a 2 dimensional lookup table 3 4 1 2 4 1 20 0 3 8 2 9 If the row index is 2 and the column index is 4 the output will be 8 If the row index is 5 regardless of the column index the output will be 0 Sampling Hold Blocks A sampling hold block output samples the input when
36. Circuit Schematic Design Using SIMCAD SIMCAD provides interactive and user friendly interface for the circuit schematic design The following figure shows a rectifier circuit in the SIMCAD environment SIMCAD D PSIM Thy_3f sch Digger i3 File Edit View Subcircuit Elements Simulate Options Window Help 8 x AR Aleleln al miu In SIMCAD all the PSIM components are stored under the menu Elements The structure of the PSIM component library is as follows Library Elements Description Power Power circuit elements RLC Branches R L C lumped RLC branches and coupled inductor Switches Switches switch modules and the gating element Transformers phase and 3 phase transformer Motor Drive Electric machines and mechanical loads Control Control circuit elements Filters Built in filter blocks Function Blocks Function blocks Logic Elements Logic gates and other digital elements PSIM User Manual 5 1 Chapter 5 Circuit Schematic Design Using SIMCAD Discrete Elements Discrete elements Other Elements shared by power and control circuits Switch Controllers Switch controllers Sensors Voltage current and speed torque sensor Probes Voltage current probes and meters and power meters Sources Voltage Voltage source Current Current sources 5 1 Creating a Circuit The following functions are provided
37. Comparathr 3 4 2 THD Blocks For an ac waveform that contains both the fundamental and harmonic components the total harmonic distortion of the waveform is defined as THD V AN cT Vi Vi where Vj is the fundamental component rms V is the harmonic rms value and V is the overall rms value of the waveform The THD block is modelled as shown below PSIM User Manual 3 17 Chapter 3 Control Circuit Components Image THD Circuit Model of the THD Block e THD Vin t rms v t V vi A second order band pass filter is used to extract the fundamental component The center frequency and the passing band of the band pass filter need to be specified Attributes Parameters Description Fundamental Fundamental frequency of the input in Hz Frequency Passing Band Passing band of the band pass filter in Hz Example In the single phase thyristor circuit below a THD block is used to measure the THD of the input current The delay angle of the thyristor bridge is chosen as 30 For the THD block the fundamental frequency is set at 60 Hz and the passing band of the filter is set at 20 Hz The simulation results are shown on the right 150 00 IA Hamn Qr x e alpha 30 deg THD Fe is
38. EI x 1 3A DC M ia pes A A cna 4 2A id DC Attributes Parameters Description Init Position Initial position for Switch 7 Current Flag Current flag for Switch i Node Ct at the bottom of the thyristor module is the gating control node for Switch 1 For the thyristor module only the gatings for Switch 1 need to be specified The gatings for other switches will be derived internally in the program Similar to the single thyristor switch a thyristor bridge can also be controlled by either a gating block or an alpha controller as shown in the following examples 2 6 PSIM User Manual Switches 2 2 6 Examples Control of a Thyristor Bridge IHE Tk meal a Ares The gatings for the circuit on the left are specified through a gating block and on the right are controlled through an alpha controller A major advantage of the alpha controller is that the delay angle alpha of the thyristor bridge in degree can be directly controlled Three Phase Switch Modules The following figure shows three phase switch modules and the internal circuit connec tions Images BDIODE3 A HeDC A B fas B C DC C BTHY3H A Al 2 B TK N Tk N N C ct A6 6 Ct VSI3 DC4 4 n CSI3 1 3 DC thea Pee J85 He DC e VSI B t CHI C 4 6 2 i D nc DC e _ EN ia DC e a Ct
39. I Images INT RESETI Attribute Parameters Description Time Constant Time constant T of the integrator in second Reset Flag Reset flag 0 edge reset 1 level reset for RESETI only The output of the resettable integrator can be reset by an external control signal at the bot tom of the block For the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal For the level reset reset flag 1 the integrator out put is reset to zero as long as the control signal is high 1 Example The following circuit illustrates the use of the resettable integrator The input of the inte grator is a dc quantity The control input of the integrator is a pulse waveform which resets the integrator output at the end of each cycle The reset flag is set to 0 PSIM User Manual Transfer Function Blocks V SOU bosco eec che ceu ES SR RO anao 0 00 0 00 1 00 2 00 3 00 4 00 Time ms 3 1 3 Differentiators The transfer function of a differentiator is G s sT A differentiator is calculated as follows Vin t Vin t At T v t where At is the simulation time step vj t and v f Af are the input values at the present and the previous time step Image DIFF Ea Attribute Parameters Description Time Constant Time constant T of the differentiato
40. L EXT3 DLL EXT6 DLL EXTI12 oy ra O 3 ro DLL o m C a oy 4 ra Do Os o os o Os o CI rua Attributes Parameters Description File Name Name of the DLL file The name of the custom routine must be one of the following For Microsoft C C ms userO dll ms userl dll ms user2 dll ms user9 dll For Borland C bc userO dll bc userl dll bc user2 dll bc user9 dll One can therefore have up to 10 Microsoft C C routines and 10 Borland C rou tines A DLL block receives the values from PSIM as the input performs the calculation and PSIM User Manual 4 19 Chapter 4 Other Components sends the output back to PSIM PSIM calls the DLL routine at each simulation time step However when the inputs of the DLL block are connected to one of these discrete ele ments zero order hold unit delay discrete integrators and differentiators z domain trans fer function blocks and digital filters the DLL block is called only at the discrete sampling times Sample files are provided for 10 Microsoft C C routines and 10 Borland C routines Users can use these files as the template to write their own Procedures on how to compile the DLL routine and link with PSIM are provided in these files and in the on line help Example The following shows a power factor correction circuit with the inductor current and the load voltage feedback The input voltage is used to generate the current reference The
41. MVIEW Waveform Processor input txt Chapter 1 of this manual describes the circuit structure software hardware requirement and installation procedure Chapter 2 through 4 describe the power and control circuit components The use of SIMCAD and SIMVIEW is discussed in Chapter 5 and 6 Error warning messages are listed in Chapter 7 Finally sample examples are provided in Appendix A and a list of the PSIM elements is given in Appendix B Circuit Structure A circuit is represented in PSIM in four blocks power circuit control circuit sensors and switch controllers The figure below shows the relationship between each block PSIM SIMCAD and SIMVIEW are copyright by Powersim Technologies Inc 1996 1999 PSIM User Manual 1 1 Chapter 1 General Information C Power Circuit b Switch Sensors Controllers C Control Circuit The power circuit consists of switching devices RLC branches transformers and other discrete components 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 can be used in the control circuit Sensors measure power circuit voltages and currents and pass the values to the control circuit Gat ing signals are then generated from the control circuit and sent back to the power circuit through switch controllers to control switches
42. PSIM User Manual Powersim Technologies Inc PSIM User Manual PSIM Version 4 0 January 1999 O Copyright 1996 1999 Powersim Technologies 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 Technologies Inc Disclaimer Powersim Technologies Inc Powersim makes no representation or warranty with respect to the adequacy or accu racy of this documentation or the software which it describes In no event will Powersim or its direct or indirect sup pliers 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 forthe licence to the soft ware and documentation Powersim Technologies Inc 10 7120 Gilbert Rd Richmond B C Canada V7C 5G7 Tel 604 214 1364 Fax 604 214 1365 email info powersimtech com http www powersimtech com Table of Contents Chapter 1 General Information 1 1 1 2 1 3 1 4 1 5 Introduction 1 1 Circuit Structure 1 1 Software Hardware Requirement 1 2 Installing the Program 1 2 Simulating a Circuit 1 3 Chapter 2 Power Circuit Components 2 1 22 2 3 2 4 2 5 Resistor Inductor Capacitor Branches RLC 2 1
43. Switches 2 2 2 2 1 Diodes and Zener Diodes DIODE ZENER 2 2 2 2 2 Thyristors THY 2 3 2 2 3 GTO Transistors and Bi Directional Switches 2 4 2 2 4 Switch Gating Blocks GATING 2 5 2 2 5 Single Phase Switch Modules 2 6 2 2 6 Three Phase Switch Modules 2 7 Coupled Inductors MUT2 MUT3 2 8 Transformers 2 10 2 4 1 Ideal Transformers TF_IDEAL 2 10 2 4 2 Single Phase Transformers 2 10 2 4 3 Three Phase Transformers 2 12 Motor Drive Module 2 14 2 5 1 Electric Machines 2 14 2 5 1 1 DC Machine DCM 2 14 2 5 1 2 Induction Machine INDM 3S INDM 3SN 2 17 2 5 1 3 Switched Reluctance Machine SRM3 2 20 2 5 2 Mechanical Loads 2 23 2 5 2 1 Constant Torque Load MLOAD T 2 23 2 5 2 2 Constant Power Load MLOAD P 2 24 PSIM User Manual 2 5 2 3 General Type Load MLOAD 2 25 Chapter 3 Control Circuit Component 3 1 Transfer Function Blocks TFCTN 3 1 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 Proportional Controllers P 3 1 Integrators INT RESETT 3 2 Differentiators DIFF 3 3 Proportional Integral Controllers PI 3 4 Built in Filter Blocks 3 4 3 2 Computational Function Blocks 3 5 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 2 7 3 2 8 Summers SUM 3 5 Multipliers and Dividers MULT DIVD 3 6 Square Root Blocks SQROT 3 7 Exponential Power Function Blocks EXP POWER 3 7 Root Mean Square Blocks RMS 3 7 Absolute Value Function Blocks ABS 3 8 Trigonometric Functions SIN COS COS 1 TG 1 3 8 Fast Fourier
44. The transfer function of the FIR filter is expressed in polynomial form as N 1 N H z by bz ob Oy 12 by iz If ag 1 the output y and input u can be expressed in difference equation form as y n bg u n b u n 1 c by u n N Filter coefficients can be specified either directly or through a file The following are the filter images and attributes when filter coefficients are specified directly Images FILTER D FILTER FIR CH gus Attributes Parameters Description Order N Order N of the transfer function Coeff Do by Coefficients of the nominator from by to by Coeff ag ay Coefficients of the nominator from dg to ay Sampling Frequency Sampling frequency in Hz The following are the filter images and attributes when filter coefficients are specified through a file Images FILTER DI FILTER FIRI CF 3 26 PSIM User Manual Digital Control Module Attributes Parameters Description File for Coefficients Name of the file storing the filter coefficients Sampling frequency in Hz Sampling Frequency The coefficient file has the following format For FILTER DI For FILTER FIRI N N bo ao bo by a1 bi bw AN by 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 usingMATLAB we have Nyquist frequency fn
45. This makes it a mixed continuous discrete circuit and a simulation time step selected for the continuous circuit will be used With this time step the familiar staircase like waveform can be observed at the zero order hold output Without the integrator the circuit becomes a discrete circuit In this case since only the calculation at the discrete sampling points is needed the simulation time step will be equal to the sampling period and the results at only the sampling points are available The waveforms as shown below appear continuous In fact the waveforms are discrete and the connection between two sampling points makes it look like continuous TORON 3 OH __ 5 00 Vin Vo 40 00 LL 000 5 00 10 00 15 00 20 00 mex Time ms 3 6 2 z Domain Transfer Function Block A z domain transfer function block is expressed in polynomial form as 3 22 PSIM User Manual Digital Control Module N N 1 7 dass biz Ubuckbyg a es NNNM rc DEDERE dg Z a Z dec 44 If ag 1 the expression Y z H z U z can be expressed in difference equation as y n by u n b u n 1 by u n N a y 6 1 a5 y n 2 4 Fay Yy n N Image TFCTN D H z o Attributes Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the nominator from by to by Coeff dp ay Coe
46. Time Step Selection 7 1 7 1 2 Propagation Delays in Logic Circuits 7 1 7 1 3 Interface Between Power and Control Circuits 7 1 7 4 FFT Analysis 7 2 7 2 Error Warning Messages 7 2 7 3 Debugging 7 4 Appendix A Examples A 1 Appendix B List of Elements B 1 PSIM User Manual vi PSIM User Manual Introduction 1 1 1 2 Chapter 1 General Information Introduction This manual covers both PSIM and its add on Motor Drive Module and Digital Control Module Functions and features for these two modules are marked wherever they occur The Motor Drive Module has built in machine models and mechanical load models for drive system studies The Digital Control Module on the other hand provides discrete elements such as zero order hold z domain transfer function blocks quantization blocks for digital control analysis PSIM is a simulation package specifically designed for power electronics and motor con trol With fast simulation friendly user interface and waveform processing PSIM pro vides a powerful simulation environment for power converter analysis control loop design and motor drive system studies The PSIM simulation package consists of three programs circuit schematic editor SIM CAD PSIM simulator and waveform processing program SIMVIEW The simulation environment is illustrated as follows SIMCAD Circuit Schematic Editor output sch PSIM Simulator input cct output txt SI
47. Transform Blocks FFT 3 9 3 3 Other Function Blocks 3 10 334 3 3 2 3 3 3 3 3 4 3 3 5 3 3 6 3 3 7 Comparators COMP 3 10 Limiters LIM 3 10 Look up Tables LKUP LKUP2D 3 11 Sampling Hold Blocks SAMP 3 12 Round Off Blocks ROUNDOFF 3 13 Time Delay Blocks TDELA Y 3 14 Multiplexers MUX2 MUX4 MUX8 3 15 3 4 Subcircuit Blocks 3 16 3 4 1 3 4 2 Operational Amplifiers OP_AMP 3 16 THD Blocks THD 3 17 3 5 Logic Components 3 19 3 5 1 3 5 2 3 5 3 3 5 4 339 Logic Gates 3 19 Set Reset Flip Flops SRFF 3 19 J K Flip Flops JKFF 3 20 Monostable Multivibrators MONO MONOC 3 20 Pulse Width Counters PWCT 3 21 PSIM User Manual 3 6 Digital Control Module 3 21 3 6 1 Zero Order Hold 3 21 3 6 2 7 Domain Transfer Function Block 3 22 3 6 2 1 Integrators 3 23 3 6 2 2 Differentiators 3 25 3 6 2 3 Digital Filters 3 25 3 6 3 Unit Delay 3 28 3 6 4 Quantization Block 3 28 3 6 5 Circular Buffer 3 30 3 6 6 Convolution Block 3 30 3 6 7 Memory Read Block 3 31 3 6 8 Data Array 3 32 3 6 9 Multi Rate Sampling System 3 32 Chapter 4 Other Components 4 Simulation Control 4 1 4 2 Time 4 2 4 3 Independent Voltage Current Sources 4 2 4 3 1 DC Sources VDC IDC VDC_GND 4 2 4 3 2 Sinusoidal Sources VSIN VSIN3 ISIN 4 2 4 3 3 Square Wave Sources VSQU ISQU 4 4 4 3 4 Triangular Sources VTRI ITRD 4 4 4 3 5 Step Sources VSTEP ISTEP 4 5 4 3 6 Piecewise Linear Sources VGNL IGNL 4 6 4 3 7 Random Sour
48. al 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 SSWT conducts currents in both directions It is on when the gat ing is high and is off when the gating is low regardless of the voltage bias conditions of the switch Images GTO MOSFET IGBT SSWI pe Ja re Attributes Parameters Description Initial Position Initial switch position flag For MOSFET IGBT this flag is for the active switch not for the anti parallel diode Current Flag Switch current printout flag For MOSFET IGBT the current through the whole module the active switch plus the diode will be displayed A self commutated switch can be controlled by either a gating block GATING or a switch controller They must be connected to the gate base node of the switch The fol lowing examples illustrate the control of a MOSFET switch Examples Control of a MOSFET Switch 2 4 PSIM User Manual Switches 2 2 4 L DO CE va A R 4 On off Controller a 4 Oo The circuit on the right uses an on off switch controller see Section 4 7 1 The gating sig nal is determined by the comparator output Switch Gating Blocks The switch gating block defines the gating pattern of a switch or a switch module Note that the switch gating block can be conn
49. ary Set the name as ms user4 Copy this sample file into the directory where the project resides From the Insert menu choose Files into Project and select ms user4 c Choose active configuration to Release From the Build menu choose Rebuild All After the DLL file ms user4 dll is generated backup the default file into another file or directory and copy your DLL file into the PSIM directory and overwriting the existing file You are then ready to run PSIM with your DLL This sample program implement the control of the circuit pfvi dll sch in a C routine Input in O Vin in 1 iL in 2 Vo Output Vm out 0 iref out 1 Do not change the following line It s for DLL __declspec dllexport You may change the variable names say from t to Time But DO NOT change the function name number of variables variable type and sequence Variables t Time passed from PSIM by value delt Time step passed from PSIM by value in input array passed from PSIM by reference out output array sent back to PSIM Note the values of out can be modified in PSIM The maximum length of the input and output array in and out is 20 Warning Global variables above the function ms user4 t delt in out are not allowed void ms user4 t delt in out Note that all the variables must be defined as double double t delt double in o
50. ation session to the other The cir cuit topology however should remain the same In PSIM the simulation time step is fixed throughout the simulation In order to ensure accurate simulation results the time step must be chosen properly The factors that limit the time step in a circuit include the switching period widths of pulses waveforms and intervals of transients It is recommended that the time step should be at least one magni tude smaller than the smallest of the above The allowable maximum time step is automatically calculated in PSIM It is compared with the time step set by the user and the smaller value of the two will be used in the sim ulation If the selected time step is different from the one set by the user it will be saved to the file message doc PSIM User Manual 4 1 Chapter 4 Other Components 4 2 4 3 4 3 1 4 3 2 Time The Time element is a special case of the piecewise linear voltage source It is treated as a grounded voltage source and the value is equal to the simulation time in sec Images Independent Voltage Current Sources Several types of independent voltage current sources are available in PSIM The notation of the current source direction is defined as the current flows out of the higher potential node through the external circuit and back into the lower potential node of the source Note that current sources regardless of the type can be used in t
51. block THY Thyristor switch Time Time element in sec UDELAY Unit delay V AC AC voltmeter VAR VAR meter VAR3 3 phase VAR meter VCCVS Current controlled voltage source VDC DC voltage source V DC DC voltmeter VDC GND Grounded DC voltage source VGNL Piecewise linear voltage source VNOND Nonlinear voltage source multiplication VNONM Nonlinear voltage source division PSIM User Manual B 113 Appendix B List of Elements Names Description VNONSQ Nonlinear voltage source square root VP Voltage probe node to ground VP2 Voltage probe between two nodes VSI3 3 phase PWM voltage source inverter VSIN Sinusoidal voltage source VSIN3 3 phase sinusoidal voltage source VSQU Square wave voltage source VSTEP Step voltage source VTRI Triangular wave voltage source VVCVS Voltage controlled voltage source W Wattmeter W3 3 phase wattmeter XORGATE exclusive OR gate ZENER Zener diode ZOH Zero order hold B 114 PSIM User Manual
52. ces VRAND IRAND 4 7 4 4 Voltage Current Controlled Sources 4 7 4 5 Nonlinear Voltage Controlled Sources 4 8 4 6 Voltage Current Sensors VSEN ISEN 4 9 4 7 Speed Torque Sensors WSEN TSEN 4 10 4 8 Probes and Meters 4 11 4 9 Switch Controllers 4 12 4 9 1 On Off Switch Controllers ONCTRL 4 12 PSIM User Manual iii 4 9 2 Alpha Controllers ACTRL 4 13 4 9 3 PWM Lookup Table Controllers PATTCTRL 4 14 4 10 Control Power Interface Blocks CTOP 4 16 4 11 ABC DQO Transformation Blocks ABC2DQO DQO2ABC 4 17 4 12 External DLL Blocks 4 19 4 13 Simulated Frequency Response Analyzers SFRA 4 22 Chapter 5 Circuit Schematic Design Using SIMCAD 5 1 Creating a Circuit 5 2 5 2 Editing a Circuit 5 3 5 3 Subcircuits 5 3 5 3 1 Creating Subcircuit In the Main Circuit 5 4 5 3 2 Creating Subcircuit Inside the Subcircuit 5 4 5 4 Other Options 5 6 5 4 1 Simulation Control 5 6 5 4 2 Running the Simulation 5 6 5 4 3 Settings Settings 5 6 5 4 4 Printing the Circuit Schematic 5 7 5 5 Editing SIMCAD Library 5 7 5 5 Editing an Element 5 7 5 5 2 Creating a New Element 5 7 5 5 3 Ground Element 5 8 Chapter 6 Waveform Processing Using SIMVIEW 6 1 File Menu 6 2 6 2 Edit Menu 6 2 6 3 Axis Menu 6 3 6 4 Screen Menu 6 4 6 5 View Menu 6 5 6 6 Option Menu 6 6 iv PSIM User Manual 6 7 Label Menu 6 7 6 8 Exporting Data 6 8 Chapter 7 Error Warning Messages and General Simulation Issues 7 Simulation Issues 7 1 7 1 1
53. complete subcircuit ports must be specified to connect the subcir cuit nodes with the corresponding nodes in the main circuit After choosing Place Port in the Subcircuit menu a port image will appear After the port is placed in the circuit a pop up window shown on the left below will appear 5 4 PSIM User Manual Subcircuits Subcircuit port assignments E ES o p p pue E iA o a 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 permit ted When a diamond is selected it is colored red By default the left diamond at the top is selected and marked with red color Click on the desired diamond to select and to specify the port name In this example in the main circuit chop sch there are four linking nodes two on the left side and two on the right side of the subcircuit block The relative position of the nodes are that the upper two nodes are 1 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 proce
54. ding torque of Load 2 to the master machine is T The operation of a dc machine is described by the following equations Tla v Batia Ra Lu di E k 0 where v Vp ig and if are the armature and field winding voltage and current respectively E is the back emf is the mechanical speed in rad sec 7 is the internal developed torque and 77 is the load torque The back emf and the internal torque can also be expressed as E Lap ip On Tom Lg i ly where Lyris the mutual inductance between the armature and the field windings It can be calculated based on the rated operating conditions as VE i Ra L ar Ij m 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 Tzr Since the load is along the reference direction of the mechanical system the loading torque to the machine is 77 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 2 16 PSIM User Manual Motor Drive Module Ia Speed la E 280 00 T pe A Sensor 20m yes T T 150 00 50 00 Constant om E Torque Tank usce Load 0 80K O 60K 040K 0 20K 0 00K naa 0 20 naa 0 60
55. dure is 39 66 repeated for the linking nodes in out and out After the four nodes are placed the node assignment and the subcircuit appear in SIM CAD as shown below PSIM User Manual 5 5 Chapter 5 Circuit Schematic Design Using SIMCAD 5 4 5 4 1 5 42 5 4 3 Other Options Simulation Control Before a circuit can be simulated simulation control parameters must be specified By choosing Simulation control in the Simulate menu an image of a clock will appear on the screen After double clicking on the clock simulation control parameters can be specified Refer to Section 4 1 for more details on simulation parameters Running the Simulation To run the simulation choose Run PSIM from the Simulate menu This will create the netlist file with the cct extension and start the PSIM simulator To view the simulation results choose Run SIMVIEW from the Simulate menu Refer to Chapter 6 for the use of SIMVIEW Settings Grid display text fonts and colors can be set in the Settings in the Option menu Before a circuit is printed its position on the paper can be viewed by selecting Print Page Border in the Settings option If a circuit is split into two pages it can be moved into one single page If the circuit is too big to fit in one page one can zoom out and reduce the circuit size by clicking the Zoom Out button Print page legend such as company name
56. e buffer Sampling Frequency Samping frequency in Hz The circular buffer stores data in a buffer When the pointer reaches the end of the buffer it will start again from the beginning The output of the circular buffer is a vector To access to each memory location use the memory read block MEMREAD Example If a circular buffer has a buffer length of 4 and sampling frequency of 10 Hz we have the buffer storage at different time as follows Value at Memory Location Time Input 1 gt 3 4 0 0 11 0 11 0 0 0 0 1 0 22 0 11 0 22 0 0 0 2 0 33 0 11 0 22 0 33 0 0 3 0 44 0 11 0 22 0 33 0 44 0 4 0 55 0 55 0 22 0 33 0 44 3 6 6 Convolution Block A convolution block performs the convolution of the two input vectors The output is also a vector 3 30 PSIM User Manual Digital Control Module 3 6 7 Image CONV Let the two input vectors be A an g 1 Am 2 a1 B b Dag by 2 eee bi We have the convolution of A and B as C A B Cm n 1 Cm n 2 C1 where cjzX ag bjy k O m n 1 j 0 m n 1 i 1 m n 1 Example IfA 123 and B 4 5 we have m 3 n 2 and the convolution of A and B as C 4 13 22 15 Memory Read Block A memory read block can be used to read the value of a memory location ofa vector Image MEMREAD LE Attribute Parameters Description Memory Index Offset Offset from the starting
57. e data points of a curve can have either no symbol or one of the following symbols Circle Rectangle Triangle Plus and Star Also data points can be either connected or discrete To change the settings of a curve first select the curve using the left mouse then choose the proper settings and click on Apply After all the settings are selected Click on OK The dialog box of the Set Curves function is shown below Select Curve Style Ea Curves Style Dot Apply I ALic LATE Eua C Rectangle C Triangle i C Plus f Star Cancel M Connect Once Color is de selected the display becomes black and white If the waveform screen is copied to the clipboard the bitmap image will be in monochrome This will result a much smaller memory size as compared to the image in color display Label Menu Function Description Text Place text on the screen Line Draw a line Dotted Line Draw a dotted line Arrow Draw a line with arrow To draw a line first select Line from the Label menu Then click the left mouse at the position where the line begins and drag the mouse while keeping the left button pressed Dotted lines and lines with arrows are drawn in the same way If one is in the Zoom or Measure mode and wishes to edit a text or a label one should first escape from the Zoom Measure mode by selecting Escape in the View menu PSIM User Manua
58. ected to the gate node of a switch ONLY It can not be connected to any other elements Image GATING Attributes Parameters Description Frequency Operating frequency in Hz of the switch or switch module connected to the gating block No of Points Number of switching points Switching Points Switching points in degree If the frequency is zero the switching points is in second The number of switching points refers to the total number of switching actions in one period For example if a switch is turned on and off once in one cycle the number of switching points is 2 Example Assume that a switch operates at 2000 Hz and has the following gating pattern in one period PSIM User Manual 2 5 Chapter 2 Power Circuit Component 2 2 5 35 92 175 187 345 357 0 180 360 deg In SIMCAD the specifications of the gating block 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 Single Phase Switch Modules PSIM provides built in single phase diode bridge module BDIODE1 and thyristor bridge module BTHY1 The images and the internal connections of the modules are shown below Images BDIOD
59. ency duty cycle and DC offset The duty cycle is defined as the ratio between the high potential interval versus the period Images VSQU ISQU o T Attributes Parameters Description Vpeak peak Peak to peak amplitude Vpp Frequency Frequency in Hz Duty Cycle Duty cycle D of the high potential interval DC Offset DC offset Voffset The specifications of a square wave source are illustrated as follows me Yop n gt D T rm Voffset Y 0 4 D T 1 f Triangular Sources A triangular wave voltage source VTRI or current source ITRI is defined by its peak to peak amplitude frequency duty cycle and DC offset The duty cycle is defined as the ratio between the rising slope interval versus the period Images 4 4 PSIM User Manual Independent Voltage Current Sources 4 3 5 VTRI ITRI j Attributes Parameters Description Vpeak peak Peak to peak amplitude Vpp Frequency Frequency in Hz Duty Cycle Duty cycle D of the rising slope interval DC Offset DC offset V ffser The specifications of a triangular wave source are illustrated as per s i i P Voffset Uf Step Sources A step voltage source VSTEP or current source ISTEP changes from 0 to a preset amplitude at a given time Images VSTEP ISTE T Attributes Parameters Description Vste
60. erge Merge another data file with the existing data file for display Re Load Data Save Save As Print Print Setup Print Preview Exit Re load data from the same text file In the time display save waveforms to a SIMVIEW binary file with the smv extension In the FFT display save the FFT results to a text file with the fft extension The data range saved will be the same as shown on the screen In the time display save waveforms to a SIMVIEW binary file spec ified by the user In the FFT display save the FFTresults to a text file specified by the User Print the waveforms Set up the printer Preview the printout Quit SIMVIEW When the data of a text file are currently being displayed after new data of the same file have become available by selecting Re Load Data waveforms will be re drawn based on the new data By using the Merge function data from multiple files can be merged together for display For example if one file contains the curves I1 and I2 and another file contains the curves V1 and V2 all four curves can be merged and displayed on one screen Note that if the second file also contains a curve with the same name 11 it will be modified to automatically Edit Menu Function Description Copy to Clipboard Copy the waveforms to the clipboard Edit Title Edit the title of the printout By default the title shows the file name and path
61. es the delay angle the syn chronization and the enable disable signal A detailed description of the PWM lookup table controller is given in Section 4 8 3 Coupled Inductors Coupled inductors with two and three branches are provided The following shows cou pled inductors with two branches 2 8 PSIM User Manual Coupled Inductors Let L11 and L22 be the self inductances of Branch 1 and 2 and L12 and L21 the mutual inductances the branch voltages and currents have the following relationship vy d i dt l2 cad L12 L21 L22 Vo The mutual inductances between two windings are assumed to be always equal i e L12 L21 Images MUT2 MUT3 ern arr C W Yn ANS LS NIUE E eo Attributes Parameters Description Lii self Self inductance of the inductor i in H Lij mutual Mutual inductance between Inductor i and j in H i initial Initial current in Inductor i Iflag i Flag for the current printout in Inductor i In the images the circle square and triangle refer to Inductor 1 2 and 3 respectively Example Two mutually coupled inductors have the following self inductances and mutual induc tance L11 1 mH L22 1 1 mH and L12 L21 0 9 mH In SIMCAD the specifications of the element MUT2 will be L11 self 1 e 3 PSIM User Manual 2 9 Chapter 2 Power Circuit Component L12 mutual 0 9e
62. es the node to ground voltage at the machine shaft output represents the reading of the torque sensor No 1 Similarly the probe V represents the reading of the torque sensor No 2 Note that the probe V is inverted from the ground to the node since Sensor 2 is against the reference direction of the mechanical system The equivalent circuit also illustrates how mechanical power is transferred The multipli cation of the voltage to the current 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 c Probes and Meters Probes and meters are used to request a voltage current or power quantity to be dis played The voltage probe VP measures a node voltage with respect to ground The two terminal voltage probe VP2 measures the voltage between two nodes The 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 While probes measure a voltage or current quantity in its true form meters can be used to measure the dc or ac voltage current or the real power and reactive power These meters function in the same way as the actual meters For the current probe a small resistor of 1 uQ is used internally to measure the current Images PSIM User Manual 4 11 Chapter 4 Other Components 4 9 4 9 1
63. ferred to the first primary winding Lm magnetizing Magnetizing inductance in H referred to the first primary winding Np i primary No of turns of the ip primary secondary tertiary winding Ns i secondary Example A single phase two winding transformer has a winding resistance of 0 002 Ohm and leak age inductance of 1 mH at both the primary and the secondary side all the values are referred to the primary The magnetizing inductance is 100 mH and the turns ratio is Np Ns 220 440 In SIMCAD the transformer will be TF 1F with the specifications as Rp primary 2 e 3 Rs secondary 2 e 3 Lp primary 1 e 3 Ls secondary e 3 Lm magnetizing 100 e 3 Np primary 220 Ns secondary 440 2 4 5 Three Phase Transformers PSIM provides two winding and three winding transformer modules as shown below They all have 3 leg cores TF 3F 3 phase transformer windings unconnected XB SYY IB SYD 3 phase Y Y and Y A connected transformer TF 3F 3W 3 phase 3 winding transformer windings unconnected 2 12 PSIM User Manual Transformers TF 3YYD TF 3YDD 3 phase 3 winding Y Y A and Y A A connected transformer Images TF 3YY TF 3YD TF 3DD TF 3F A P 8 a A E 2 a A P 8 a A 2 a A a B b B ve b B ef b B b B b C c C c C c C c N n N C c TF_3YDD TF_3F_3W a a A P S a b b hu e c B b E b 4 a Br ct
64. fficients of the nominator from dg to ay Sampling Frequency Sampling frequency in Hz Example The following is a second order transfer function 3 400 e Ar eee z 1200 z 400 e with a sampling frequency of 3 kHz In SIMCAD the specifications are Order N 2 Coeff bo by 0 0 400 e3 Coeff ag ay 1 1200 400 e3 Sampling Frequency 3000 3 6 2 1 Integrators There are two types of integrators One is the regular integrator I D The other is the PSIM User Manual 3 23 Chapter 3 Control Circuit Components resettable integrator I RESET D Images ID I RESET D Z Jr EE Attribute Parameters Description Algorithm Flag Flag for integration algorithm 0 trapezoidal rule 1 backward Euler 2 forward Euler Initial Output Value Initial output value Reset Flag Reset flag 0 edge reset 1 level reset Sampling Frequency Sampling frequency in Hz The output of the resettable integrator can be reset by an external control signal at the bot tom of the block For the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal For the level reset reset flag 1 the integrator out put is reset to zero as long as the control signal is high 1 If we define u t as the input y t as the output T as the sampling period and H z as the discrete transfer function the input output relationship
65. for different values In order to obtain accurate results one should make sure that the output reaches the steady state at the end of the simulation Moreover the amplitude of the sinusoidal excitation source needs to be properly selected to maintain the small signal linearity of the system 4 22 PSIM User Manual Simulated Frequency Response Analyzers Example The following example illustrates the use of the simulated frequency response analyzer in a one quadrant chopper circuit A simulated frequency response analyzer is used to mea sure the frequency response of the output voltage versus the reference voltage The dc duty cycle is chosen as 0 7 An ac perturbation with the amplitude of 0 1 is generated through an ac source The load filter cut off frequency is 291 Hz In this example the per turbation source frequency is also chosen as 291 Hz The simulated frequency response results are Gain 13 7 dB and Phase 90 05 at the frequency of 291 Hz IR ES tb wear m 2 1 00 k eer A UE 9 2 PII RAT il mum ae MM il m AN MANI Em 0 00 250 5 00 e 750 10 00 The simulated waveforms of the load voltage modulation wave and the carrier wave are shown on the right PSIM User Manual 4 23 Chapter 4 Other Components 4 24 PSIM User Manual Chapter 5
66. fset Images VRAND IRAND Ga E Attributes Parameters Description Peak Peak Amplitude Peak to peak amplitude of the source DC Offset DC offset Voltage Current Controlled Sources Four types of controlled sources are available Voltage controlled voltage source VVCVS Current controlled voltage source VCCVS Voltage controlled current source IVCCS Current controlled current source ICCCS For a current controlled voltage current source the controlling current must come from a RLC branch Also for a controlled current source the controlling voltage current can not be an independent source Note that voltage current controlled sources can be used in the power circuit only PSIM User Manual 4 7 Chapter 4 Other Components 4 5 Images VVCVS VCCVS IVCCS ICCCS i Attribute Parameters Description Gain Gain of the source For voltage controlled sources VVCVS IVCCS the controlling voltage is from the posi tive node to the negative node For current controlled sources VCCVS ICCCS the control nodes are connected across a RLC branch and the direction of the controlling current is indicated by the arrow Example The circuit below illustrates the use of the current controlled voltage source VCCVS TT JE
67. g in deg The input for the delay angle alpha is in degree Example The figure below shows a thyristor circuit using delay angle control In the circuit the zero crossing of v which corresponds to the moment that the thyristor would start con ducting naturally is used to provide the synchronization The delay angle is set at 30 The gating signal is delayed from the rising edge of the synchronization signal by 30 vy QD iRLI Dk Vsyne 0 00 10 00 20 00 30 00 40 00 50 00 PWM Lookup Table Controllers There are four input signals in PWM lookup table controllers 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 synchroniza tion signal changes from low to high The delay angle defines the relative angle between the gating pattern and the synchronization signal For example if the delay angle is 10 deg the gating pattern will be leading the synchronization signal by 10 deg Image PATTCTRL Enable Disable Delay Mod Sync Angle Index Signal 4 14 PSIM User Manual Switch Controllers Attributes Parameters Description Frequency Switching frequency in Hz Update Angle Update an
68. ge Click on the zoom in icon to zoom in the element To change the attribute settings choose Attributes in the View menu Double click on a parameter For each parameter if Display as Text Link is checked the display of this parameter can be enabled or disabled in the attribute pop up window and the value of this parameter will appear in the list of elements when List Elements in the View menu is selected If Initial Display State is checked the display will be on by default Creating a New Element The following is the procedure to create a new element Choose New Element in the Library menu PSIM User Manual 5 7 Chapter 5 Circuit Schematic Design Using SIMCAD 5 5 3 Specify the netlist name Modify the width and the height of the element by selecting Set Size in the Edit menu Specify the terminal nodes The nodes are defined by clicking on the diamonds on the left and on the right Numerical numbers 1 and 2 will appear These numbers determine the sequence of the nodes in the netlist Create the component images using the drawing utilities provided Specify the attributes of the element In the Menu Editor the new element can be deleted or moved to a different location Ground Element There are two grounds in SIMCAD Ground and Ground_1 They have different images but the functions are exactly the same Node connected to either of the ground ele ment are automa
69. gle 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 m M My 614 G1 2 Gig C C s C kn where n is the number of gating patterns m is the modulation index correspondent to Pat tern i and k is the number of switching points in Pattern i The modulation index array m to m should be monotonically increasing The output will select the 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 136627 72 10303 80 79825 99 20176 107 8970 172 2634 180 187 7366 252 1030 260 7982 279 2018 287 8970 352 2634 360 14 7 821098 72 27710 80 72750 99 27251 107 7229 172 1789 180 187 8211 252 2771 260 7275 279 2725 287 7229 352 1789 360 14 7 902047 72 44823 80 66083 99 33917 107 5518 172 0979 180 187 9021 252 4482 260 6608 279 3392 287 5518 352 0980 360 14 10 186691 87 24225 88 75861 91 24139 92 75775 169 8133 180 190 1867 267 2422 268 7586 271 2414 272 7578 349 8133 360 PSIM User Manual 4 15 C
70. hapter 4 Other Components 4 10 14 10 189426 87 47009 88 97936 91 02065 92 52991 169 8106 180 190 1894 267 4701 268 9793 271 0207 272 5299 349 8106 360 In this example if the modulation index input is 0 8 the output will select the first gating pattern If the modulation index is 0 915 the output will select the third pattern Example This example shows a three phase voltage source inverter file vsi3pwm sch The PWM for the converter uses the selected harmonic elimination The gating patterns are described above and are pre stored in File vsi3pwm tbl The gating pattern is selected based on the modulation index The waveforms of the line to line voltage and the three phase load currents are shown below zm 0 1 H WRL1a KRL1b flic 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms Control Power Interface Blocks A control power interface block passes a control circuit value to the power circuit It is used as a buffer between the control and the power circuit The output of the interface block is treated as a constant voltage source when the power circuit is solved With this block some of the functions that can only be generated in the control circuit can be passed to the power circuit Image CTOP E 4 16 PSIM User Manual ABC DQO Transformation Blocks 4 11 Example A Constant P
71. he power circuit only DC Sources A dc source has a constant amplitude One side of the dc voltage VDC_GND is grounded Images VDC IDC VDC GN Attributes Parameters Description Amplitude Amplitude of the source Sinusoidal Sources A sinusoidal source is defined as v V sin 2n f t 0 V offset o 4 2 PSIM User Manual Independent Voltage Current Sources The specifications can be illustrated as follows b 7 n gt i 6 27 Uf E Images VSIN ISIN amp t Attributes Parameters Description Peak Amplitude Peak amplitude V Frequency Frequency f in Hz Phase Angle Initial phase angle 9 in deg DC Offset DC offset V fser Tstart Starting time in sec Before this time the source is 0 To facilitate the creation of three phase circuits a symmetrical three phase Y connected sinusoidal voltage module VSIN3 is provided The dotted phase of the module refers to Phase A Image VSIN3 os a Ho b S e Attributes Parameters Description V line line rms Frequency Line to line rms voltage amplitude Frequency f in Hz PSIM User Manual 4 3 Chapter 4 Other Components 4 3 3 4 3 4 Init Angle phase A Initial angle for Phase A Square Wave Sources A square wave voltage source VSQU or current source ISQU is defined by its peak to peak amplitude frequ
72. in the SIMCAD for circuit creation Get To get an element from the component library click on the Elements menu Choose the submenu and highlight the element to be selected For example to get a dc voltage source click on Elements Sources and Voltage then highlight Vdc Place Once an element is selected from the menu the image of the element will appear on the screen and move with the mouse Click the left button of the mouse to place the element Rotate Once an element is selected click to rotate the element Wire To connect a wire between two nodes click on F2 An image of a pen will appear on the screen To draw a wire keep the left button of the mouse pressed and drag the mouse A wire always starts from and end at a grid intersection For easy inspection a floating node is displayed as a circle and a junction node is displayed as a solid dot Assign To assign the parameters of an element double click on the element A dia log box will appear Specify the values and hit the Return key or click on OK 5 2 PSIM User Manual Editing a Circuit 5 2 5 3 Editing a Circuit The following functions are provided in the Edit menu and View menu for circuit editing Select To select an element click on the element A rectangle will appear around the element To select a block of a circuit keep the left button of a mouse pressed and drag the mouse until the rectangle covers the selected area Copy To copy an element
73. itches There are four basic types of switches in PSIM Diodes DIODE Thyristors THY Self commutated switches GTO IGBT MOSFET Bi directional switches SSWI Switch models are ideal That is both turn on and turn off transients are neglected A switch has an on resistance of 10 uQ and an off resistance of IMQ Snubber circuits are not required for switches Diodes and Zener Diodes The conduction of a diode is determined by the circuit operating condition The diode is turned on when it is positively biased and is turned off when the current drops to zero Image DIODE Attributes Parameters Description Initial Position Flag for the initial diode position If the flag is O the diode is open If it is 1 the diode is closed Current Flag Flags for the diode current printout If the flag is O there is no current output If the flag is 1 the diode current will be saved to the output file for display A zener diode in PSIM is modelled by a circuit as shown below Image ZENER Circuit Model K K L A T 2 2 PSIM User Manual Switches 2 2 2 Attributes Parameters Description Breakdown Voltage Breakdown voltage Vg of the zener diode in V If the zener diode is positively biased it behaviors as a regular diode When it is reverse biased it will block the conduction as long as the cathode anode voltage Vx is less than the breakdown
74. l 6 7 Chapter 6 Waveform Processing Using SIMVIEW 6 8 Exporting Data As stated in Section 6 1 FFT results can be saved to a text file Therefore both simulation results txt and FFT results fft are in text format and can be edited using a text editor or exported to other software such as Microsoft Excel For example in Excel simple open the data file The data will be automatically converted to the table format 6 8 PSIM User Manual Simulation Issues Chapter 7 Error Warning Messages and General Simula 7 1 7 1 1 tion Issues Simulation Issues Time Step Selection PSIM uses the fixed time step in the simulation In order to assure accurate results the simulation time step should be properly chosen The factors that limit the time step in a circuit include the switching period widths of pulses or square waveforms and intervals of fast transients It is recommended that the time step should be at least one magnitude smaller than the smallest of the above Propagation Delays in Logic Circuits The logic elements in PSIM are ideal i e there is no propagation delay For a logic circuit that utilizes the propagation delays for its operation a function block in PSIM called the Time Delay block TDELAY can be used to represent the effect of the propagationdelay To illustrate this take a two bit counter circuit as an example clock In the circuit on the left
75. m abc to dqo are PSIM User Manual 4 17 Chapter 4 Other Components cosO cos 6 2 cos e 2 Va 2 i Va Val 3 sin sine 27 sin 0 2 Vo Ve 1 1 1 32 2 2 The transformation equations from dqo to abc are cos 0 sinO 1 y y cos 6 2 sin e 2 1 g v 3 3 Ya v 2m x 2n y c cos 0 sin 0O 1 o 0 T 0 Images ABC2DQO DQO2ABC Example In this example three symmetrical ac waveforms are transformed into dqo quantities The angle O is defined as 8 wt where w 27 60 Since the angle O changes linearly with time a piecewise linear voltage which has a ramp waveform is used to represent 6 The simula tion 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 4 18 PSIM User Manual External DLL Blocks i Vd n 5 00 10 00 15 00 20 00 25 00 30 00 Time ms 4 12 External DLL Blocks The external DLL dynamic link library blocks allow the user to write one s own code in C language compile it into DLL using either Microsoft C C or Borland C and link it with PSIM These blocks can be used in either the power circuit or the control circuit Image DLL EXT DL
76. memory location This block allows one to access the memory location of elements such as the convolution block vector array and circular buffer The index offset defines the offset from the start ing memory location PSIM User Manual 3 31 Chapter 3 Control Circuit Components Example Let a vector be A 2 4 6 8 if index offset is 0 the memory read block output is 2 If the index offset is 2 the output is 6 3 6 8 Data Array This is a one dimensional array The output is a vector Image ARRAY Attribute Parameters Description Array Length The length of the data array Values Values of the array Example To define an array A 24 6 8 we will have Array Length 4 Values 24 6 8 3 6 9 Multi Rate Sampling System A discrete system can have more than one different sampling rate The following system is used to illustrate this The system below has 3 sections The first section has a sampling rate of 10 Hz The out put Vo fed back to the system and is sampled at 4 Hz in the second section In the third section the output is displayed at a sampling rate of 2 Hz It should be noted that a zero order hold must be used between two elements having dif ferent sampling rates 3 32 PSIM User Manual Digital Control Module ZOH 4 Hz 2 Hz PSIM User Manual 3 33 Chapter
77. n of selecting the maximum value out of two inputs When V is greater than V the comparator output will be 1 and V V Other wise V Vp v Vb Vo rea CT Subcircuit Blocks Operational Amplifiers An ideal operational amplifier op amp is modelled using the PSIM power circuit ele ments as shown below Image OP AMP Circuit Model of the Op Amp AAA V V n Ro T gt Vo V V4 y s5 A V V Vs Vs where V V noninverting and inverting input voltages Vo output voltage A op amp gain A 100 000 in the program Ro output resistance R 80 Ohms in the program 3 16 PSIM User Manual Subcircuit Blocks Attributes Parameters Description Voltage Vs Upper voltage source level of the op amp Voltage Vs Lower voltage source levels of the op amp Note that the op amp image is similar to that of the comparator For the op amp the inverting input is at the upper left and the noninverting input is at the lower left For the comparator it is the opposite Example A Boost Power Factor Correction Circuit The figure below shows a boost power factor correction circuit It has the inner current loop and the outer voltage loop The PI regulators of both loops are implemented using op amp
78. nt error and the error signal between the desired voltage profile and the rectifier output voltage eat io The simulated waveforms of the load current rectifier voltage after the low pass filter and the load voltage are shown A 106 PSIM User Manual Examples A4 A 5 Cycloconverter Circuit cyclo sch The following is a cycloconverter circuit It consists of two phase controlled rectifier bridges The bridge on the left conducts during the positive half cycle of the load current while the one on the right conducts the negative half cycle In order to detect the zero crossing of the load current a band pass filter tuned at the load frequency is used to extract the fundamental component The output of the comparator is used as the enable disable signal for the two bridges apf ou i sn KLnegy e I The simulated waveforms of the load voltage load current before and after the band pass filter and the currents through the positive and negative rectifier bridges are shown below One Quadrant Chopper System with Full
79. of an integrator can be expressed under different integration algorithms as follows With trapezoidal rule H z NIN z 1 z 1 T y n y n 1 5 u n u n 1 With backward Euler Z H z eem y n y n 1 T u n 3 24 PSIM User Manual Digital Control Module With forward Euler 1 A z T z 1 y n y n 1 T u n 1 3 6 2 2 Differentiators The transfer function of a discrete differentiator 1s H z 4 mO 7 e where T is the sampling period The input output relationship can be expressed in differ ence equation as 1 y n z u n u n 1 Image D_D 4 Attribute Parameters Description Sampling Frequency Sampling frequency in Hz 3 6 2 3 Digital Filters Two types of digital filters are provided general digital filter FILTER D and finite impulse response FIR filter The transfer function of the general digital filter is expressed in polynomial form as H b b Du lE HT HD ae N 1 N 1 das Hay 1 2 If a 1 the output y and input u can be expressed in difference equation form as PSIM User Manual 3 25 Chapter 3 Control Circuit Components y n by u n b u n 1 by u n N a4 yx n 1 c a5 y n 2 t ay y n N If the denominator coefficients a an are not zero this type of filter is called infinite impulse response IIR filter
80. ol to power interface block D Differentiator DCM DC machine D D Discrete differentiator DIGIT Quantization block DIODE Diode PSIM User Manual B 109 Appendix B List of Elements Names Description DIVD Divider DLL EXTI External DLL block 1 input DLL EXT3 External DLL block 3 inputs DLL EXT6 External DLL block 6 inputs DLL EXTI2 External DLL block 12 inputs DQO2ABC DQO ABC transformation block EXP Exponential function block FFT Fast Fourier Transformer block FILTER BP2 2nd order band pass filter FILTER BS2 2nd order band stop filter FILTER D General digital filter FILTER DI General digital filter FILTER HP2 2nd order high pass filter FILTER FIR FIR filter FILTER FIR1 FIR filter FILTER LP2 2nd order low pass filter GATING Switch gating block for gating specifications Ground Ground Ground 1 Ground with a different image GTO Gate Turn Off thyristor ICCCS Current controlled current source ID Discrete integrator IDC DC current source IGBT Insulated Gate Bipolar Transistor IGNL Piecewise linear current source INDM 3S8 3 phase squirrel cage induction machine INDM 3SN 3 phase squirrel cage induction machine stator neutral available INOND Nonlinear current source multiplication INONM Nonlinear current source division INONSQ Nonlinear current source square root INONSP Special nonlinear current source Type 1 B 110 PSIM User Manual
81. or a block of the circuit select the element or the region and choose Copy Then choose Paste place the element or circuit Delete To delete an element a block of a circuit or a wire select the item and choose Cut or hit the Delete key Note that if Cut is used the last deleted item can be pasted back This is equivalent to un do Move To move an element or a circuit block select the element circuit block and drag the mouse while keeping the left button pressed Text To place text on the screen choose Text Enter the text in the dialog box and click the left button of the mouse to place it Zoom 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 Esc Quit from any of the above editing modes by choosing Escape Subcircuits The following functions are provided for subcircuit editing and manipulation New Subcircuit To create a new subcircuit Load Subcircuit To load an existing subcircuit The subcircuit will appear on the screen as a block Edit Subcircuit To edit the size and the file name of the subcircuit Place Port To place the linking port between the main circuit and the subcircuit Display Port To display the linking port of the subcircuit PSIM User Manual 5 3 Chapter 5 Circuit Schematic Design Using SIMCAD 5 3 1 5 3 2 Subcircuit List To list the file name
82. or example when c in Phase a is high 1 the rising stage is selected and Phase a inductance will be L Lmin k 0 Note that only one and at least one control signal out of c4 c4 and c4 in one phase must be high 1 The developed torque of the machine per phase is L 2 dL mcs PR I d Based on the inductance expression we have the developed torque in each stage as Tom i2 k 2 rising stage Ton 0 flat top stage 2 22 PSIM User Manual Motor Drive Module Tom i k 2 falling stage Tom 0 flat bottom stage Note that saturation is not considered in this model 2 5 2 Mechanical Loads Several mechanical load models are provided in PSIM constant torque constant power and general type load Note that they are available in PSIM Plus only 2 5 2 1 Constant Torque Load The image of a constant torque load is Image MLOAD T T N Attributes Parameters Description Constant Torque Torque constant T onst 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 said to be along the reference direction and the loading torque to the master machine is Teonst Otherwise the loading torque will be 7 Please refer to Section 2 5 1 1 for more detailed explanation A constant torque load is expressed as The torque does not depend on the speed direction
83. ower Load Model For a constant power dc load the voltage V current Z and power P have the relationship as P V I Given the voltage and the power the current can be calculated as P V This can be implemented using the circuit as shown below The load voltage is measured through a voltage sensor and is fed to a divider The output of the divider gives the current value Z Since the voltage could be zero or a low value at the initial stage a limiter is used to limit the current amplitude This value is converted into the load current quantity through a voltage controlled current source LOAD I af be und 4 is D P L m e Example The following circuit illustrates how a control circuit signal can be passed to the power circuit As seen from the power circuit the CTOP block behaviors as a grounded voltage source Control Circuit Power Circuit TTC fe ABC DOO Transformation Blocks Function blocks ABC2DQO and DQO2ABC perform the abc dqo transformation They convert three voltage quantities from one coordinate system to another These blocks can be used in either the power circuit or the control circuit It should be noted that in the power circuit currents must first be converted into voltage quantities using current controlled voltage sources before they can be transformed The transformation equations fro
84. p Flops The J K flip flop is positive edge triggered The truth table is J K D Q Q 0 0 T no change 0 1 T 0 1 1 0 T 1 0 1 1 T Toggle Image 3 5 4 Monostable Multivibrators In a monostable multivibrator the positive or negative edge of the input signal triggers the monostable A pulse with the specified pulse width will be generated at the output The output pulse width can be either fixed or adjusted through another input variable The latter type of monostables is referred to as controlled monostables MONOC Its on time pulse width in second is determined by the control input Image MONO MONOC Attribute Parameters Description Pulse Width On time pulse width in sec 3 20 PSIM User Manual Digital Control Module 3 5 5 3 6 3 6 1 For the controlled monostable block the input node at the bottom is for the input that defines the pulse width Pulse Width Counters A pulse width counter measures the width of a pulse The rising edge of the input activates the counter At the falling edge of the input the output gives the width of the pulse in sec During the interval of two falling pulse edges the pulse width counter output remains unchanged Image PWCT LT Digital Control Module The Digital Control Module as an add on option to the standard PSIM program provides discrete elements such as zero order hold
85. p Value V step after the step change Tstep Time Ttep at which the step change occurs PSIM User Manual 4 5 Chapter 4 Other Components The specifications of a step source are illustrated as follows V step step 4 3 6 Piecewise Linear Sources The waveform of a piecewise linear source consists of many linear segments It is defined by the number of points the values and the corresponding time in sec Images VGNL IGNL o T Attributes 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 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 T 0 01 02 03 Time sec In SIMCAD the specifications are Frequency 0 4 6 PSIM User Manual Voltage Current Controlled Sources No of Points n 4 Values V1 Vn 1 1 3 3 Times T1 Tn 0 0 1 0 2 0 3 4 3 7 Random Sources 4 4 The amplitude of a random voltage source VRAND or a current source IRAND is determined randomly at each simulation time step A random source is defined as Vo LA Rc 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 Vs is the dc of
86. r RL Resistor inductor branch RL3 3 phase resistor inductor branch RLC3 3 phase resistor inductor capacitor branch RMS Root mean square function block ROUNDOFF Round off function block SAMP Sampling hold block SFRA Simulated Frequency Response Analyzer SIN Sine function block SRFF Set Reset Flip Flop SRM3 3 phase switched reluctance machine 6 stator teeth 4 rotor teeth SQROT Square root function block SSWI Simple bi directional switch SUMI l input summer SUM2 2 input summer one positive and the other negative SUM2P 2 input summer both positive SUM3 3 input summer B 112 PSIM User Manual Names Description TDELAY Time delay block TF 1F Single phase transformer TF IF 3W Single phase transformer with 1 primary and 2 secondary windings TF IF 4W Single phase transformer with 2 primary and 2 secondary windings TF IF 5W Single phase transformer with 1 primary and 4 secondary windings TF IF 7W Single phase transformer with 1 primary and 6 secondary windings TF 3F 3 phase transformer windings unconnected TF 3F 3W 3 phase 3 winding transformer windings unconnected TF 3DD 3 phase D D transformer TF 3YD 3 phase Y D transformer TF 3YDD 3 phase Y D D transformer TF 3YY 3 phase Y Y transformer TF 3YYD 3 phase Y Y D transformer TF IDEAL Single phase ideal transformer TFCTN s domain transfer function block TFCTN D z domain transfer function block TG 1 Arc tangent function block THD Total Harmonic Distortion
87. r in sec Since sudden changes of the input will generate spikes at the output it is recommended that a low pass filter be placed before the differentiator PSIM User Manual 3 3 Chapter 3 Control Circuit Components 3 1 4 3 1 5 Proportional Integral Controllers The transfer function of a proportional integral PI controller is defined as 1 sT k G s ST Image PI ES Attributes Parameters Description Gain Gain k of the PI controller Time Constant Time constant T of the PI controller To avoid over saturation a limiter should always be placed at the PI output Built in Filter Blocks Four second order filters are provided as built in modules in PSIM The transfer function of these filters are listed below For a second order low pass filter 2 oO DIE KC MF s 250 s 0 For a second order high pass filter 2 G s k 2 2 2 s 260 s 0 For a second order band pass filter G s k i S B s 0 3 4 PSIM User Manual Computational Function Blocks 32 32 1 For a second order band stop filter 2 2 s 0 G s k 7 S B 5 0 Images FILTER LP2 FILTER HP2 FILTER BP2 FILTER BS2 ERO mE mj Attributes Parameters Description Gain Gain k Damping Ratio Damping ratio amp a Cut off Frequency Cut off frequency fe f in Hz for low pass and T high pass filters oO Center Frequency Cente
88. r frequency f f T in Hz for band pass and T band stop filter Passing Band Frequency width f of the passing stopping band for band Stopping Band Vk pass band stop filters in Hz f T Computational Function Blocks Summers For a summer with one input SUMI or two inputs SUM2 and SUM2P the input can be either a scalar or a vector For the summer with three inputs SUM the input can only be a scalar Images SUMI SUM2 SUM2P SUM3 Input 1 o Input 1 Input 1 Input 2 Input 2 Input 2 Input 3 PSIM User Manual 3 5 Chapter 3 Control Circuit Components 3 2 2 Attributes Parameters Description Gain i Gain k for the i input For SUM3 the input with a dot is the first input If the inputs are scalar the output of a sumer with n inputs is defined as Vo k Vi k V3 Tuck V If the input is a vector the output of a two input summer will also be a vector which is defined as Vi ay 2 aj Va by bp b V Vi V5 a b a b oes a b For a one input sumer the output will still be a scalar which is equal to the summation of the input vector elements that is V a a a Multipliers and Dividers The output of a multipliers MULT or dividers DIVD is equal to the multiplication or division of two input signals Images n x Nominator Denominator For the divider the dotted node is for
89. rator 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 Limiters The output of a limiter is clamped to the upper lower limit whenever the input exceeds the limiter range If the input is within the limit the output is equal to the input Image LIM Attributes Parameters Description 3 10 PSIM User Manual Other Function Blocks 3 3 3 Lower Limit Lower limit of the limiter Upper Limit Upper limit of the limiter Look up Tables There are two types of lookup tables one dimensional lookup tables LKUP and 2 dimensional lookup tables LKUP2D The one dimensional lookup table has one input and one output Two data arrays corresponding to the input and the output are stored in the lookup table in a file The format of the table is as follows Vi V Vo Vi 2 Vo 2 Vi n V The input array V must be monotonically increasing Between two points linear interpo lation is used to obtain the output When the value of the input is less thanV 1 or greater than V n the output will be clamped to V 1 or V n The 2 dimensional lookup table has two input and one output The output data is stored in a 2 dimensional matrix The two input correspond to the row and column indices of the matrix For example if the row index is 3 and the column index is 4 the output will be A 3 4 where
90. rection of the mechanical system is therefore defined from left to the right along the mechanical shaft Furthermore if the reference direction enters an element at the dotted side it is said that this element is along the reference direction Oth erwise it is against the reference direction For example Load 1 Speed Sensor 1 and Torque Sensor 1 are along the reference direction and Load 2 Speed Sensor 2 and Torque Sensor 2 are against the reference direction It is further assumed the mechanical speed is positive when both the armature and the field currents of the master machine are positive Based on this notation if the speed sensor is along the reference direction of the mechani cal system a positive speed produced by the master machine will give a positive speed sensor output Otherwise the speed sensor output will be negative For example if the speed of the master machine in example above is positive Speed Sensor 1 reading will be positive and Speed Sensor 2 reading will be negative The reference direction also determines how a mechanical load interacts with the machine In this system there are two constant torque mechanical loads with the amplitudes of TJ and 77 respectively Load 1 is along the reference direction and Load 2 is against the reference direction Therefore the loading torque of Load 1 to the master machine is T PSIM User Manual 2 15 Chapter 2 Power Circuit Component whereas the loa
91. resistance in Ohm Armature winding inductance in H Field winding resistance in Ohm Field winding inductance in H Moment of inertia of the machine in kg m Rated armature terminal voltage in V Rated armature current in A Rated mechanical speed in rpm Rated field current in A Output flag for internal torque 7 Flag for the master slave mode 1 master 0 slave 2 14 PSIM User Manual Motor Drive Module When the torque flag is set to 1 the internal torque generated by the machine is saved to the data file for display A machine is set to either master or slave mode When there is only one machine in a mechanical system this machine must be set to the master mode When there are two or more machines in a system only one must be set to master and the rest to slave The machine in the master mode is referred to as the master machine and it defines the reference direction of the mechanical system The reference direction is defined as the direction from the shaft node of the master machine along the shaft to the rest of the mechanical system as illustrated below Master Reference direction of the mechanical syste Slave T T pne 9 Load1 Speed Torque Load2 Speed Torque 9 Ty Sensor Sensor Ty Sensor2 Sensor 2 o Y YT OY Y X In this mechanical system the machine on the left is the master and the one on the right is the slave The reference di
92. s of the main circuit and the subcircuits One Page up To go back to the main circuit The subcircuit is automatically saved Top Page To jump from a lower level subcircuit to the top level main circuit This is useful for circuits with multiple layers of subcircuits The one quadrant chopper circuit below illustrates the use of the subcircuit Subcircuit Inside the subcircuit File chop sch File chop sub sch Creating Subcircuit In the Main Circuit The following are the steps to create the subcircuit in the main circuit Go to the Subcircuit menu and choose New Subcircuit A subcircuit block rectangle will appear on the screen Place the subcircuit Choose Edit Subcircuit in the Subcircuit menu to specify the subcircuit size and file name In this example the file name is chop sub sch and the size is 4x7 width of 4 divisions and height of 7 divisions Note that the size of the subcir cuit should be chosen such that it gives the proper appearance and allows easy wire connection Once the subcircuit is placed connect the wires to the border of the subcircuit Note that the nodes at the four corners of the subcircuit block can not be used for connection Creating Subcircuit Inside the Subcircuit To enter the subcircuit double click on the subcircuit block Once inside the subcircuit a circuit can be created edited in exactly the same way as in the main circuit Once the subcircuit is
93. se frequency fp in Hz Absolute Value Function Blocks An absolute value function block gives the absolute value of the input Image Trigonometric Functions Four trigonometric functions are provided sine SIN cosine COS arc cosine COS 1 and arc tangent TG 1 The output is equal to the corresponding trigonometric function of the input For Blocks SIN and COS the input is in degree and for Blocks COS 1 and TG 1 the output is in degree Images SIN COS COS TG I sinh ee epp CEP Real For the arc tangent block the dotted node is for the real input and the other node is for the imaginary input The output is the arc tangent of the ratio between the imaginary and the 3 8 PSIM User Manual Computational Function Blocks 32 8 pe real input ie 0 e V real Fast Fourier Transform Blocks A Fast Fourier Transform block calculates the fundamental component of the input signal The FFT algorithm is based on the radix 2 decimation in frequency method The number of the sampling points within one fundamental period should be 2 where N is an inte ger The maximum number of sampling points allowed is 1024 The output gives the amplitude peak and the phase angle of the input fundamental com ponent The output voltage in complex form is defined as N nz 2 jeu 2 NW UN Vo N Vin n van
94. the control signal changes from low to high from 0 to 1 and holds this value until the next point is sampled Image SAMP l a The node at the bottom of the block is for the control signal input 3 12 PSIM User Manual Other Function Blocks 3 3 5 The difference between this block and the zero order hold block ZOH is that this block is treated as a continuous element and the sampling moments can be controlled externally whereas the zero order hold block is a discrete element and the sampling moments are fixed and of equal distance For a discrete system the zero order hold block should be used Example In this example a sinusoidal input is sampled The control signal is implemented using a square wave voltage source with an amplitude of 1 Vin vo 100 00 5000 z non 50 00 100 00 120 100 oso L L L 1 1 J 1 dad de dedo li bobbed de bod pepe f f 08D L E 4 4 4 SE t E rb IH R EP HEH 4 2 JEU S O 1 i O40 E E l d 4 1 3 F EE 4737403010 EEE 4 9 4 474710 EEE 1 030 L EL E 4 1 1 1 E Ex 2 H 4 4 4 E E E E H 4 3 4 3 E E E H 1 E 0 00 0 00 5 00 10 00 15 00 Time ms Round Off Blocks The image of a round off block is shown below Image ROUNDOF mE Attribute Parameters Description No of Digits
95. the initial values of both QO and Q1 are assumed to be zero At the clock rising edge QO will change to 1 Without delay the position of Q1 which should remain at 0 will toggle to 1 at the same time To prevent this a time delay element with the delay period of one time step is inserted between QO and the input J of the second flip flop Interface Between Power and Control Circuits In PSIM power circuits are represented in the discrete circuit form and control circuits PSIM User Manual 7 1 Chapter 7 Error Warning Messages and General Simulation Issues 7 1 4 7 2 are represented in transfer function block diagram Power circuit components such as RLC branches switches transformers mutual inductors current sources floating voltage sources and all types of controlled sources are not allowed in the control circuit Simi larly control circuit components such as logic gates PI controllers lookup tables and other function blocks are not allowed in the power circuit If there is a direct connection between the power circuit and the input of a control circuit element a voltage sensor will be automatically inserted by the program Similarly if there is a direct connection between the output of a control circuit element and the power cir cuit a control power interface block CTOP will be automatically inserted This is illus trated in the examples below
96. this option can only be selected or de selected when there are no documents in the SIMVIEW environment Screen Menu Function Description Add Delete Curves Add or delete curves from the selected screen Add Screen Add a new screen Delete Screen Delete the selected screen A screen is selected by clicking the left mouse on top of the screen The dialog box of the Add Delete Curves function is shown below Data Display Selection Ea Variables Available Variables for Display IRL a I RL1a RL1b Add gt lt Remove x D RLIaRL Te Cancel Edit Box All the data variables available for display are in the Variables Available box and the vari ables 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 6 4 PSIM User Manual View Menu 6 5 box by clicking on Add gt Similarly a variable can be removed from display by high lighting the variable and clicking on lt Remove In the Edit Box an expression consisting of addition subtraction multiplica tion and division of variables can be specified For example to display IAL1a 20 type this expression in the Edit Box and click on Add gt Note that only and are allowed Also mathematical functions and expressions
97. tically assigned a node name of 0 5 8 PSIM User Manual Chapter 6 Waveform Processing Using SIMVIEW SIMVIEW is a waveform display and post processing program The following shows sim ulation waveforms in the SIMVIEW environment CA SIMVIEW thy_3 txt CE x Q File Edit Axis Screen View Option Label Help 8 x S gfo xiv E mj gt 20 00 Time ms SIMVIEW reads data in the ASCII text format The following shows a sample data file Time I L1 V o V a V pi 0 1000000E 04 0 000000E 00 0 144843E 18 0 307811E 00 0 100000E 01 0 2000000E 04 0 000000E 00 0 289262E 18 0 615618E 00 0 100000E 01 0 3000000E 04 0 000000E 00 0 576406E 18 0 923416E 00 0 100000E 01 0 4000000E 04 0 000000E 00 0 860585E 18 0 123120E 01 0 100000E 01 0 5000000E 04 0 000000E 00 0 114138E 17 0 153897E 01 0 100000E 01 0 6000000E 04 0 000000E 00 0 141920E 17 0 184671E 01 0 100000E 01 0 7000000E 04 0 000000E 00 0 169449E 17 0 215443E 01 0 100000E 01 0 8000000E 04 0 000000E 00 0 196681E 17 0 246212E 01 0 100000E 01 0 9000000E 04 0 000000E 00 0 223701E 17 0 276978E 01 0 100000E 01 0 1000000E 03 0 000000E 00 0 250468E 17 0 307739E 01 0 100000E 01 Functions in each menu are explained below PSIM User Manual 6 1 Chapter 6 Waveform Processing Using SIMVIEW 6 1 6 2 File Menu Function Description Open Load text data file Open Binary Load SIMVIEW binary file M
98. tor Capacitor Branches 2 1 Chapter 2 Power Circuit Components Resistor Inductor Capacitor Branches Both individual resistor inductor capacitor branches and lumped RLC branches are pro vided in PSIM Inductor currents and capacitor voltages can be set as initial conditions To facilitate the setup of three phase circuits symmetrical three phase RLC branches R3 RL3 RC3 RLC3 are provided The initial inductor currents and capacitor voltages of the three phase branches are all set to zero Images For the three phase branches the phase with a dot is Phase A Attributes Parameters Description Resistance Resistance in Ohm Inductance Inductance in H Capacitance Capacitance in F Initial Current Initial Cap Voltage Current Flag Current Flag A Current Flag B Current Flag C Initial inductor current in A Initial capacitor voltage in V Flag for branch current output When the flag is zero there is no current output If the flag is 1 the current will be saved to the output file for display The current is positive when it flows into the dotted terminal of the branch Flags for Phase A B and C of the three phase branches respectively The resistance inductance or capacitance of a branch can not be all zero At least one of the parameters has to be a non zero value PSIM User Manual 2 1 Chapter 2 Power Circuit Component 2 2 2 1 Sw
99. uring the A D conver sion Image 3 28 PSIM User Manual Digital Control Module DIGIT Attribute Parameters Description No of Bits Number of bits N Vin min Lower limit of the input value V min Vin max Upper limit of the input value Vj max Vo min Lower limit of the output value V min Vo max Upper limit of the output value V max Sampling Frequency Samping frequency in Hz The quantization block performs two functions scaling and quantization The input value V sampled at the given sampling frequency is first scaled based on the following V V E in in min zt V X Vin min V V V max in max in min V 0 min The number of bits determines the output resolution AV which is defined as V s min AV 2 1 The output V will be equal to the truncated value of V based on the resolution AV Example If N 4 Vin min Q Vin max 19 Vo min 9 Vo min 5 and Vin 3 2 then Vx 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 2 1 66665 PSIM User Manual 3 29 Chapter 3 Control Circuit Components 3 6 5 Circular Buffer A circular buffer is a momory location that can store an array of data Image C BUFFER op Attribute Parameters Description Buffer Length The length of th
100. ut Place your code here begin double Voref 10 5 Va iref iL Vo Vm double errv ern 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 PSIM User Manual 4 21 Chapter 4 Other Components 4 13 Backward Euler yv yv 33 33 errv Ts iref errv yv Va Inner Loop erri iref iL Trapezoidal Rule yi yi 4761 9 erri ui Ts 2 Backward Euler yi yi 4761 9 erri Ts Vm yi 0 4 erri Store old values uv 33 33 errv ui 4761 9 erri Output out 0 2 Vm out 1 iref Place your code here end Simulated Frequency Response Analyzers Similar to the actual frequency response analyzer the Simulated Frequency Response Analyzer SFRA measures the frequency response of a system between the input and the output The input of the analyzer must be connected to a sinusoidal source The response measured in dB for the amplitude and in degrees for the phase angle is calculated at the end of the simulation and is stored in a file with the fre extension Image SFRA c G A Input Output c G The current version of SFRA only calculates the frequency response at one point T obtain the frequency response over a frequency region one needs to manually change the excitation frequency
101. wer nodes and should be connected to the power circuit Node c C3 and c4 are the control signals for Phase a b and c respectively The con trol signal value is a logic value of either 1 high or 0 low Node 0 is the 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 js dn di 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 0 as shown in PSIM User Manual 2 21 Chapter 2 Power Circuit Component the following figure L Rising Flat Top Falling Flat Bottom D t gt ua P a Lmin 4M D 6 M The rotor angle is defined such that when the stator and the rotor teeth are completely out of alignment 0 0 The value of the inductance can be in either rising stage flat top stage falling stage or flat bottom stage max If we define the constant k as k uM we can express the inductance L as a function of the rotor angle 0 L Lynt k 0 rising stage Control signal c 1 L Lmax flat top stage Control signal c5 1 L Lmax k 9 falling stage Control signal c3 1 L L nin flat bottom stage Control signal c4 1 The selection of the operating state is done through the control signal c 1 c4 and c4 which are applied externally F
102. x e n 0 Image FFT Amplitude 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 has been internally adjusted such that a sine function V sin ct will give a phase angle output of 0 Example In the circuit below the voltage v contains a fundamental component v 100 V 60 Hz a 5th harmonic voltage vs 25 V 300 Hz and a 7th harmonic v 25 V 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 PSIM User Manual 3 9 Chapter 3 Control Circuit Components 33 3 3 1 3 3 2 80 00 E amp i 4 4 1 rp 4 d Gup 8000 Le nie ne D dune L mnt 40 00 EE ES Due Re Li 20 00 L 47 s deu le eu TENE TERME Angle 0 00 i i 1 i 5 0 00 500 10 00 15 00 2000 25 00 3000 3500 Time ims Other Function Blocks Comparators The output of a comparator is high when the positive input is higher than the negative input When the positive input is low the output is zero If the two input are equal the out put is undefined and it will keep the previous value Image COMP ina Note that the comparator image is similar to that of the op amp For the compa

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