H-Bridge SPICE Motor Controller
Contents
1. Help menu 1 Help gt SystemVision Help Topics This is the main online help resource with hyperlinks Topics include Introduction to System Vision The User Interface SystemVision Commands and How do I tips 2 Help gt SystemVision Online Manuals gt Getting Started The Getting Started tutorial is provided to acquaint users with System Vision It is recommended that users run through this tutorial prior to running other examples 3 Help gt SystemVision Online Manuals gt User s Manual The Users Manual is provided as a reference source for SystemVision Detailed explanations on tool usage are provided 4 Help gt SystemVision OnlineManuals gt SystemVision Quick Reference Guide This document should be printed and used as a reference for running System Vision examples 5 Help gt SystemVision Online Manuals gt VHDL AMS Quick Reference Guide This VHDL AMS reference succinctly reviews many VHDL AMS language features It is intended for those users interested in creating understanding VHDL AMS models 6 For specific information on the Waveform Viewer select Help gt Quick Start and Help gt Tutorial gt Open Tutorial from the main Waveform Viewer window 1 0 tb_hbridge_spice testbench Description The design tb_hbridge_spice shown in Figure 1 is an example of a typical hbridge driver circuit modeled in SPICE Voltage pulse sources are used as the forward and reverse command signals and the mot2. Graphics Corporation 2004 3 Help on H Bridge SPICE Motor Controller Accessing the Spice symbols 1 To access the SPICE symbols mentioned above select Add gt Component from the pull down menu and scroll down the symbol library list as shown in Figure 2 Add Component Directory SpicePrirnitive Beyond Spice ContralSysterns Digital Electrical Hydraulic Magnetic MinedS igral MisedT echnology Rotational Thermal Translational SpicePrimitive 2 The schematic has already been created for you so there is no need to place any symbols Simulating the circuit 3 From the Pull down menu select Simulation gt Simulate to invoke the Simulation Control Place C Add Nets Automatically Close Figure 2 Accessing SPICE Symbols window there is also a simulation icon available on the iconbar e The Simulations tab is for the basic settings and to enable disable the desired analyses Enable the Time Domain Analysis and set End Time to 1s e The Results tab allows you to select the signals for viewing The default selection is TopLevel Waveforms which will save all signals at the highest level of hierarchy Since this is a small design All Signals was selected for convenience You can also choose Selected Waveforms and click on the browse button to select individual signals e The Multi Run tab is for performing parametric variations e The Advanced tab is used for advanced s
3. 3904 Q4 V_LOW V_FWD REF Q2N3904 DL MATCH VCC DINYA D2 REF V HIGH DIN914 D3 V_LOW VCC DIN914 D4 REF V_LOW DIN914 FACROSS REE ERENCE 1 GND 0 model DIN914 D Is 0 1p Rs 16 CJO 2p Tt 12n Bv 100 Ibv 0 1p a oo et a aa oe Original Library model Q2N3904 NPN Is 6 734f Xti 3 Eg 1 11 Vaf 74 03 Bf 416 4 Ne 1 259 Tse 6 734f Ikf 66 78m Xtb 1 5 Br 7371 Nc 2 Isc 0 Ikr 0 Rc 1 Cjc 3 638p Mjc 3085 Vjc 75 Fc 5 Cyje 4 493p Mje 2593 Vje 75 Tr 239 5n T 301 2p Itf 4 Vtf 4 Xtf 2 Rb 10 Fatiecha tg pid 23 case TO92 38 09 06 bam creation Figure 12 H Bridge SPICE Netlist Simulating the circuit Repeat the simulation steps in Section 2 0 above to verify that the functionality is identical This concludes the tutorial For more information on using SPICE within System Vision consult the following references accessible from the Help pulldown menu in System Vision 1 Help gt SystemVision Help Topics gt How Do I gt Files and Projects a Import a SPICE subcircuit 2 Help gt SystemVision Help Topics gt How Do I gt Models Libraries and Schematics a Add and Use a SPICE Library b Place a SPICE component or subcircuit in my design c Create a symbol for SPICE subcircuit file d Use a FAS SPICE macromodel 3 Help gt SystemVision Help Topics gt How Do l gt Simulation a Simulate a single SPICE component or design 4 Help gt SystemVision Help Topics gt Reference Information gt SPICE Usage 5 Help g
4. A J winertia 13 ystop lang mas yshop rl k stop Select the VHDL Instance Parameter ydcmotor1 r_wind as shown above and click OK Set the Sweep Type to List and the Sweep List to 50 0 100 0 200 0 Click OK to save settings and run the simulation Plot the digital command signals femd and remd along with the motor position as shown in Figure 8 below E cnd defhook rcnd defhook rwind 50 0 position rvinid 1 00 0 rwirid 200 0 Figure 8 Parametric Sweep Results Copyright Mentor Graphics Corporation 2004 11 Help on H Bridge SPICE Motor Controller Performing Measurements optional As expected these results show that the winding resistance has a significant effect on the final angular position System Vision allows you to quantify relationships between system performance and component parameters by performing measurements on the simulation results In this section we will re run the previous analysis with additional sweep values This will take a bit longer to run but the extra data generated will allow us to create meaningful correlation plots 1 Re invoke the Simulation Control dialog and click on the Multi Run tab Click the Parameter Edit button and modify the existing fields as follows Parameter E ydcmotor1 r_wind unchanged from previous analysis Sweep Type Increment Sweep Start 10 0 Sweep Stop 100 0 Sweep Increment 10 0 Plot the signal position into a new graph Click the Add
5. Cursor button Le to place two cursors C1 and C2 as shown in Figure 9 below position fi SELLE 6511 2m EE 7 C1 0 13766 rm 1 3 0 4 LE 0 6 0 7 0 8 C2 0 46104 dx 0 32338 Figure 9 Parametric Sweep Results with Measurements 5 Click the Measurement Tool icon bi and fill in the dialog as shown below to annotate the risetime measurement results to the graph Copyright Mentor Graphics Corporation 2004 12 Help on H Bridge SPICE Motor Controller Measurement Tool Settings Measurement All Types Rizetime Source Wavetorml Measurement Setup Thresholds Topine ters APR Baseline kautomatic r FA Lower f Upper 410 0 r 7 WW Levels are Relative to the Topline and Baseline Measurement Results f Annotate Wavetarm s with Result Markers C Plot New Waveform of Risetime vs ECYDCMOTORI FMI OF Apply Measurement to Between Two Cursors be Select Cursors ka i le a rA Remove All Previous Risetime Results 6 In the Measurement Tool select the Plot New Waveform option and re apply to create a plot of risetime vs motor winding resistance 7 Repeat steps 5 and 6 above for falltime 8 The results are shown in Figure 10 below Falltime 3 Risetime 3 10 0 20 0 30 0 40 0 50 0 60 0 70 0 80 0 0 0 100 Voltage li Figure 10 Correlation Plots Copyright Mentor Graphics Corporation 2004 13 Help on H Bridge SPICE Motor Cont
6. Help on H Bridge SPICE Motor Controller SystemVision Example H Bridge SPICE Motor Controller Copyright Mentor Graphics Corporation 2003 All Rights Reserved This document contains information that is proprietary to Mentor Graphics Corporation The original recipient of this document may duplicate this document in whole or in part for internal business purposes only provided that this entire notice appears in all copies In duplicating any part of this document the recipient agrees to make every reasonable effort to prevent the unauthorized use and distribution of the proprietary information Copyright Mentor Graphics Corporation 2004 1 Help on H Bridge SPICE Motor Controller H Bridge SPICE Motor Controller This help file discusses how to use SystemVision to simulate a simple H Bridge Motor Controller This example combines SPICE models for the electronics with VHDL AMS models for the motor and loads The ability to simulate these together is made possible by System Vision s support for multiple industry standard languages The System Vision project is named Beyond_SPICE Contained in the project are several test benches that illustrate how SystemVision uses VHDL AMS to extend SPICE beyond its inherent limitations for modeling mixed technology systems This help file will sequentially walk you through each of these designs Getting Started Users are encouraged to look through the following documents from the System Vision
7. Help on H Bridge SPICE Motor Controller Viewing Results 8 The simulation results will automatically be loaded into the waveform viewer upon completion of a successful simulation if not look in the Output Window for any error messages Individual signals can be viewed by double clicking with the LMB or by using the drag and drop feature You can also plot a signal from the schematic by selecting the desired signal and using RMB gt Plot Waveform Use one of these methods to plot the digital command signals femd and remd indicated by the symbol next to the waveform name 9 Next plot the motor current ydemotor1 i Notice the effect of the back emf voltage as modeled in the motor equations 10 Plot the signal position This is the position of the motor shaft over time Notice that the motor does not return to its original position due to the short length of the reverse command signal 11 The desired waveforms are shown in Figure 7 below Ecud dethook cl reond deChook el yYdcmotorl i Figure 7 Motor current and position Parametric Sweeps This example illustrates that by adding VHDL AMS models to a SPICE circuit we are able to easily create a mixed technology system model Using this model we are not limited to the electrical domain For example we are able to view the motor shaft angular position and looks at the effect of the back emf voltage generated by the motor Copyright Mentor Graphics Corpo
8. allows you to edit the simulation command file This file gives you direct access to the Copyright Mentor Graphics Corporation 2004 5 Help on H Bridge SPICE Motor Controller simulation control language and provides an alternate method to running simulations that you will find useful L Select the simulation tab in the AddinTree window on the left hand side of the System Vision interface Expand tb_hbridge_spice testbench to access the Experiment Files as in Figure 4 shown below AddinTree fe Project Simulation n Simulation Analysis and Results Beyond Sp TestBenches SE tb_hbridge_spice_ams SE tb_hbridge_spice ACTIVE Et Design Hierarchy Files YHEL Files Spice Files Experiment Files PlobCurrents cmd tb bridge spice cmd Auxiliary Files Waveform Results work Library pE tb_motor_drive_hier H Model Libraries 4 TT Figure 4 Simulation Tab in System Vision Here an alternative experiment file has already been created for you PlotCurrents cmd Put your cursor over the PlotCurrents cmd file and select RMB gt Open in Text Editor to view Note the line probe v i gives you access to the voltages and currents through all elements The File gt Save As command from the pull down can be used to create multiple experiment files for a given design Put your cursor over the PlotCurrents cmd file and select RMB gt Simulate to run a simulat
9. iewing Editing L 2 Gy 4 Make sure the Beyond_Spice project is loaded into System Vision From the Project tab click on Design Roots gt tb_hbridge_spice_ams to open the schematic Select the DC Motor Symbol and RMB gt Push Language gt VHDL to view the VHDL AMS model repeat for other VHDL AMS models as desired RMB gt Edit Model Properties gives you access to the VHDL AMS model properties Simulating the circuit 5 Return to the schematic and from the Pull down menu select Simulation gt Simulate to invoke the Simulation Control window there is also a simulation icon available on the iconbar The Simulations tab is for the basic settings and to enable disable the desired analyses Enable the Time Domain Analysis and set End Time to 1s e The Results tab allows you to select the signals for viewing The default selection is TopLevel Waveforms which will save all signals at the highest level of hierarchy Since this is a small design All Signals was selected for convenience You can also choose Selected Waveforms and click on the browse button to select individual signals e The Multi Run tab is for performing parametric variations e The Advanced tab is used for advanced simulation settings normally not required Click the OK button to run the simulation the Output Window will display the simulation progress and any error messages that may be issued Copyright Mentor Graphics Corporation 2004 8
10. imulation settings normally not required 4 Click the OK button to run the simulation the Output Window will display the simulation progress and any error messages that may be issued Copyright Mentor Graphics Corporation 2004 Help on H Bridge SPICE Motor Controller Viewing Results 5 The simulation results will automatically be loaded into the waveform viewer upon completion of a successful simulation if not look in the Output Window for any error messages 6 Individual signals can be viewed by double clicking with the LMB or by using the drag and drop feature You can also plot a signal from the schematic by selecting the desired sional and using RMB gt Plot Waveform Use one of these methods to plot the signals v_femd v_remd and vi_1 which should appear as shown in Figure 3 below Figure 3 tb_hbridge_spice signals The forward and reverse command signals indicate the times the transistors are turned on and the signal vi_1 is the load voltage with respect to ground This is some good information but what we really want is the current through the load It is possible to view the currents through SPICE elements in System Vision but and extra step is required as explained in the next section Plotting SPICE currents in SystemVision Plotting currents through SPICE elements in SystemVision is currently not supported when using the Simulation Control dialog For this and other advanced commands System Vision
11. ion using this command file Upon completion the simulation results will again be loaded into the viewer Select the sional i rload and plot into the original graph window replacing the vi_1 signal as shown in Figure 5 below Copyright Mentor Graphics Corporation 2004 6 Help on H Bridge SPICE Motor Controller ifrload Figure 5 Simulation results with load current 9 Plot any other signals of interest 2 0 tb_hbridge_spice_ams testbench Description The design tb_hbridge_spice_ams shown in Figure 6 is a modified version of the previous H bridge circuit The original transistor circuit implementation is still in tact but the voltage command signals have been replaced by digital VHDL stimulus and the simplified RL load has been replaced by a VHDL AMS DC motor model The addition of these components makes it a much mote realistic system model Using SystemVision the power of VHDL AMS can be seamlessly incorporated to an existing SPICE circuit with no additional burden on the end user Copyright Mentor Graphics Corporation 2004 7 Help on H Bridge SPICE Motor Controller Digital Command Inputs 1 ru Q2H330 4 DC1 DC Motor ACHD Rotational YL 1 Stop D1914 ga L23304 570 A2 De HOTOR POSITION iy G CD 5TOP_A E z 4 f D1H914 D1H9414 gd U2H3504 A2H39304 YHEATIA_AG AUOT Moment of Inertia Figure 6 tb_hbridge_spice_ams schematic Design Selection V
12. or load is approximated with a resister and inductor in series Copyright Mentor Graphics Corporation 2004 2 Help on H Bridge SPICE Motor Controller 0OCI YF CHO 01 f4 DENIS OZN3904 Y PULSE L1 ALOA D 100 PULSE LLOAD 1H YACHD OZ fa D2N4ag04 Q 4 Y FECMO Y Y PULSE s UZN3J04 PULSE Figure 1 tb_hbridge_spice schematic Using SPICE Primitives in SystemVision Although SystemVision may be known primarily as a VHDL AMS simulator is it also capable of operating as a SPICE simulator To do this System Vision can be configured to run in what is called SPICE on Top mode Here the top level netlist is SPICE and calls to models written in other languages like VHDL AMS are done through an instantiation of a SPICE Y element To facilitate this schematic symbols have been created that reside in two symbol libraries 1 SpicePrimitive Symbols of basic SPICE passive elements R L C controlled sources E F G H and others 2 SpiceSemiconductor Symbols for the 4 basic semiconductor devices D Q M J Using these symbols will automatically force a SPICE netlist to be created allowing the user to operate in a familiar mode even when adding VHDL AMS models Design Selection Viewing Editing 1 Make sure the Beyond_Spice project is loaded into System Vision 2 From the Project tab click on Design Roots gt tb_hbridge_spice to open the schematic Copyright Mentor
13. ration 2004 9 Help on H Bridge SPICE Motor Controller The next step is to look at this system as a whole and examine the effects of the component parameters on the motor position We will do this by sweeping a parameter motor winding resistance over a specified range 1 Return to the tb_hbridge_spice_ams schematic and from the pull down menu select Simulation gt Simulate to invoke the Simulation Control window 2 Select the Multi Run tab as shown below Simulation Control tb_hbridge_spice_ams Simulations Results Multi A un Advanced Farameter Change Type p Values F DC Sweep Parameter alues Parameter Edit step Eledemotart r mind list 50 0 100 0 200 0 3 Change the Parameter Change Type to Sweep Values 4 Click on the Parameter Edit button to invoke the Sweep Parameter dialog Sweep Parameter x Parameter Elydemotor1 1 wind a Hominal Yale Sweep List 50 0 100 0 200 0 Replace current sweep parameters 5 Click on the browse button to invoke the Select Parameter dialog Copyright Mentor Graphics Corporation 2004 10 Help on H Bridge SPICE Motor Controller Select Parameter Select WHOL Instance Parameters w uclock_pulsel initial delay sclock_pulsel period vclock_pulsel width uclock_pulse initial delay yelock_ pulse period vclock_pulse width ydemotori d ydemotorl ydemotor Et
14. roller Figure 10 clearly shows the effect the value the motor winding resistance has on the shaft position when used with the H bridge driver circuit This is a simple example of how System Vision can be used to turn simulation data into engineering information that can be used to help improve a mixed technology system design 3 0 tb motor drive hier testbench Description The design tb_motor_drive_ hier shown in Figure 11 is identical to the previous design except that the H bridge circuit has been imported as a SPICE netlist using the symbol HBRIDGE1 Using SystemVision any Berkeley compatible SPICE netlist can be imported into SystemVision and directly connected to VHDL AMS component models WL eZ ST PRE Oo HOTOA POSITION ROMO Co SUP SF ME INERTIA Ri Figure 11 Motor Drive System with SPICE netlist for H Bridge Circuit Design Selection Viewing Editing 1 Make sure the Beyond_Spice project is loaded into SystemVision 2 From the Project tab click on Design Roots gt tb_motor_drive_hier to open the schematic 3 Select the HBRIDGE1 symbol and RMB gt Push Language gt SPICE to reveal the SPICE netlist shown in Figure 12 below Copyright Mentor Graphics Corporation 2004 14 Help on H Bridge SPICE Motor Controller D finition for project MOIOR DRIVE oUBCKT MOTOR DRIVE REF VCC V_FWD V_HIGH V_LOW V REV Ql VCC V_FWD V_HIGH Q2N3904 02 V HIGH VRE V REF 02N3904 Q3 VCC V_REV V_LOW Q2N
15. t SystemVision On Line Manuals gt User s Manual a Appendix A Using Spice with SystemVision Copyright Mentor Graphics Corporation 2004 15 Help on H Bridge SPICE Motor Controller Copyright Mentor Graphics Corporation 2004 16
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