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PSIM User Manual

1. B Adobe Acrobat Powerex C5240650 600 50A pdf i E o x T Fie Edit Document Tools View Window Help E la x SERASA 48 E AJM gt e gt BQONUHET B 2 BS a DOA S a E s pee a gi MAXIMUM ALLOWABL al ON STATE CHARACTERISTICS NON REPETITIVE i 26 1000 J 3 25 c Mo XQ i 22 Iil Ill E 800 a ill ll ga NUT eo lt q Jf kaS uw Sve LMCI TTT EE oo EE S 5 lt s ca O A TN eS LIS 3 r N o g ae A B aa I Hi AAI ET a O W EA T N z5 TH Zz 1 0 200 z ral i 2 H 92 2 og rT l lll i 101 102 103 109 101 INSTANTANEOUS ON STATE CURRENT lfp CYCLES AT AMPERES MAXIMUM REVERSE RE ON STATE POWER DISSIPATION CHARACTER Be _ ee a a EC 106 E D 4 4of4 85x11n O gt e Click on the forward wizard icon to paste the screen image into the graph window in the database editor Position the graph image properly in the graph window by dragging the left mouse so that the complete graph is displayed within the window e Ifthe graph image is either too large or too small go back to the previous step by clicking on the backward wizard icon Then resize the image of the graph in the Adobe Acrobat and copy the screen image to the clipboard again Chapter 4 Power Circuit Components 135 136 e The graph dialog window should look something like follows Click on the forward wizard icon to move on to the next step _ On state voltage drop Vd vs I
2. Image A gt IOO a b c og S c N o To n Attributes Parameters Description Cable Length Length of the cable in m Operating Frequency Operating frequency of the cable in Hz Resistance Rg Reactance Xq Resistance R Reactance X Capacitance C Positive sequence resistance Rg of the cable in Ohm Positive sequence reactance X4 of the cable in Ohm Zero sequence resistance R of the cable in Ohm Zero sequence reactance X of the cable in Ohm Zero sequence capacitance C of the cable in F In the image the bottom node N or n on each side of the cable is the cable screen It is generally connected to the ground on the side of the cable The cable parameters should be available from manufacturers datasheet When they are not available assuming that each phase of the cable has a resistance of R self inductance of L and mutual inductance of M the positive sequence and zero sequence parameters can be calculated as follows Chapter 4 Power Circuit Components R R R R X 0 L 2 O where 2nf and f is the operating frequency in Hz 4 1 7 Rheostat A rheostat is a resistor with a tap Image Attributes va k m Parameters Description Total Resistance Tap Position 0 to 1 Current Flag Total resistance of the rheostat R between Node k and m in Ohm The tap position Tap The resistance between Node k and is R T
3. For voltage controlled sources the controlling voltage is from the positive node to the negative node For current controlled sources with an arrow pointing from one node to another the control nodes are connected across a RLC branch and the direction of the controlling current is indicated by the arrow For current controlled sources with a wire connecting the two nodes the controlling current flows from one control node to another as indicated by the arrow A 10 uOhm resistor is used to sense the controlling current The output of a controlled source except variable gain controlled sources is equal to the gain multiplied by the controlling voltage or current For the variable gain controlled sources the output is equal to the following Vo k Vik Vini To k Vive Vint Input 1 is on the side with the multiplication sign and Input 2 is on the side with the letter k The difference between a variable gain controlled source and a nonlinear source with multiplication is that for the nonlinear source with multiplication values of both v and v at the current time step are used to calculate the output and are updated in each iteration But for the variable gain controlled source it is assumed that the change of v 2 is small from one time step to the next and the value of v at the previous time step is used at the current time step This assumption is valid as long as v 5 changes at a much slower
4. oT eon sa bt o AARR 4 1 4 Combined R L C Branch Image TAN Ls Attributes for R L C Branch Parameters Description Resistance Resistance in Ohm Inductance Inductance in H Capacitance Capacitance in F Initial Current Initial Cap Voltage Current Flag Initial inductor current in A Initial capacitor voltage in V Flag for branch current waveform display Note For combined R L C brand at least one of the parameters R L or C has to be a non zero value Chapter 4 Power Circuit Components 43 4 1 5 Three Phase R L C and Combination Branches Images R3 ine C3 RLS RC3 RLC3 Attributes for Three Phase R L C and Combination Branches Current Flag A Current Flag B Current Flag C Parameters Description Resistance Resistance in Ohm Inductance Inductance in H Capacitance Capacitance in F Current flags for Phase A B and C of three phase branches respectively If this flag is set 1 the current flowing through this branch will be saved to the file for display in SIMVIEW It will also be available for display in the runtime graphs under Simulate gt gt Runtime Graphs The dot in the image indicates phase A The current is positive when it flows into the dotted terminal of the branch 4 1 6 3 Phase AC Cable The 3 phase ac cable model takes into account inductive coupling and capacitances between phases 44
5. Simulation Command Line Simulation can also be launched with the command line option by running the program PsimCmd exe For example to simulate the circuit buck psimsch which 1s stored in the folder c Powersim examples go to the PSIM folder and run the following command PsimCmd i c psim examples buck psimsch o c psim examples buck smv The format of the command line is as follows PsimCmd 1 input file o output file v VarNamel VarValuel v VarName2 VarValue2 t TotalTime s TimeStep g Note that the quotes around the parameter values must be present The command line parameters are 1 Input schematic file name 0 Output file name in either txt or smv extension V Variable name and value This parameter can be used multiple times For example to define the resistance R1 as 1 5 and the inductance L1 as 0 001 we have y R151 5 v L1 0 001 t Total time of the simulation S Time step of the simulation g Run SIMVIEW after the simulation is complete Note that the number of variables that can be defined in a command line is limited to 30 With the command line option one can run several circuits automatically in a batch run Options Menu The following functions are provided in the Options menu for various settings Settings To set the simulation parameters such as time step total time etc When this is selected the cursor will change to the image of a clock Place this
6. For example if Viet 5 V Vi 10100011 binary 163 N 8 bits then V 163 256 5 3 1836 Chapter 5 Control Circuit Components 169 5 5 Digital Control Module The Digital Control Module is an add on module to the basic PSIM program It provides discrete elements such as zero order hold z domain transfer function blocks digital filters etc for digital control system simulation In contrary to a s domain circuit which is continuous a z domain circuit is discrete and the calculation is only performed at the discrete sampling points There is no calculation between two sampling points 5 5 1 Zero Order Hold A zero order hold samples the input at the point of sampling The output remains unchanged between two sampling points Image Attribute Parameter Description Sampling Frequency Sampling frequency of the zero order hold in Hz Like all other discrete elements the zero order hold has a free running timer which determines the moment of sampling The sampling moment is synchronized with the origin of the simulation time For example if the zero order hold has a sampling frequency of 1000 Hz the input will be sampled at 0 1 msec 2 msec 3 msec and so on Example In the following circuit the zero order hold sampling frequency is 1000 Hz The input and output waveforms are shown on the left I I 0 00 5 00 10 00 15 00 20 00 Note that in above circuit a conti
7. Time ms 6 1 2 Alpha Controller An alpha controller is used for delay angle control of thyristor switches or bridges There are three input for the controller the alpha value the synchronization signal and the gating enable disable signal The transition of the synchronization signal from low to high from 0 to 1 provides the synchronization and this corresponds to the moment when the delay angle alpha equals zero A gating with a delay of alpha degrees is generated and sent to the thyristors The alpha value is updated instantaneously Chapter 6 Other Components 193 194 Image Attributes Parameters Description Frequency Operating frequency of the controlled switch switch module in Hz Pulse Width On time pulse width of the switch gating in deg The input for the delay angle alpha is in deg Example The figure below shows a thyristor circuit using delay angle control In the circuit the zero crossing of v which corresponds to the moment that the thyristor would start conducting naturally is used to provide the synchronization The delay angle is set at 30 The gating signal is delayed from the rising edge of the synchronization signal by 30 0 00 10 00 20 00 30 00 40 00 50 00 PWM Lookup Table Controller There are four input signals in a PWM lookup table controller the modulation index the delay angle the synchronization signal and the gating enable disable signal The
8. 4 9 6 3 Resolver A resolver is essentially a rotary transformer with one rotor winding and two stator windings These two stator windings referring to as the COS winding and SIN winding are located 90 apart As the shaft rotates the output voltages of the COS and SIN windings vary as the cosine and sine functions of the shaft angle Image Chapter 4 Power Circuit Components 119 Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Poles Number of poles of the resolver The resolver has four outputs cos cos the inverse of cos sin and sin the inverse of sin The peak amplitude of all the outputs is 1 An example of a PMSM drive system using the resolver is given in the sample file Resolver PMSM Drive sch 4 9 6 4 Hall Effect Sensor 4 10 120 A hall effect sensor is a type of position sensors that provides three pulses depending on the shaft position The sensor consists of a set of semiconductor switches and trigger magnets The switches open or close when the magnetic field is higher or lower than a certain threshold value Image A BE Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Poles Number of poles of the sensor The hall effect sensor provides three logic signal outputs A B and C which are spaced 120 electrical deg apart The hall effe
9. 48 For conductance type elements Parameters Description Expression f v or f v x Expression of i in terms of v and x i fv or i f v x Expression df dv Derivative of the current i versus voltage v 1 e df v dv Initial Value v The initial value of the voltage v Lower Limit of v The lower limit of the voltage v Upper Limit of v The upper limit of the voltage v A good initial value and lower upper limits will help the convergence of the solution Example Nonlinear Diode Win 1e 14 EXP 40 vj 1 40e 14 EXP 407 The nonlinear element NONI in the circuit above models a nonlinear diode The diode current is expressed as a function of the voltage as i 10714 e DNT In PSIM the specifications of the nonlinear element will be Expression f v le 14 EXP 40 v 1 Expression df dv A40e 14 EXP 40 v Initial Value v 0 Lower Limit of v le3 Upper Limit of v l Switching Devices There are two basic types of switching devices in PSIM One is the switchmode type It operates either in the cut off region off state or saturation region on state The other is the linear type It can operates in either cut off linear or saturation region Switches in switchmode include the following Diode and DIAC Thyristor and TRIAC Self commutated switches npn and pnp bipolar junction transistor BJT Insulated Gate Bipolar Transistor IGBT n channel and
10. Connect small resistors inductors in series with switches and voltage sources W 2 Warning The program did not reach the steady state after 60 cycles when performing the ac sweep This warning occurs when the program fails to reach the steady state after 60 cycles when performing the ac sweep The cause of the problem could be that the system is poorly damped at that particular frequency or the signal amplitude is too small You may try the following to isolate and solve the problem Run the time domain simulation with the excitation source at that frequency and see if time domain waveforms are oscillatory Increase the excitation voltage amplitude for larger signal level or Reduce the time step for better accuracy and resolution 2 1 Debugging Some of the approaches in debugging a circuit is discussed in the following Symptom Simulation results show sudden changes discontinuity of inductor currents and capacitor voltages Solution This may be caused by the interruption of inductor current path and short circuit of capacitor or capacitor voltage source loops Check the switch gating signals If necessary include overlap or dead time pulses to avoid open circuit or shooting through If an initial current is assigned to an inductor initial switch positions should be set such that a path is provided for the current flow Otherwise the inductor current will be forced to start from zero Symptom Simulation waveforms
11. Parameters Tab Time Step Simulation time step in sec Total Time Total simulation time in sec Free Run When the Free Run checkbox is not checked the simulation will run up to the Total Time checkbox and then stop But when it is checked the simulation will run in the free run mode and it will keep on running until manually stopped In the free run mode voltage current scopes can be used to monitor and display voltages and currents in the middle of the simulation Print Time Time from which simulation results are saved to the output file No output is saved before this time Print Step Print step If it is set to 1 for example every data point will be saved to the output file If it is set to 10 only one out of 10 data points will be saved This helps to reduce the output file size Load Flag Flag for the LOAD function If the flag is 1 the previous simulation values saved by setting the Save Flag will be loaded from a file with the ssf extension as the initial conditions Save Flag Flag for the SAVE function If the flag is 1 values at the end of the current simulation will be saved to a file with the ssf extension In PSIM the simulation time step is fixed throughout the simulation In order to ensure accurate simulation results the time step must be chosen properly The factors that limit the time step in a circuit include the switching period widths of pulses or waveforms and intervals of t
12. To prepare the data externally in a text file define the data in the format as described below Then click on Chapter 6 Other Components 205 206 Open File to load the file Click on Reload Data if the text file is modified after it is loaded Click on Save As to save the data to an external file Note that the external text file is optional When an external text file is not defined the internal data is used But if an external text file 1s defined the text file takes the precedence and will overwrite the internal data It is important to note that if the dialog window is closed the external file will be saved automatically when one closes the dialog window by clicking on X at the upper right corner of the dialog window Also a copy of the external text file is saved into the schematic file In the case where the schematic file is moved to a different computer and the external text file does not exist PSIM will recreate the text file from the last time The data format for one dimensional lookup tables 1s Vin Yo Vin Vo 2 VN VN The input array V must be monotonically increasing Between two points linear interpolation is used to obtain the output When the value of the input is less than V 1 or greater than V N the output will be clamped to V 1 or VAN The data format for 2 dimensional lookup tables with integer input is M N ERE i coos AN Ay Ay 9 N Am Ay coes Ayn where M an
13. Current Flag Flag for branch current waveform display If this flag is set 1 the current flowing through this component will be saved to display in SIMVIEW and Runtime Graphs The current is positive when it flows into the dotted terminal of the branch Attributes of Level 2 Model Parameters Description Resistance Resistance in Ohm Voltage Rating Voltage rating of the component in V Power Rating Power rating of the component in W Inductance ESL Equivalent series inductance ESL in H Parallel Capacitance Equivalent parallel parasitic capacitance in F Current Flag Flag for branch current waveform display If this flag is set 1 the current flowing through this component will be saved to display in SIMVIEW and Runtime Graphs The current is positive when it flows into the dotted terminal of the branch Chapter 4 Power Circuit Components 41 Equivalent Circuit Level 1 Model ANA Level 2 Model Parallel Capacitance f ESL 4 1 2 Individual Inductor Image Attributes of Level 1 Model Parameters Description Inductance Initial Current Current Flag Inductance in H Initial inductor current in A Flag for branch current waveform display Attributes of Level 2 Model Series Resistance Parallel Resistance Parallel Capacitance Initial Current Current Flag Equivalent Circuit Parameters Description Inductance Indu
14. J JLi 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 is from left to right The equation for this system can be written as do Pdi hsp ae fag Le 176 The equivalent electrical circuit of the equation is shown below Sensor 1 Sensor 2 Machine Load 1 Load 2 The node voltage in the circuit represents the mechanical speed The current probe on the left represents the reading of the Torque Sensor 1 Similarly the current probe on the right represents the reading of the Torque Sensor 2 Note that the second current probe is from right to left since Sensor 2 is opposite to the reference direction of the mechanical system The equivalent circuit also illustrates how mechanical power is transferred The multiplication of the current to the voltage which is the same as the torque times the mechanical speed represents the mechanical power If the power is positive it is transferred in the direction of the speed Position Sensors Four types of position sensors are provided absolute encoder incremental encoder resolver and hall effect position sensor They are connected to the mechanical shaft similar to the speed sensor and torque sensor and the output signals are control signals 4 9 6 1 Absolute Encoder 118 An absolut
15. Step 1 of 3 under Original data type choose Delimited Click on Next e In the dialog window Text Import Wizard Step 2 of 3 under Delimiters choose Space Click on Next e In the dialog window Text Import Wizard Step 3 of 3 under Column data format choose General Click on Finish Chapter 3 Waveform Processing in SimView 39 40 Chapter 3 Waveform Processing in SimView 4 1 4 1 1 4 Power Circuit Components The following chapters provide the detailed information of the PSIM library elements This chapter focuses on the Power circuit components Resistor Inductor Capacitor Branches PSIM provides several combinations of resistor inductor capacitor networks in the element library e Individual resistor inductor and capacitor These are multi level models Level 1 is basic component Level 2 includes parasitic and leakage elements as lumped components in equivalent circuits e Combined R L C series branch e Symmetrical three phase branches of resistor inductor capacitor and their combinations User can define initial conditions of inductor currents and capacitor voltages for individual component But the initial inductor currents and capacitor voltages for three phase branches are all set at zero Individual Resistor Image Attributes of Level 1 Model Parameters Description Resistance Resistance in Ohm Voltage Rating Voltage rating of the component in V for Level 2 model only
16. TC4424A dual non inverting TC4425A one inverting and one non inverting 1 5A dual output high speed power MOSFET drivers TC4426A dual inverting TC4427A dual non inverting TC4428A one inverting and one non inverting Chapter 6 Other Components 6 5 3 555 Timer The 555 Timer is a highly stable device for generating accurate time delays or oscillation Additional terminals are provided for triggering or resetting if desired In the time delay mode of operation the time is precisely controlled by external resistor and capacitor In PSIM model the OUT signal of the 555 Timer is a control signal node Images 555 GND VCC gt a o TRIG DISC o OUT THRS e REST VCTL T 6 6 Initial Values The initial node voltages of the power circuit and control circuit can be defined using this block This value will not be kept as soon as the simulation started Image Attribute Parameter Description Initial Value Initial value of the node voltage 6 7 Parameter File A parameter file defines the variables used in a circuit For example the resistance of a resistor can be specified as R1 and R1 is defined in a parameter file Also a parameter file can be used by itself as a computational tool Image File A parameter file is a text file created by a text editor It supports the following format Text from the character to the end of the line is trea
17. The output of an internal resettable integrator is reset to 0 whenever the output reaches either the lower limit or the upper limit The integrator works in the same way as the external resettable integrator with the edge reset except that users do not need to set up the external reset circuit in this case If we define u t as the input y t as the output T as the sampling period and H z as the discrete transfer function the input output relationship of an integrator can be expressed under different integration algorithms as follows With trapezoidal rule Bole a Aaa MZ P f y n y n 1 p u n u n 1 With backward Euler Z Hz T Cee a y n y n 1 T u n With forward Euler ZY does zZ 1 y n y n 1 7 u n 1 Chapter 5 Control Circuit Components 5 5 2 2 Differentiator The transfer function of a discrete differentiator 1s am l AAE T where T is the sampling period The input output relationship can be expressed in difference equation as yin u u n 1 Image chs Attribute Parameter Description Sampling Frequency Sampling frequency in Hz 5 5 2 3 Digital PI Controller A digital PI controller is defined below Image oy PT Le Attribute Parameters Description Gain Gain of the PI controller Time Constant Time constant 7 of the PI controller Lower Output Limit Lower limit V_lower of the output Upper Output Limit
18. 6 8 1 cr m Ty E Parameters C PSIM_Applications test para 2k E Variable Values 28 File Edit Help Property Value ii a a 5 2 b 20 b 20 3 c a b 2 c 15 4 d sin b 3 14159 180 d 0 34202 5i aT m gt Re evaluate Close A L The function Show Values provides a very convenient way of checking the calculation Parameter File in Circuit Schematic When a parameter file element is used in a circuit schematic it has the same hierarchy as the circuit in which it resides A variable defined in a parameter file in a higher level circuit can be used in all lower circuits but not the other way around Also a variable define in a parameter file in circuit cannot be used in another circuit of the same level For example assume that a main circuit contain a parameter file main param txt and the main circuit contains two subcircuits S1 and S2 with a parameter file subl param txt in S1 and another parameter file sub2 param txt in S2 A variable defined in main param txt can be used in both S1 and S2 circuits as well as in parameter files subl param txt and sub2 param txt However a variable defined in subl param txt or sub2_param txt can not be used in the higher level main circuit and in main param txt Similarly since Subcircuits S1 and S2 are parallel a variable defined in subl param txt cannot be used in Subcircuit S2 and sub2 param txt and vice v
19. Click on Zoom In and Zoom Out icons on the toolbar to adjust the size of the image working area After the image is created the pop out window will appear as follows File Edit View Window 23 1 2 KA fm fs rab 16 Chapter 2 Circuit Schematic Design Go back to the subcircuit window sub sch in this case and save the subcircuit The new subcircuit block image should appear in the main circuit 2 7 4 3 Including Subcircuits in the PSIM Element List If you create a directory called User Defined under the PSIM directory and place subcircuits inside this directory subcircuits will appear as items in the Elements menu under Elements User Defined just like any other PSIM elements You can also create subdirectories under the directory User Defined and place subcircuits inside the subdirectories For example the Elements menu may look like this Power Control Other Sources Symbols User Defined Subcircuit 1 Project A Subcircuit 2 Subcircuit 3 Project B Subcircuit 4 In this way common used custom built subcircuits can be grouped together and easily managed and accessed 2 6 Elements Menu All the PSIM elements are stored in the following libraries Power Contains power circuit elements such as R L C switching devices transformers motor drive modules and etc Control Contains control circuit elements such as computational logic digital control element
20. E Pastoral Ne iG ane shad total N K Wpaped Oia oc T N i Q nax U ion dotal N i i Yop Oe N i Onom N i elected battery P For a detailed description on how to define and use the lithium ion battery model please refer to the document Tutorial How to use Lithium Ion battery model pdf 4 11 4 Ultracapacitor Model Ultracapacitors are electrical energy storage devices that offer high power density and a high number of charge and discharge cycles Images Hc Attributes Parameter Description Number of Cells in Series Number of Cells in Parallel Capacitance per Cell Coefficient Kv Resistance R1 Capacitance C1 146 Number of cells in series Number of cells in parallel Nominal capacitance per cell in F Voltage coefficient Resistance coefficient R1 in Ohm Capacitance coefficient C1 in F Chapter 4 Power Circuit Components Resistance R2 Resistance coefficient R2 in Ohm Capacitance C2 Capacitance coefficient C2 in F Resistance R3 Resistance coefficient R3 in Ohm Capacitance C3 Capacitance coefficient C3 in F Resistance R4 Resistance coefficient R4 in Ohm Maximum Voltage Maximum voltage rating per cell in V Initial Voltage Initial capacitor voltage per cell in V Parameters Kv R1 and Cl are associated with the capacitor response in the short term in seconds Parameters R2 and C2 are associated with the response in the medium term in min
21. Torque reference Is Current amplitude reference Tes Estimated torque developed by the motor This block estimates the motor developed torque from the current feedback and motor parameters A control loop based on a discrete integrator is used to regulate the motor torque and generate the motor current reference The block requires the parameters of the PMSM controlled and the inverter current rating 5 8 2 Dynamic Torque Limit Control PMSM The Dynamic Torque Limit Control PMSM block is for linear PMSM machines only Image Dynamic Torque Chapter 5 Control Circuit Components 187 9 8 3 188 Attributes Parameters Description Ld d axis inductance Lq q axis inductance Base Current Value The torque control block has the following inputs and outputs Id d axis current feedback Iq q axis current feedback Vdc DC bus voltage feedback Wm Motor mechanical speed in rad sec Temd Torque command Te Torque reference nmb Calculated speed limit of the maximum torque region in rpm Maximum Motor Speed rpm Maximum motor speed in rpm Maximum Motor Power Maximum motor power in W Base Voltage Value Base voltage value of the system in V Base current value of the system in A Base Mechanical Speed Base mechanical speed in rad sec d axis inductance of the PMSM machine in H q axis inductance of the PMSM machine in H Vpk krpm Peak line to line back emf constant of
22. anti windup is implemented automatically Chapter 5 Control Circuit Components 9 1 5 Single Pole Controller A single pole controller is a proportional controller with a pole It is defined as below Image Attributes Parameters Description Gain Gain k of the controller Pole Frequency Frequency of the pole f in Hz The transfer function of the single pole is defined as ee at ae s rar C where w 2T f The Bode plot of the amplitude G and the phase angle of the single pole controller is shown as below G 20dB dec rad sec Modified PI Controller A modified PI controller Type 2 consists of a PI with a pole Image Attributes Parameters Description Gain Gain k of the PI controller Time Constant Time constant 7 of the PI portion of the controller Pole Frequency Frequency of the pole f in Hz The transfer function of a modified PI controller is defined as brer 1 E T where 7 and 20f C The Bode plot of the amplitude G and the phase angle of the PI controller is shown as below Chapter 5 Control Circuit Components 153 154 20dB dec rad sec 20dB dec When a limiter is connected to the PI output anti windup is implemented automatically Type 3 Controller A Type 3 controller consists of two zeros and two poles Image Attributes Para
23. clk and Overline unchecked If the boxes are checked for Dot there will be a circle between the connection pin and the block for clk a symbol gt will be added inside the block to indicate that it is a clock and for Overline an overline will be added to the name e Click on the Add button and define Location as 2 Left Name as B and Number as 2 Repeat the same process for the rest of the pins The dialog windows below show the definitions of all the connection pins 30 Chapter 2 Circuit Schematic Design e Once all the pins are added go back to the Main tab Click on Save in library and select New Library Enter the library name as My Symbol and specify the library file name as My Symbol The library My Symbol will appear under the Elements menu and this library will contain the newly created element 74HCT138 x x x x x x x x x Chapter 2 Circuit Schematic Design 31 32 Chapter 2 Circuit Schematic Design 3 1 3 Waveform Processing in SimView SIMVIEW is PSIM s waveform display and post processing program The following shows simulation waveforms in the SIMVIEW environment C Powersim PSIM10 0 1 e File Edit View Axis Screen Measure Analysis Label Options Settings Window Help GX S485 Smo XY MB 2 Qneg rym my Time s er wil SPR OS dF rns Timp PF PS 10 Ready SIMVIEW reads data in either ASCII text format or SIMVIEW binary f
24. in per unit with the base value of Wmb Output Signal Id d axis current reference This block is for the control of linear induction machines only When the machine speed is higher than a certain value the machine will not be able to generate the maximum torque Instead it will be limited by the machine power rating Given the dc bus voltage and the stator speed the field weakening control block will calculate the d axis current reference Id to operate in the constant power region Chapter 4 Power Circuit Components 103 4 7 4 7 1 104 MagCoupler Module The MagCoupler Module provides interface for co simulation between PSIM and the software JMAG JMAG is an electromagnetic field analysis software for the development and design of electric machines actuators and other electrical and electronic devices and components With the MagCoupler Module one can perform power electronics and control in PSIM and electromagnetic field analysis in JMAG The MagCoupler Module includes the MagCoupler DL block and the MagCoupler block as well as the mechanical elements and speed torque position sensors as described in Section 4 9 The differences between the MagCoupler DL block and the MagCoupler block and are With the MagCoupler block PSIM and JMAG run at the same time step whereas with the MagCoupler DL block PSIM and JMAG can run at different time steps The flexibility to set different time steps would make it possible to run JM
25. linear lossless 71 saturable 24 69 72 CosiMate 1 186 Index counter pulse width 168 up down 168 current transfer ratio 76 D data array 181 205 data point viewing 34 134 233 default variable 13 27 device diode 121 122 IGBT 123 124 125 IGBT Diode 124 MOSFET 57 58 127 129 device database editor 3 24 120 132 DIAC 48 51 differentiator s domain 152 z domain 173 Digital Control Module 170 diode 49 loss calculation 122 zener 51 Discharging Control 191 divider 156 200 DLL block external 23 207 208 209 210 general 209 210 DSP Oscilloscope 24 dv dt block 76 Dynamic Torque Limit Control 187 188 E Embedded Software Block 210 encoder absolute 118 incremental 119 Excel 39 exponential function block 157 F Fast Fourier Transform block 158 favorites 38 FFT analysis 232 Field Weakening Control 101 file help 22 27 28 29 210 netlist 16 18 package 10 Index 235 parameter 6 16 213 215 filter band pass 155 165 band stop 155 digital 174 high pass 155 197 low pass 152 155 174 183 197 second order 155 flag load 4 master slave 80 83 84 86 87 90 92 95 97 99 114 115 save 4 flip flop D 167 J K 167 S R 166 format ASCII text 33 binary 21 33 free run 4 19 functional model 138 141 G gate AND 166 logic 3 166 231 NAND 166 NOR 166 NOT 166 OR 166 XOR 166 gating block 52 54 58 59 60 gear box 78 112 114 115 H hardware target PE Pro F283
26. 4 6 1 Mechanical Coupling Block The mechanical coupler block is used to couple two mechanical systems Image Mechanical System 1 H Mechanical System 2 This block is used in situations where both mechanical systems have a device in the master mode and they must be connected together to form one system Based on the connection convention in PSIM a mechanical system can have only one master device In this case the mechanical coupling block can be inserted in between and the mechanical system on each side of the coupling block can have its own device in the master mode Mechanical Electrical Interface Block This block allows users to access the internal equivalent circuit of the mechanical system of a machine Image Mechanical Side M E Electrical Side Attribute Parameter Description Master Slave Flag Flag for the master slave mode 1 master 0 slave Similar to electric machines the mechanical electrical interface block can be used to define the reference direction of a mechanical system through the master slave flag When the interface block is set to the master mode the reference direction is along the mechanical shaft away from the mechanical node and towards the rest of the mechanical elements Let s assume that a drive system consists of a motor with a developed torque of 7 and a moment of inertia of J and a mechanical load with a load torque of Tpag and a moment of inert
27. 5 Control Circuit Components 189 9 8 5 190 Attributes Parameters Description Vpk krpm Peak line to line back emf constant of the machine in V krpm mechanical speed Number of Poles Number of poles of the machine Maximum Motor Torque Maximum motor torque in N m Number of Cells in Parallel Number of cells Np in parallel in the battery pack PI Gain Gain of the voltage loop PI controller PI Time Constant Time constant of the voltage loop PI controller in sec Sampling Frequency Sampling frequency of the voltage PI controller in Hz The voltage control block has the following inputs and outputs Vdc DC bus voltage reference Vdc DC bus voltage feedback Idc DC bus current feedback Wm Motor mechanical speed in rad sec Is Current amplitude reference This block uses a digital PI controller to regulate the dc bus voltage Together with the dc bus current and the machine speed it generates the machine current reference The block requires the parameters of the PMSM machine controlled DC DC Charging Control The DC DC Charging Control block is defined as below Image Charging Control o Vbatt Vm o Ibatt Attributes Parameters Description Converter Rated Power Rated power of the dc dc converter in W Battery side Rated Voltage Converter rated voltage on the battery side in V Number of Cells in Series Number of cells Ns in series in the battery pack Number of Cells in
28. 58 self commutated 48 53 54 55 thyristor 48 52 193 transistor 48 124 125 128 129 130 TRIAC 48 52 switch controller 3 52 58 193 alpha 52 60 62 63 193 on off 53 55 193 PWM lookup table 63 194 switch module single phase 60 three phase 61 238 Index T THD block 164 165 Thermal Module 120 122 127 TI F28335 5 time 209 221 idle 22 print 4 total 4 17 20 time delay block 162 163 176 231 time step 4 5 17 18 20 76 104 105 184 209 231 tip speed ratio 144 145 TL431 75 toolbar 8 11 21 23 37 Torque Control 186 transconductance 57 128 129 131 transfer function block s domain 149 z domain 171 transformation 100 186 201 abc alpha beta 202 abc dqo 100 101 201 alpha beta dq 203 Cartesian Polar 204 transformer 3 63 ideal 63 saturation 68 single phase 64 three phase 65 transistor BJT npn 48 49 53 BJT pnp 48 49 GTO 48 56 IGBT 48 MOSFET n channel 48 49 MOSFET p channel 48 49 54 trapezoidal waveform block 161 trigonometric function 158 U unit delay block 163 176 V variable default 13 16 27 passing 15 runtime 11 19 voltmeter ac 196 dc 196 W wattmeter 196 197 198 3 phase 198 wind turbine 143 144 wire 9 11 14 22 232 Z zero order hold 1 161 162 170 182 209 Index 239
29. Displacement threshold It is used in JMAG Moment of Inertia Moment of inertia of the machine in kg m7 Shaft Time Constant Shaft time constant of the machine in sec Back emf Flag Display flag for all FEM coil currents 1 display 0 no display Rotor Angle Flag Display flag for all shaft angles Speed Flag Display flag for all shaft speeds Torque Flag Display flag for all developed torques shaft Master Flag Master slave flag of the machine 1 master 0 slave Please consult JMAG manuals and documents on how to set up the co simulation on the JMAG side 4 7 2 MagCoupler Block The MagCoupler block has the following image and properties Image Block with 4 inputs and 4 outputs Attributes Parameter Description Link Table File The XML file that defines the interface between PSIM and JMAG It has the xml extension JMAG Input File The JCF input data file for JMAG It has the jcf extension Note that the xml file and the jcf file must be in the same directory Chapter 4 Power Circuit Components 105 106 JMAG Case Text Comments for the JMAG circuit IN Nodes Nodes that pass the values from PSIM to JMAG OUT Nodes Nodes that pass the values from JMAG to PSIM The number of input and output nodes may vary depending on the actual number of input output nodes in a particular circuit The MagCoupler block accepts voltages currents and positions as inputs and it provides voltages
30. Initial switch position flag for the transistor only 0 off 1 on Current Flag Switch current flag for the whole module the transistor plus the diode GTO A GTO switch is a symmetrical device with both forward blocking and reverse blocking capabilities Images O O Attributes Parameters Description Voltage Drop GTO conduction voltage drop in V Initial Position Initial switch position flag 0 off 1 on Current Flag Switch current flag 0 no display 1 display Bi Directional Switches A bi directional switch conducts current in both directions Three types of bi directional switches are provided single phase switch three phase switch and push button switch Images Single switch 3 phase switch Push button switch a q a f l 0 o Attributes Parameters Description Initial Position Initial switch position flag for single switch only Initial Position for Phase A B Initial switch position for Phase A or B or C C Switch Position Switch position can be either On or Off for push button switch only Current Flag Switch current flag for single switch only Current Flag for Phase A B C Switch current flag for Phase A or B or C In the 3 phase switch image the phase with a dot is Phase A For single and 3 phase bi directional switches they are on when the gating signal is high and are off when the gating signal is low regardless of the voltage
31. Manufacturers v E Electrical Characteristics Pat N Vol information a ameni Aeae aa TE apace Edit Irr vs IF p Edit Qrvs iF Edt Errvs iF Edi lat FCD 7N6O 600 7 H IK FS50RO7N2E4 650 70 K FSB800R07A2E3 800 KF HGTG20N60A4D 40 la IRF1010EZ 75 D BF IRF 14048 162 Thermal Characteristics Dimensions and Weight evice EF IRF3805S 75 i l EFIRF7380 36 Rth j c 0 6 Rith c s 0 4 Length mm 53 Width mm 36 list IaF IRF 44 8 8 all in oCAW Height mm 29 Weight g 0 EF IRFP460 20 PHSLIRIO60G2 30 IK IXGH40N60C2 40 see L 100uH 1 150uH MURS160 KEPS21A79 KF SEMiX151GDO66HDs KF SKM100GB125DN KF SKM200GB125D KF SKM300GAL063D KF SKM300GAR063D BF SPA21N50C3 STTA2068 STTHBOLOBC BF STW45NM50 Ready On the left are the device database files that are loaded into the database editor and the list of the devices The devices can be displayed based on either Device Type or Manufacturer Also the device list can be sorted by Part Number Voltage rating or Current rating by clicking on the title bars of the list To create a new device file choose File gt gt New Device File To load a device files into the editor choose File gt gt Open Device File To unload a device file from the editor choose File gt gt Close Device File On the right is the information of each device In general the following information is required to define a switching device for thermal
32. Menu 12 Subcircuit Menu 12 2 7 1 Creating Subcircuit In the Main Circuit 14 2 7 2 Creating Subcircuit Inside the Subcircuit 14 2 7 3 Connecting Subcircuit In the Main Circuit 15 2 7 4 Other Features of the Subcircuit 15 2 7 4 1 Passing Variables from the Main Circuit to Subcircuit 15 2 7 4 2 Customizing the Subcircuit Image 16 2 7 4 3 Including Subcircuits in the PSIM Element List 17 Elements Menu 17 Running Simulation 17 2 9 1 Simulate Menu 17 2 9 2 Simulation Command Line 20 Options Menu 20 2 10 1 Setting Options 21 2 10 2 Set Path Options 23 2 10 3 Customizing Toolbars and Keyboards 23 Utilities Menu 24 Managing the PSIM Library 25 2 12 1 Creating a Secondary Image 26 2 12 2 Adding a New Subcircuit Element into the Library 27 2 12 3 Adding a New DLL Element into the Library 28 Creating a Symbol Library 29 Waveform Processing in SimView 3 1 a2 3 3 3 4 3 5 3 6 File Menu 33 Edit Menu 34 Axis Menu 34 Screen Menu 35 Measure Menu 36 Analysis Menu 36 ere 3 8 3 9 3 10 View Menu 37 Option Menu 38 Label Menu 38 Exporting Data 39 Power Circuit Components 4 1 4 2 4 3 4 4 4 5 4 6 Resistor Inductor Capacitor Branches 41 4 1 1 Individual Resistor 41 4 1 2 Individual Inductor 42 4 1 3 Individual and Electrolytic Capacitors 42 4 1 4 Combined R L C Branch 43 4 1 5 Three Phase R L C and Combination Branches 44 4 1 6 3 Phase AC Cable 44 4 1 7 Rheostat 45 4 1 8 Saturable In
33. Parallel Number of cells Np in parallel in the battery pack Voltage Derating Factor Voltage derating factor Ks from 0 100 derating to 1 no derating Full Battery Voltage Full or maximum voltage of the battery cell in V Battery Resistance Internal resistance of the battery cell in Ohm Current PI Gain Gain of the current loop PI controller Chapter 5 Control Circuit Components 5 8 6 Current PI Time Constant Time constant of the current loop PI controller in sec Voltage PI Gain Gain of the voltage loop PI controller Voltage PI Time Constant Time constant of the voltage loop PI controller in sec Control Block Output Limit The upper limit of the control block output Vm The lower limit is 0 Sampling Frequency Sampling frequency of the voltage and current PI controller in Hz The dc dc charging control block has the following inputs and outputs Vbatt Battery side voltage Ibatt Current flowing into the battery Vm Modulation signal output This block implements constant voltage constant current charging control to a battery When the battery terminal voltage is less than the battery float voltage the float voltage is defined as the internal battery full voltage plus the voltage drop across the battery resistance it is constant current charging in which case the voltage is disabled and the current loop changes the battery at a constant current rate The charging current amplitude is set to the converter
34. SimulationEnd const char szid void reserved UserDat Chapter 6 Other Components 207 6 4 6 208 Number of input and output ports of the C block is defined in the Number of Input Output Ports section If the number of ports is changed the image of the block in the schematic will change accordingly The code area includes four main sections Variable Function Definitions This section includes statements and global variable definition Simulation Step Function This function is called at each simulation step SimulationBegin Function This function is called only once at the beginning of the simulation for initialization SimulationEnd Function This function is called only once at the end of the simulation for termination Click on the Check Code button to check if the code has any compiling errors Click on the Edit Image button to customize the image of the C block For example assume that a C block has 2 inputs and 3 outputs After numbers of input output ports are defined the C block will have an image in PSIM as follows 2 input 3 output in 0 out 0 input out 1 output in 1 out 2 The node sequence is from the top to the bottom In C code the in array is used to pass the values from PSIM into the C block and the out array is used to pass the values from the C block back to PSIM In this example the first input which corresponds to in 0 in the code is the node at the top left and the first out
35. Standard Light Intensity SO Light intensity Sp under the standard test conditions in W m The value is normally 1000 W m in manufacturer datasheet Ref Temperature Tref Temperature Tef under the standard test conditions in C Series Resistance Rs Series resistance R of each solar cell in Ohm Shunt Resistance Rsh Shunt resistance R of each solar cell in Ohm Short Circuit Current IscO Short circuit current Zc of each solar cell at the reference temperature Tes in A Saturation Current Is0 Diode saturation current Zo of each solar cell at the reference temperature T ref in A Band Energy Eg Band energy of each solar cell in eV It is around 1 12 for crystalline silicon and around 1 75 for amorphous silicon Ideality Factor A Ideality factor A of each solar cell also called emission coefficient It is around 2 for crystalline silicon and is less than 2 for amorphous silicon Temperature Coefficient Ct Temperature coefficient C in A C or A K Coefficient Ks Coefficient k that defines how light intensity affects the solar cell temperature A solar module consists of N solar cells in series and the equivalent circuit of the physical model of one solar Chapter 4 Power Circuit Components 139 cell is shown below The equations that describe a solar cell are and T 7 k S where q is the electron charge q 1 6 x 10 C k is the Boltzmann constant k 1 3806505 x 10 73 S is the light int
36. Suffix Invert graph xo ho Xma f1000 C Xin Log yo 06 Ymax a I YinLog x11 x22833 Enter values in the following for Refresh RAY BRANN Data MA Points E N i T 2 E Ww a Ww gt O Ww x n x lt Ww a 1000 00 103 X axis IF Y axis Yd 2914 2 1 0051 Junction Temperature Tj oC 25 Redraw Cancel Chapter 4 Power Circuit Components Then click on the forward wizard icon to move on to the next step e In this step the x and y axis settings will be defined Enter the settings as follows XO l Xmax 1000 YO 0 6 Ymax 2 6 X in log checked e Leave the checkbox Invert graph unchecked since the diode forward current Ip is in the x axis in this case But in other situations if the current is in y axis check the Invert graph checkbox e Enter the junction temperature as 25 C Click on the forward wizard icon to move on to the next step e Left click on top of the graph to capture the data points In this case for example four data points at the cur rent values of around 1A 10A 100A and 280A are captured Again right click to zoom in You can cap ture as many data points as desired e As data points are captured red lines will appear that will connect the data points e Then click on the forward wizard icon to complete the data capture process The final graph dialog window should appear as follows On state voltage drop V
37. Upper limit V_upper of the output Sampling Frequency Sampling frequency in Hz The transfer function of an analog PI controller in s domain is defined as 1 sT G s k oT The digital PI controller is obtained by discretizing the analog PI controller using the backward Euler method The implementation of the controller is shown below k vV_ upper Chapter 5 Control Circuit Components 173 5 5 2 4 Digital Filters 174 Four digital filter blocks are provided Ist order low pass filter 2nd order low pass filter general digital filter and general finite impulse response FIR filter For both general filters the filter coefficients can either be entered directly through the element property window or be specified through a text file Images Ist order Low Pass 2nd order Low Pass General Digital Filter FIR Filter 1 Mr 1 oor P a ee on oy FIR Attributes For st order low pass filter and 2nd order low pass filter Parameters Description Gain Gain k of the filter W Cut off Frequency Cut off frequency fe on in Hz Damping Ratio Damping ratio of the filter for 2nd order low pass filter only Sampling Frequency Sampling frequency fy in Hz For General Digital Filter or FIR Filter that reads the coefficients directly Parameters Description Order NV Order N of the transfer function Coeff bo by Coefficients of the numerator from b to by Coeff
38. Wm Iq o Attributes for Field Weakening IPM Parameters Description Rs stator resistance Stator winding resistance of the machine in Ohm Ld d axis inductance d axis inductance of the PMSM machine in H Lq q axis inductance q axis inductance of the PMSM machine in H Vpk krpm Peak line to line back emf constant of the machine in V krpm mechanical speed Number of Poles Number of poles of the machine Maximum Inverter Maximum inverter output current amplitude peak in A Current Maximum Inverter Maximum inverter output voltage amplitude phase peak in V Voltage Base Voltage Value System base voltage value in V Base Current Value System base current value in A Base Mechanical Speed System base mechanical speed in rad sec The field weakening IPM control block accepts the following input signals all in per unit value Is Vde Wm Id Iq Chapter 4 Power Circuit Components Inverter current amplitude reference DC bus voltage feedback Motor mechanical speed in rad sec d axis current reference q axis current reference It has the following output signals all in per unit value This block is for the control of linear PMSM machines only When the machine speed is higher than a certain value the machine will not be able to provide the maximum amount of torque Instead it will be limited by the machine power rating Given the current amplitude reference dc bus voltage and the
39. a source It can not be connected to a gating block or a switch controller Examples Circuits Using the Linear Transistor Switch Examples below illustrate the use of linear switches The circuit on the left is a linear voltage regulator circuit and the transistor operates in the linear mode The circuit on the right is a simple test circuit Chapter 4 Power Circuit Components 4 2 11 Switch Gating Block A switch gating block defines the gating pattern of a switch or a switch module The gating pattern can be specified either directly the element is called Gating Block in the library or in a text file the element is called Gating Block file in the library Note that a switch gating block can be connected to the gate node of a switch ONLY It can not be connected to any other elements Image Attributes Parameters Description Frequency Operating frequency of the switch or switch module connected to the gating block in Hz No of Points Number of switching points for the Gating Block element only Switching Points Switching points in deg If the frequency is zero the switching points is in second for the Gating Block element only File for Gating Name of the file that stores the gating table for the Gating Block file element only Table The number of switching points is defined as the total number of switching actions in one period Each turn on or turn off action is counted as one switchi
40. are From abc to a From ab to a From ac to ap 2 From a to abc 1 0 Va fp IA 8 iy Vp 3 2 2 V e 1B Ze For the ab to aB and ac to a transformation it is assumed that v vp v 0 6 4 2 3 af dq Transformation The a amp B dq function blocks perform the transformation between the a coordinate to the dq coordinate Images a to dq dq to p In the images the letter al refers to and the letter be refers to B The transformation equations are Chapter 6 Other Components 203 From a to dq Va _ cos sin VM Ve sin cos vg Yaj _ cos sin Va vg sin cos k From dq to a 6 4 2 4 Cartesian Polar Transformation 6 4 3 204 The Cartesian polar function blocks perform the transformation between the Cartesian coordinate and the polar coordinate Images Cartesian to polar Polar to Cartesian In the images the letter r refers to the amplitude and a refers to the phase angle 9 in rad The transformation equations are From Cartesian to polar TE x le y 0 atan 2 X From polar to Cartesian X r cos y r sin Math Function Blocks The output of a math function block is expressed as the mathematical function of the inputs With this block one can implement complex and nonlinear relationship easily Blocks with 1 2 3 5 and 10 inputs are provided Images 5 input 10 input Chapter 6 Ot
41. as a function of the junction temperature In the images of MOSFET RDS on and p MOSFET RDS on the node on top of the gate node is for defining the junction temperature A voltage signal at this node will define the junction temperature 7 in C For example a voltage value of 25V would mean a junction temperature of 25 C The on resistance of the MOSFET is a function of the junction temperature as expressed below Roscom scene ae Ge T a A switch can be controlled by either a gating block or a switch controller They must be connected to the gate base node of the switch Images MOSFET p MOSFET MOSFET p MOSFET RDS on RDS on Mr eM Im Attributes for MOSFET and p MOSFET Parameters Description On Resistance The on resistance Rds_on of the MOSFET in Ohm Diode Forward Anti parallel diode forward threshold voltage in V Voltage Diode Resistance Anti parallel diode on resistance in Ohm Initial Position Initial switch position flag for the transistor only 0 off 1 on Current Flag Switch current flag for the whole module the transistor plus the diode 0 no display 1 display Chapter 4 Power Circuit Components Attributes for MOSFET RDS on and p MOSFET RDS on Diode Forward Voltage Diode Resistance Initial Position Current Flag Parameters Description Tj at Test Junct
42. at each point in sec For the sources that define the values and times in pair Parameters Description Frequency Frequency of the waveform in Hz Times Values t1 v1 Time and value at each point The time and value pair must be enclosed by left and right brackets The time and value can be separated by either a comma such as 1 2m 5 5 or a space such as 1 2m 5 5 or both such as 1 2m 5 5 Example The following is a non periodic piecewise linear source It has 3 segments which can be defined by four points marked in the figure Time sec 0 0 1 0 2 0 3 The specification for the piecewise linear voltage source will be Frequency 0 No of Points n 4 Values V1 Vn PE e 23s Times T1 Tn 0 0 1 0 2 0 3 The specification for the piecewise linear in pair voltage source will be Frequency 0 Times Values tl v1 0 1 0 1 1 0 2 3 0 3 3 Random Source The amplitude of a random voltage source VRAND or current source IRAND is determined randomly at Chapter 7 Sources 7 4 8 7 4 9 each simulation time step A random source is defined as Vo a NF Vo ffset where V is the peak to peak amplitude of the source n is a random number in the range of 0 to 1 and V fier 1s the dc offset Images Voltage Current A Attributes Parameters Description Peak Peak Amplitude Peak to peak amplitude o
43. ate a Preview View 6 Cl ra ma 3 8 bu QQ Zoomin 310V ofl D zoom out 3 Vin aeii Bt C Fit to Page lt Zoom in Selected D Zoom Level gt Note This oirouit oan be Element List simulated by the full version only Element Count Display Voltage Current Display Differential Voltage Set Node Name Refresh Project View Library Browser ii An te te the JRE IKE E E inns 4 7 e ae 28 oo Do e Hae eP Ha ee In PSIM all the elements are stored under the Elements menu The elements are divided into four groups Power Power circuit elements such as R L C branches switching devices transformers motor drive module Control Control elements such as computational functions logic and digital control module Other Switch controllers sensors probes interface elements and elements that are common to both power and control and Sources Voltage and current sources Event Control Elements for event control These elements are part of SimCoder SimCoder Targets Creating a Circuit Elements for automatic code generation and hardware targets such as F2833x and F2803x The basic and most commonly used functions provided for circuit creation are Get Element There are several ways to get an element from the element library One is to use the pull down menu Go to the Elements menu and go into the submenu and highlight the e
44. below shows the 1 v and p v curves of a typical solar cell 6 00 Current vs Voltage 500 4 00 3 00 2 00 100 Maximum Power Point 300 00 250 00 200 00 150 00 100 00 50 00 0 0 Power vs Voltage i 1 i 0 0 20 00 40 00 60 00 80 00 Voltage The curves show that the solar cell output power reaches the maximum at a specific voltage level Many control 138 Chapter 4 Power Circuit Components schemes have been proposed in the literature to track this maximum power point so called Maximum Power Point Tracking or MPPT so that the solar cell output power is at the maximum 4 11 1 2 Solar Module Physical Model The physical model of solar module simulates the behavior of the solar module with more accuracy because it takes into account the light intensity and temperature variation Image In the image The nodes with the and signs are the positive and negative terminals The node with the letter S refers to the light intensity input in W m7 and The node with the letter T refers to the ambient temperature input in C The node on the top is theoretical power in W given the operating conditions While the positive and negative terminal nodes are power circuit nodes the other nodes are all control circuit nodes Attributes Parameter Description Number of Cells Ns Number of cells N of the solar module A solar module consists of N solar cells in series
45. can be plotted in the figure below 1 S Heier and R Waddington Grid Integration of Wind Energy Conversion Systems Wiley 2006 144 Chapter 4 Power Circuit Components 0 0 5 00 1 10 00 15 00 The figure shows that the power coefficient C reaches the maximum of 0 49 when the tip speed ratio is 8 18 We choose the values of C and at the maximum as the nominal values i e Cp nom 0 49 Anom 8 18 One way to control the wind turbine therefore is to maintain the tip speed ratio at or close to the nominal value so that the power that the wind turbine generates is at the maximum Several elements related to renewable energy applications are included here 4 11 3 Lithium lon Battery Model A lithium ion battery model is provided It comes with two images one with the battery image and the other with the battery cell symbol image Images SOC L gt SOC i Attributes Parameter Description No of Cells in Series Number of cells M in series of a battery pack No of Cells in Parallel Number of cells N in parallel of a battery pack Voltage Derating Factor Voltage derating factor K from 0 100 derating to 1 no derating Capacity Derating Factor Capacity derating factor K from 0 100 derating to 1 no derating p 8 Rated Voltage Rated voltage E ateg of the battery cell in V Discharge Cut off Voltage Battery voltage E o corresponding to the maximum capacity in V Rated C
46. clock on the schematic and double click to display the property window Languages To select different languages for PSIM display Auto run SIMVIEW To automatically run SIMVIEW after the simulation is complete Set Path To set the PSIM search paths and device file paths Chapter 2 Circuit Schematic Design Enter Password To enter the password to view a schematic file that is password protected Disable Password To disable the protection of a schematic file that is password protected Customize To create customized toolbars keyboard and application menu frame Save Custom Settings To save the following custom settings to a file Default element values custom keyboard definition and custom toolbar definition This file can then be loaded on another computer using the Load Custom Settings function This is useful when you want to apply the same custom settings on another computer Load Custom Settings To load custom setting files saved by the Save Custom Settings function This will apply the custom settings defined in the file to this computer Load Legacy Tool Bars To load legacy tool bars of previous PSIM versions Deactivate To deactivate the PSIM license This is for softkey version only Change Softkey Password To change the password of login for running PSIM softkey version This is for softkey version only Check for Software Update To check if any newer software updates are available on the Powersim server This
47. coefficient file for block Digital Filter file and FIR Filter file has the following format For FIR Filter file For Digital Filter file the format can be either one of the following N or N bo bo ao by by ay by by an ag a an Example To design a 2nd order low pass Butterworth digital filter with the cut off frequency fe 1 kHz assuming the sampling frequency fs 10 kHz using MATLAB we have Nyquist frequency fn fs 2 5 kHz Normalized cut off frequency fc fc fn 1 5 0 2 B A butter 2 fc which will give B 0 0201 0 0402 0 0201 b 5 b2 A 1 1 561 0 6414 ap a a The transfer function is Chapter 5 Control Circuit Components 175 0 0201 0 0402 7 0 0201 z a a a Fa 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 PSIM will be Order NV 2 Coeff bo by 0 0201 0 0402 0 0201 Coeff do ay l 1 561 0 6414 Sampling Frequency 10000 If the coefficients are stored in a file the file content will be 2 0 0201 0 0402 0 0201 l 1 561 0 6414 Or the file can also have the content as follows 2 0 0201 1 0 0402 1 561 0 0201 0 6414 5 5 3 Unit Delay A unit delay block provides one sampling period delay to the input Image ES z Attribute Parameter Description Initial Ou
48. contains all the functions that can be used to interface with PSIM The list on the left called External Circuit Simulator contains the functions that are selected to interface with PSIM In this case there are two items in the JMAG list one is the Voltage Function and the other is the Current Probe Highlight the Voltage Function and click on the lt button to move the item from the list on the right to the list on the left Repeat the same step to the Current Probe Now both items should appear in the list on the left Highlight the Voltage Function and change the terminal name to VL Also change the Current Probe terminal name to iL Close the dialog window Go to the menu File gt gt Export and select JCF With the JCF file name defined as inductor the JCF file inductor jcf and the link table file inductor_csl xml will be generated Copy the JCF file inductor jcf and the link table file inductor_csl xml to the folder containing the PSIM schematic file inductor _jmag sch Rename the link table file to inductor_jmag xml Note that the XML file does not have to be renamed and both the JCF and XML files do not have to be moved to the folder of the schematic file They are done here for the simplicity of file management In PSIM After the rest of the power circuit is created go to Elements gt gt Power gt gt MagCoupler Module and select MagCoupler Block Place the block on the schematic Chapter 4 Powe
49. currents positions torques and force as the outputs In PSIM the MagCoupler block is a power circuit element The way it interfaces with the rest of the circuit is that both the inputs and outputs are voltage signals no electric current flows into the input node To convert a branch current into a voltage signal or vice versa one can use a current controlled voltage source or voltage controlled current source The Link Table File in XML format defines the input output interface and corresponding functions in JMAG This file 1s generated automatically by JMAG To locate this file click on the browse button at the right of the edit field The JMAG Input File is the JCF input data file that is read by the JMAG solver The name is defined in the Link Table File Note that JCF input file jcf must be in the same directory as the input link table file xml If any material database is used in JMAG it should also be placed in the directory of the xml file Also the xml file does not have to be in the same directory as the schematic file However if a xml file with the same name is present in the schematic directory PSIM will read the one in the schematic directory first The JMAG Case Text is a text identifying the specific JMAG circuit It can be any text describing the JMAG circuit The IN Nodes are the nodes through which PSIM passes the values to JMAG In the MagCoupler block image the order of the input nodes is from the top to t
50. cursor is on top of a node or a branch it will change to the image of a voltage probe or current clamp probe Left click the mouse and the corresponding voltage or current will appear in SIMVIEW To display a differential voltage choose View gt gt Display Differential Voltage Then click on the first node and then the second node The differential voltage waveform will appear in SIMVIEW Maximum number of points for oscilloscope It defines the maximum number of points that an oscilloscope will plot Increase this number to display waveforms for a longer time interval The Advanced tab contains these sections Software Updates Automatic Backup Time out Code Generation Indication and PSIM Help File In Software Updates section Check for software updates When this option is checked if you have the valid software annual maintenance PSIM will automatically check for new updates on the Powersim server If a new update is available you will be prompted to install the update On Automatic Backup Automatic backup When this option is checked PSIM will create a backup of the file currently being edited in the time interval specified In case of a program crash the backup file will preserve the previous work The backup file is deleted automatically when the file is closed normally from the PSIM environment In Time Out section Idle time When this option is checked PSIM will be timed out after the program is idle for the specifie
51. device sub folder under the PSIM program folder by default e Create new device With the file name diode_new highlighted in the File Name list Choose Device gt gt New Diode A diode will be added to the database file with Manufacturer as New and Part Number as New e Enter basic information Obtain the datasheet of Powerex diode CS240650 from the web site www pwrx com By referring to the information from the datasheet in the database editor enter the follow ing information for this device Manufacturer Powerex Part Number CS240650 Package Discrete and under Absolute Maximum Ratings Vrrm max V 600 IF max A 50 Tj max C 150 Define forward voltage characteristics V vs Ip Under Electrical Characteristics by clicking on the Edit button on top of the Vy vs Ip graph area The following dialog window will appear On state voltage drop Vd vs IF o wizard icons axis axis Vd affix nyert graph Help area x0 10 xmas O0 I inLog Yo 0 Ymax x f Yin Log nte alues in the following format P aA X and Y axis settings Data area X Y axis multiplying factor anise Y axis Vd 0 49032 0 076744 Junction Temperature Tj oC Graph area Redraw OK Cancel The dialog window has two pages Graph and Conditions The Graph page contains thee x and y axis settings as well as the data points and the graph In this case the y axis is the conduction voltage drop V4 and
52. first order low pass filter Parameters Description Gain Cut off Frequency Gain k W Cut off frequency fe of the low pass filter in Hz The transfer function of these filters are listed below For second order low pass filter 2 O C ae S S 260 S 0 For second order high pass filter 2 S a ar eT s 260 5 For second order band pass filter Beg al So REE s tP s t O For second order band stop filter For first order low pass filter Chapter 5 Control Circuit Components sto Cy E Ss B sto Cee me s rar 155 5 2 5 2 1 5 2 2 156 Computational Function Blocks Summer The input of a one input summer or two input summer can be either a scalar or a vector The input of a three input summer can only be a scalar Images l input 2 input 2 input 3 input re i of Input 1 Input 1 Input 1 Input 2 Input 2 Input 2 Input 3 Attribute Parameter Description Gain i Gain k for the ip input For the three input summer the input with a dot is the first input If the inputs are scalar the output of a summer with n inputs is defined as HERV Kp h Pes TEI If the input is a vector the output of a two input summer will also be a vector which is defined as Vi a d ap V gt b b gt bak b h V1 V ay tb agtby ay tby The output of a one input summer however will still be a scalar which
53. flag of the current that flows through the resistor R For the element Air Gap AL Parameters Description Inductance Factor Ay Inductance factor 4 defined as the inductance per turn squared Resistance for Losses Resistance R in ohm that represents the losses due to the air gap fringing effect Current Flag Display flag of the current that flows through the resistor R The resistance R represents the losses due to the air gap fringing effect Assuming that the mmf magnetomotive force applied across the air gap is F the electric equivalent circuit of the air gap is as follows y The mmf in the form of a voltage source applies across the capacitor the capacitance has the value of the inductance factor 4z and the resistor R For the element Air Gap the inductance factor can be calculated from the air gap length and the cross section area as ogee an E aN where u 470 1077 The losses on the resistor represents the losses due to the fringing effect which can be expressed as F gs Lr rms R where Zs 1s the rms value of the current i flowing through the resistor Linear Core This element represents a linear loss less core Image Attributes Parameters Description Inductance Factor Ay Inductance factor A of the core defined as the inductance per turn squared If the length of the core is Ljength and the cross section area is
54. follows cos 0 sin 0 1 X x _ cos 0 sin 0 1 X 5 3 3 X q X X l cos 0 1 sin 0 1 1 Ee Chapter 4 Power Circuit Components 93 4 6 8 94 The d axis and q axis inductances are associated with the inductances in the abc frame as follows 7 Let Slt SL 3 3 Ly Let jbo 5he The developed torque can be expressed as sin 26 sin 20 2 sin 20 3 3 P _ TE A i i i l sin 20 sin 20 m sin 20_ sin 20 sin 28 sin 20 2 In the dq0 frame the developed torque can be expressed as Pom 550A pm q The mechanical equations are 3 as Ly Lo Tal do Lae Ln Fic Vee a err a P dt 2 a sin 6 NIY sin 0 where B is a coefficient 77 7 18 the load torque and P is the number of poles The coefficient B is calculated from the moment of inertia J and the shaft time constant Thant as below J TV shaft B Permanent Magnet Synchronous Machine with Saturation A 3 phase PMSM machine with saturation differs from that of a linear 3 phase PMSM machine in that the d axis and q axis magnetizing inductances Lgm and Lgm can be expressed as a nonlinear function of the d axis and q axis currents in the lookup table form The image and parameters of the machine are shown as follows Image Attributes a shaft Node Parameters Description R stator resistance L stator leakage ind Stator win
55. for this new element To illustrate this process an inductor is used as an example Creating the DLL The first step is to create the inductance model in DLL Please refer to the relevant section on how to create a custom DLL Here we assume that the DLL file Inductor _model dll has already been created It has one parameter called Chapter 2 Circuit Schematic Design Inductance and two connecting nodes The file 1s placed in the lib sub folder in the PSIM directory Adding the New Element to the PSIM Library To add the DLL element into the PSIM library follow these steps e Go to Edit gt gt Edit Library gt gt Edit Library Files and choose the library for the new element Click on New Library to create a new image library or select an existing library and click on Edit Selected Library e In the Library Editor click on the button New DLL File Enter the information to the dialog window as shown below DLL File Element Name Inductor DLL ok Description Inductor modeled in DLL Cancel File Path psim 0 1 ib inductor_model dll Input nodes Saal Output nodes Hide menu Help File inductor html Test Help Page Name Name of the new inductor element as it appears in the PSIM library Description Description of the new inductor element File Path The location of the DLL file Inductor _model dll that models the new inductor element The DLL file must be placed in the lib sub fol
56. functions which calculate the inductor current based on the voltage input This current is then sent back to PSIM in the voltage form and is used to control the current source that represents the inductor In the JMAG circuit of this example the voltage function on the left side receives the voltage from PSIM and through the current probe in series with the FEM coil the current is calculated and sent back to PSIM The inductor structure in the JMAG environment is shown on the lower right Chapter 4 Power Circuit Components Circuit in PSIM file inductor_jmag sch inductor Jmag xnl In PSI In JHAG The setup process of calling JMAG in PSIM through the MagCoupler block is as follows In JMAG In the JMAG circuit connect a voltage function to the right of the FEM coil Under Electrical Potential in the property window choose Constant Value and set Constant Value V to 0 Connect a current probe to the left of the FEM coil Connect another voltage function to the left of the current probe the circuit will look like what is shown above In the property window choose Cooperates with an external circuit simulator Highlight the inductor structure window Go to the menu Conditions gt gt Create Conditions From the Conditions List highlight Coupled External Circuit Simulator and click Modify On the Coupled External Circuit Simulator dialog window there are two lists The list on the right called JMAG
57. gt 6 input output Attribute Parameter Description File Name Name of the DLL file The node with a dot is for the first input in 0 The input output node sequence is from the top to the bottom The images and parameters of a general DLL block are shown below Image for a block with 2 inputs and 3 outputs l input 2 output 2 3 Chapter 6 Other Components 209 6 4 8 210 Attribute Parameter Description DLL File Name of the DLL file Input Data File Name of the input data file that DLL reads optional Number of Input Nodes Number of input nodes optional Number of Output Nodes Number of output nodes optional IN Nodes List of input nodes optional OUT Nodes List of output nodes optional Parameter 1 Parameter to be passed from PSIM into DLL optional Parameter 2 Parameter to be passed from PSIM into DLL optional Edit Image button Click this button to edit and customize the image of the DLL block Display File button Click this button to display the content of the Jnput Data File optional Read File button If the Input Data File is modified click this button to reload the data file optional The node with a dot 1s the first input in 0 The input output node sequence is from the top to the bottom By default users define the number of inputs and outputs But the number of inputs and outputs the node names as well as the number of parameters and the p
58. inertia J of the machine in kg m Torque Flag Output flag for internal torque 7 Master Slave Flag Master slave flag of the machine 1 master 0 slave All the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 4 6 1 The models of the squirrel cage induction machine with and without the neutral are the same internally 80 Chapter 4 Power Circuit Components The operation of a 3 phase induction machine is described by the following equations rasad el sued EL elned Md Gelfand Paved b Dusad E Flad Wed aled where Va S Var Le S Lar lias Vp S P l E Vp r E gt Ip S Eo i Ip a K Vor Io s lor For squirrel cage machines v Vp p Ve 0 The parameter matrices are defined as RQ 0 R O 0 e JO 2 0 er 0 R 0 0 0 0 0 R sr Mer Mo W Labh S Lrt Mr 57 5 iJ a L My L fs a L M ae Est Asr LoF Ma sr L M 2 a ae 9 9 is sr cos cos 2 cos A Msp cos a cos cos cos 0 cos cos where M is the mutual inductance between the stator and rotor windings and 0 is the mechanical angle The mutual inductance is related to the magnetizing inductance as 3 L M im 9 Sr I he mechanical equation iS expressed as J m T T dt em L where the developed torque T 1s defined as fon 5 E LA fe For a symmetrical squirrel cage induction machine the stead
59. interface consists of controlled current sources on the stator side and this model is suitable in situations where the machine operates as a motor and or the stator external circuit is in parallel with capacitive branches The image and parameters of the machine are shown as follows Image A SM b Shaft Node T n field ma ee Attributes Parameters Description R stator Stator winding resistance in Ohm L stator Stator leakage inductance in H Lgm d axis mag ind Lgm q axis mag ind Moment of Inertia Torque Flag Master slave Flag d axis magnetizing inductance in H q axis magnetizing inductance in H Ry field Field winding resistance referred to the stator side in Ohm Lg field leakage ind Field winding leakage inductance referred to the stator side in H R4 damping cage Rotor damping cage d axis resistance referred to the stator side in Ohm La damping cage Rotor damping cage d axis leakage inductance referred to the stator side in H R damping cage Rotor damping cage q axis resistance referred to the stator side in Ohm Lari damping cage Rotor damping cage q axis leakage inductance referred to the stator side in H Ns N f effective Stator field winding effective turns ratio Number of Poles P Number of Poles P Moment of inertia J of the machine in kg m Output flag for internal developed torque Ty Master slave flag of the machine 1 master 0 slave Al
60. is equal to the summation of the input vector elements that is V a a ap Multiplier and Divider The output of a multipliers or divider is equal to the multiplication or division of two inputs Images Multiplier Divider Numerator a b Denominator For the divider the dotted node is for the numerator input The input of a multiplier can be either a vector or a scalar If the two inputs are vectors their dimensions must be equal Let the two inputs be V a ao ay V b b gt by The output which is a scalar will be V V1 V a by ay by a b Chapter 5 Control Circuit Components 9 2 3 9 2 4 9 2 9 Square Root Block A square root function block calculates the square root of the input Image Exponential Power Logarithmic Function Blocks The images and attributes of these function blocks are shown below Images Exponential Power LOG10 a atl ce Attributes for exponential and power blocks Parameters Description Coefficient k4 Coefficient k4 Coefficient k gt Coefficient k The output of an exponential function block is defined as V k kin For example if k 1 k 2 718281828 and V 2 5 then V e where e is the base of the natural logarithm The output of a power function block is defined as k V2 The function block LOG gives the natural logarithm base e of the input and the block LOGIO
61. is for licenses that have the Annual Software Maintenance only 2 10 1 Setting Options The Settings menu has tabs General Advanced Colors and Page Sizes The General tab contains these sections Editing Text Font Printing and Simulation In Editing section Display grid Check this option to display the grid in the PSIM schematic Zoom factor The zoom factor defined here is used when the schematic is zoomed in or out Enable rubber band When checked an element or a portion of a circuit remains connected with the rest of the circuit when moved Show print page border When enabled the border of the printout will be displayed In Text Font section Default text font Set the default font for the text placed in the schematic Justification Define how the text will be aligned Default graph font Set the text font for the runtime graphs In Printing section Line thickness Define the thickness of the line as it appears at the printout It can be set to 1 the thinnest to 4 the thickest Note that the line thickness only affects the printout It does not affect the display on the screen In Simulation Section Simulation result format Simulation results can be saved in either binary format default or text format The binary format will result in a smaller result file and will be faster to load Set the default font for the text placed in the schematic Output buffer size When checked the simulation data will be written to t
62. is normally very small Ly can be considered equivalent to Lam and Lq can be considered equivalent to Lgm The Transformation Flag defines the transformation convention between the abc frame and the dq frame When the Transformation Flag is 0 cos 6 cos cos I oe ee NN I SOR Ne NY gt sin sin sin 0 2 La Lt 1 0pm atan2 l L The current vector angle is in deg and is from 180 to 180 When the Transformation Flag is 1 2T a f cos 0 cos a 7 cos D 3 N Y N sin 0 sin sin 0 4 m 3 Chapter 4 Power Circuit Components 95 96 dot B ieee ie 0 atan2 y Lo The current vector angle is in deg and is from 0 to 360 The Lgm and Lgm lookup tables have the following format M N Vets Vis ve Vem Vols Voz gt VoN Lisls Lan Laj La 9 Lon Lui La LMN where M is the number of rows and N is the number of columns V is the row vector and V is the column vector and L is the Lgm or Lgm inductance value in H at Row i and Column j Note that Vectors V and V must be monotonically increasing When the dq flag is 0 the row vector is and the column vector is I4 When the flag is 1 the row vector is the angle and the column vector is the amplitude Z If the input is between two points interpolation is used to calculate the value If the input is less than the minimum or greater than the maximum va
63. loss Og Qo VGG ue where Q is the total gate charge Vgg is the gate source voltage and is the switching frequency Also the MOSFET device must be properly selected to ensure that it is sufficiently rated to conduct the current If the MOSFET current rating is too low PSIM will not be able to calculate the switching rise fall times and will give an error message In simulation the maximum drain to source current that a MOSFET device is allowed to Chapter 4 Power Circuit Components conduct 1s Lomax Sfs Veg 7 Vasan If the current exceeds 7 one should either increase the gate source voltage level or select another MOSFET 0 Max device with a larger forward transconductance value The loss calculation for the anti parallel diode or free wheeling diode is the same as described in the diode device section The losses Poona 0 Psw O Peond D and Psy p in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot be floating and must be connected to ground 4 10 4 Inductor Thermal Model 4 10 4 1 Inductor in Database The following information is defined for an inductor in the database General Information Manufacturer Inductor manufacture Part Number Inductor manufacturer s part number Package Only the basic p
64. not allowed That is the coupling factor cannot be equal to 1 Also when the leakage inductances are ignored 1 e the coupling factor is close to 1 the self inductances are proportional to the turns ratio squared That is if Branch 1 has N turns and Branch 2 has N turns Ly Ly Sol Fe Example Two mutually coupled inductors have the self inductances and mutual inductance as L4 1 mH Ly 1 1 mH and L gt Ly 0 9 mH The coupling factor is K 0 86 The specification of this element will be Ly self lm L mutual 0 9m La self 1 1m 4 1 10 Nonlinear Elements The following elements with nonlinear voltage current relationship are provided Resistance type v f i Resistance type with additional input x v f i x Conductance type i f v Conductance type with additional input x i f v x The additional input x must be a voltage signal Images Nonlinear element Nonlinear element with additional input Input x a Attributes For resistance type elements Parameters Description Expression fi or f i x Expression of v in terms of i and x v Ki or v f i x Expression df di The derivative of the voltage v versus current i 1 e df i di Initial Value i The initial value of the current i Lower Limit of i The lower limit of the current i Upper Limit of i The upper limit of the current i Chapter 4 Power Circuit Components 47 4 2
65. produce the nominal output power in m s Base Rotational Speed The base rotational speed of the turbine that would produce the nominal output power in rpm Initial Rotational Speed The initial rotational speed of the turbine in rpm Moment of Inertia Moment of inertia of the wind turbine blade in kg m7 Torque Flag Flag to display the internal torque of the wind turbine 0 no display 1 display Master Slave Flag Master slave flag for the connected mechanical system 0 slave 1 master In the image the node with the letter w is for the wind speed input in m s and the node with the letter p is for the blade pitch angle input in deg Both nodes are control circuit nodes The power generated by a wind turbine can be expressed as il 3 a z AY Vrind P Cp where A is the area of the rotor blade in m7 ving is the wind speed in m sec p is the air density it is approximately 1 225 kg m gt and C is the power coefficient The power coefficient C is a function of the tip speed ratio and the blade pitch angle B It can be expressed as Heier X C6 Cy c1 c2 cp c cs e c where c4 0 5 cy 116 X c3 0 4 c4 0 cs 5 cg 21 A c 0 01 A and ha Ky lade Vein d 1 __ 0 035 where p is the rotor rotational speed in rad sec and Rp 76 18 the radius of the rotor blade in m The relationship between the power coefficient C and the tip speed ratio and the blade pitch angle B
66. select the circuit and then right click and choose Create Subcircuit Specify the subcircuit file name as chop sub sch and the circuit will be converted into a subcircuit Adjust the port location and wire connection if necessary 2 2 Creating Subcircuit Inside the Subcircuit To enter the subcircuit double click on the subcircuit block Create edit the content of the subcircuit circuit exactly the same way as in the main circuit To specify the subcircuit size select Set Size in the Subcircuit menu In this example the size is set to 4x7 width of 4 divisions and height of 7 divisions Note that the size of the subcircuit should be chosen such that it gives the proper appearance and allows easy wire connection in the main circuit Once the subcircuit is complete define ports to connect the subcircuit nodes with the corresponding nodes in the main circuit Choosing Place Port in the Subcircuit menu and a port image will appear After the port is placed in the circuit a pop up window shown on the left below will appear Port E Subcircuit port assignments Fort Name OOS The diamonds on the four sides represent the connection nodes and the positions of the subcircuit They correspond to the connection nodes of the subcircuit block on the right There are no diamonds at the four corners since connections to the corners are not permitted When a diamond is selected it is colored red By default the left d
67. simulation Manufacturer and Part Number Package type and style Absolute maximum ratings Electrical characteristics Thermal characteristics Dimension and weight The following information are required to define a database inductor for thermal simulation Manufacturer and Part Number Package type and style Maximum ratings Electrical characteristics Core winding and gap information Five types of elements can be added to a database device file inductor and four types of switching devices diode IGBT dual IGBT diode modules and MOSFET To create a new device go to the Device menu and choose either New Diode New IGBT New IGBT Diode New MOSFET or New Inductor To make a copy of an existing device in the same database file highlight the device in the list and choose Device gt gt Save Device As Chapter 4 Power Circuit Components 133 To make a copy of an existing device and save it in a different database file first highlight the device in the list then highlight the file name in the File Name list and choose Device gt gt Save Device As 4 10 6 Adding a Switching Device to Database The step by step procedure is illustrated with an example add Powerex discrete diode CS240650 600V 50A into a new device database file diode_new dev e Create new device file Launch PcdEditor exe Go to File gt gt New Device File and create a file called diode new dev This file will be placed in the
68. 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 fundamental period For a 60 Hz waveform for example the data length should be restricted to 16 67 msec or multiples of 16 67 msec Otherwise the FFT results will be incorrect The data is selected by clicking on X Axis in SIMVIEW de selecting Auto scale in Range and specifying the starting time and the final time The FFT analysis is only performed on the data that are displayed on the screen Note that the FFT results are discrete The FFT results are determined by the time interval between two consecutive data points At and the data length Tieng The data point interval At is equal to the simulation time step multiplied by the print step In the FFT results the frequency incremental step will be 1 Tjenot and the maximum frequency will be 1 2 At For example if you take the FFT of a 1 kHz square waveform with a data length of 1 ms and a data point interval of 10 us that is Tiength ms and At 10 us the frequency incremental step will be Af 1 Tiength 1 kHz The maximum frequency will be finax 1 2 At 50 kHz Error Warning Messages The error and warning messages are listed in the following E 7 I
69. synchronization to the controller The circuit on the right uses a PWM lookup table controller The PWM patterns are stored in a lookup table in a text file The gating pattern is selected based on the modulation index Other inputs of the PWM lookup table controller include the delay angle the synchronization and the enable disable signal A detailed description of the PWM lookup table controller is given in the Switch Controllers section Transformers Ideal Transformer An ideal transformer has no losses and no leakage flux The winding with the larger dot is the primary and the other winding is the secondary Attributes Images 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 Chapter 4 Power Circuit Components 63 4 3 2 Single Phase Transformers Single phase transformers with 1 or 2 primary windings and 1 to 6 secondary windings are provided as shown below Images ___ 2 winding 3 winding 5 winding 6 winding 7 winding 8 winding fe E PE EE SIE JE MSE a de 4 winding 5 winding D p_l 3 sl s sd D 2 z 2 p2 AE oo PASTE oS gale eae AE a 27 Is 3 5 6 lt s 6 In the images p refers to primary s refers to secondary and refers to tertiary The winding with th
70. the Add gt button to add the calculated curve to the screen Highlight the expression on the right and click the lt Remove button the expression will be moved into the Edit Box for further editing Chapter 3 Waveform Processing in SimView 35 3 9 3 6 36 In the Curves tab the curve properties such as color line thickness and marker symbol can be defined In the Screen tab the screen properties such as foreground background colors grid color and font size type can be defined Measure Menu The Measure Menu has the following functions Measure Enter the measure mode Mark Data Point Mark the x and y coordinate values of the data point in a selected curve Max Find the global maximum of a selected curve Min Find the global minimum of a selected curve Next Max Find the next local maximum of a selected curve Next Min Find the next local minimum of a selected curve The Measure function allows the measurement of waveforms After Measure is selected the measure dialog window 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 dialog windows in these two modes are shown below Time 0 0196192 Frequency 50 9705 Time 0 0745033 Ish 25 686
71. the waveforms will appear and will be updated continuously in the scope Change the scope settings as desired Elements parameters can now be adjusted in the middle of the simulation To adjust the gain of the PI controller for example right click on top of the PI block and choose Runtime Variables gt gt Gain The text of the gain 0 6 will be displayed if it has not been displayed already Click on the text 0 6 and a small dialog window will appear The screen should look as follows E Deea leelje a alkaa zelo alls olunp w am 5 e Average Current Mode Control K Gain of the as PI controller 5 i j A iX f ONL Run time variable Timebase Scale r Channel amp Channel B Trigger 1 1 af Apel 20 us Div H Scale 200 mV Scale 200 mv Ch Font Name SCOP1 Difset 0 4 H Offset 0 4 F Oncel es Color Color MN Color N Levelfaa H Justification let xl _Save _Help_ De AC Gnd DE AC Gnd Auto scale hd i E gt jH la elole BIB o elole o we imin 20s Place the cursor inside the input field of the dialog window for the gain and change the gain either by pressing on the upper down arrow keys on the keyboard or by entering a new value and then clicking on Apply Watch how the waveforms change as the gain is changed Other parameters such as current reference dc input voltage inductance capacitance and load resistance can be chan
72. the information to the dialog window as shown below Subcircuit Element Mame ILC Filter Description LC Filter Schematic File CApsim 0 1 MibSLC_Filter sch BI Hide menu Help File LC_Filter html E Test Help Page noa Name Name of the new element as it appears in the PSIM library Description Description of the new element File Path The location of the subcircuit schematic file LC _filter sch The schematic file of the subcircuit must be placed in the lib sub folder in the PSIM directory Input nodes Number of input nodes Output nodes Number of output nodes Hide menu Leave this box unchecked If this box is checked this element will not appear in the library Help File On line help file associated with this element This file must be placed in the help sub folder in the PSIM directory When the Help button is clicked in the property dialog window this file will be displayed This file can be a text file which can be opened by a text editor such as NotePad or a HTML file e Click on the buttons Save Image Library and Update Menu The new element will appear in the library and will be ready to use 2 12 3 Adding a New DLL Element into the Library 28 Similar to that of a subcircuit element there are three main steps to add a new element modeled in a DLL into the PSIM library e Create the model in the DLL file e Add this element to the PSIM library e Create an on line help file
73. the machine in V krpm mechanical speed Number of Poles Number of poles of the machine Maximum Motor Torque Maximum motor torque in N m Base Torque Value Maximum inverter output voltage amplitude phase peak in V FW Flag of field weakening 1 in field weakening 0 not in field weakening This block calculates the speed limit of the maximum torque region When the motor speed is less than this speed limit the motor operates in the maximum torque region Otherwise it operates in the maximum power region with field weakening control The block requires the parameters of the PMSM controlled and the inverter voltage rating Dynamic Torque Limit Control Nonlinear PMSM The Dynamic Torque Limit Control Nonlinear PMSM block is for nonlinear PMSM machines only Image Dynamic Torque NL o gt o gt a a a Id Te Iq Ld Lq Lambda vdc Wm Wm th Tcmd FW o Chapter 5 Control Circuit Components 5 8 4 Attributes Parameters Description Number of Poles Number of poles of the machine Filter Cut Off Frequency Cut off frequency fc of the internal low pass filter in Hz Maximum Motor Torque Maximum motor torque in N m Maximum Motor Speed Maximum motor speed in rpm Maximum Motor Power Maximum motor power in W Base Voltage Value Base voltage value of the system in V Base Current Value Base current value of the system in A Base Mechanical Speed Base mechanical
74. the open loop response of the output voltage versus the modulation signal 216 Chapter 6 Other Components 30 00 20 00 10 00 0 00 10 00 20 0 0 00 50 00 100 00 140 00 200 00 I 1 I LIIIN I 1 1 1 I LLLI z 0 40 0 6m 0 00 7 00 400 6 08 00 00 20 0000 00 Frequency KHz Example Loop Transfer Function of a Closed Loop Circuit The ac analysis can be used to find out the loop response of a closed loop system The circuit below shows a buck converter with average current mode control By injecting the excitation signal into the current feedback path and using the node to node ac sweep probe we can obtain the loop transfer function directly With the loop transfer function one can determine the bandwidth of the control loop and the phase margin Please note that the ac sweep probe should be connected such that the dotted side is connected to the node after the excitation source injection 50 00 40 00 30 00 20 00 10 00 0 00 10 00 20 00 20 00 100 00 110 00 120 00 130 00 140 00 0 10 0 20 0 40 6000 62 00 4 008 0000 00 20 00 Frequency KHz ampi Ti Example Loop Transfer Function of a Switchmode Power Supply The loop transfer function of a switchmode power supply controlled by a PWM IC can also be determined in a similar way The figure below shows a buck converter controlled by TI UC3842 The excitation source can be inserted in the feedback path before the op amp outp
75. waveforms on the screen The screen must display two curves only S apparent power Calculate the apparent power of two waveforms on the screen The screen must display two curves only THD Calculate the THD total harmonic distortion All these functions apply to the time interval currently being displayed on the screen By selecting Perform FFT the harmonic spectrum both the amplitudes and angle of the time domain waveforms can be calculated and displayed To display the angles of the FFT results double click on top of the screen or click on the Add Delete Curves icon In the Select Curves tab click on the Angle tab and select the angles The name convention of angles is Angle D name for the angle in deg and Angle R name for the angle in rad and name is the curve name in the time domain Note that in order to obtain correct FFT results the simulation must reach the steady state and the data range must be restricted using the manual range setting in the X Axis function to have the integer number of the fundamental period For example for a 60 Hz fundamental frequency the data length in display must be integer multiples of 1 60 sec View Menu The View Menu has the following functions Zoom Zoom into a selected region Re Draw Re draw the waveform using the auto scale Escape Escape from the Zoom or Measure mode Standard Toolbar Enable disable standard toolbar Measure Toolbar Enable disable measure toolbar Status Ba
76. way except that they Chapter 4 Power Circuit Components 125 126 are for the diode losses When several identical IGBT devices are in parallel one should have just one device in the schematic and set the correct number of devices in the parameter input This is because when several identical devices are in parallel in the schematic the device currents may not be exactly equal due to small differences in the simulation When the number of parallel devices is greater than one the total current through the group of the parallel devices will be equally divided among the devices The total losses are then obtained by multiplying the losses in each device by the number of parallel devices The currents flowing out of Nodes P 4 7 D Psw p gt Preond o and Ps gare the total losses of all the parallel devices combined The voltage at the conduction losses node Peong g or the switching losses node P represents the calculated junction temperature T of the transistor and the voltage at the conduction losses node Peona p or the cond switching losses node P p represents the calculated junction temperature T p of the anti parallel diode as shown below fe junction temperature P cond Q sw_O P cond D P sw D Diode junction temperature The calculated junction temperatures T 9 and T p are used when the database curves are used for loss calculation If the calculated junction temperature is between the junctio
77. 0 00 15 00 20 00 25 00 30 00 Time m2 Sensors Voltage current sensors measure the voltages currents of the power circuit and send them to the control circuit The current sensor has an internal resistance of 1 uQ Images Voltage Sensor Current Sensor a J gt iad In the images the dot indicates the positive terminal Attribute Parameter Description Gain Gain of the sensor Probes Meters and Scopes Probes and meters are used to measure voltages currents power or other quantities while scopes are used to display voltage and current waveforms Probes and Meters Below find the images of the ac ammeter dc ammeter voltage probe current probe ac voltmeter dc voltmeter single phase and 3 phase wattmeters and kilowatt hour kWh meters VAR meters and VA Power Factor meters A voltage probe measures a node voltage with respect to ground A two terminal voltage probe measures the voltage between two nodes A current probe or meter measures the current flowing into the meter from the dotted side Similarly a power meter measures the power flowing into the meter from the dotted side Note that all the probes and meters except the node to ground probe are allowed in the power circuit only While voltage current probes measure the instantaneous voltage or current meters measure the dc or ac quantities A small resistor of 1 UQ is used in the current probe internally to measure the curr
78. 00 4 6 11 1 Maximum Torque Per Ampere Control 100 4 6 11 2 Field Weakening Control 101 MagCoupler Module 104 4 7 1 MagCoupler DL Block 104 4 7 2 MagCoupler Block 105 MagCoupler RT Module 108 Mechanical Elements and Sensors 112 4 9 1 Mechanical Elements and Sensors 112 4 9 1 1 Constant Torque Load 112 4 9 1 2 Constant Power Load 112 4 9 1 3 Constant Speed Load 113 4 9 1 4 General Type Load 113 4 9 1 5 Externally Controlled Load 114 4 9 2 Gear Box 114 4 9 3 Mechanical Coupling Block 115 4 9 4 Mechanical Electrical Interface Block 115 4 9 5 Speed Torque Sensors 116 4 9 6 Position Sensors 118 4 9 6 1 Absolute Encoder 118 4 9 6 2 Incremental Encoder 119 4 9 6 3 Resolver 119 4 9 6 4 Hall Effect Sensor 120 Thermal Module 120 4 10 1 Diode Thermal Model 121 4 10 1 1 Diode Device in Database 121 4 10 1 2 Diode Loss Calculation 122 4 10 2 IGBT Thermal Model 123 4 10 2 1 IGBT Device in Database 123 4 10 2 2 IGBT Loss Calculation 125 4 10 3 MOSFET Thermal Model 125 4 10 3 1 MOSFET Device in Database 127 4 10 3 2 MOSFET Loss Calculation 129 4 10 4 Inductor Thermal Model 131 4 10 4 1 Inductor in Database 131 4 10 4 2 Inductor Loss Calculation 131 4 10 5 Device Database Editor 132 4 10 6 Adding a Switching Device to Database 134 Renewable Energy Module 138 4 11 1 Solar Modules 138 4 11 1 1 Solar Module Functional Model 138 4 11 1 2 Solar Module Physical Model 139 4 11 1 3 Solar Module cSi and Thin File Models 141 4 11 2
79. 1 Time s Ish 2 74662 Left mouse click Right mouse click en E el Once Measure is selected an individual curve can be selected by clicking on the pull down menu Jisb on the Measure toolbar The functions Max Min Next Max Next Min Avg and rms can be used to evaluate the curve Note that these functions are only enabled in the Measure mode Analysis Menu The Analysis Menu has the following functions Perform FFT Perform the FFT Fast Fourier Transform analysis of time domain waveforms Display in Time Domain Show the corresponding time domain waveforms of FFT results Avg Calculate the average value Avg x Calculate the average of the absolute value RMS Calculate the rms value PF power factor Calculate the power factor of two waveforms on the screen The screen must display two curves only Assuming the first curve is a voltage and the second curve is a current the power factor is defined as the real power P divided by the apparent power S produced by the voltage and current Chapter 3 Waveform Processing in SimView 3 7 Note that the power factor is different from the displacement power factor defined as cos theta where theta is the angle difference between the fundamental components of the voltage and current When the voltage and current are pure sine waves without harmonics the power factor is the same as the displacement power factor P real power Calculate the real power of two
80. 327m Torque Flag l Master Slave Flag l Example Start Up of an Open Loop Brushless DC Motor The figure below shows an open loop brushless dc motor drive system The motor is fed by a 3 phase voltage source inverter The outputs of the motor hall effect position sensors are used as the gatings signals for the inverter resulting a 6 pulse operation The simulation waveforms show the start up transient of the mechanical speed in rpm developed torque Tp and 3 phase input currents eo scl Ka Brushless DC Motor A BDCM VBC A 300 A OQO B dha he O b OK Tem_BDCHMA Synchronous Machine with External Excitation The structure of a conventional synchronous machine consists of three stator windings one field winding on either a salient or cylindrical rotor and an optional damping winding on the rotor Depending on the way the internal model interfaces with the external stator circuitry there are two types of interface one is the voltage type interface and the other is the current type interface The model for the voltage type interface consists of controlled voltage sources on the stator side and this model is suitable in Chapter 4 Power Circuit Components 89 90 situations where the machine operates as a generator and or the stator external circuit is in series with inductive branches On the other hand The model for the current type
81. 35 5 TI F28335 5 HEV 1 186 HEV Design Suite 186 HEV generator 12 HEV traction motor 12 hybrid electric vehicle 1 image secondary 26 Image Editor 11 29 inductor 28 41 106 233 coupled 46 65 saturable 45 initial value 47 48 149 150 151 213 integrator 236 Index s domain external resettable 150 internal resettable 150 z domain external resettable 172 internal resettable 172 interface between power and control circuits 200 interface block 116 control power 200 231 mechanical electrical 78 112 115 J JMAG 1 104 JMAG RT 1 108 109 L label 9 11 28 38 leakage flux 63 69 70 88 LED 50 library adding new DLL element 28 adding new subcircuit element 27 edit 11 25 26 28 29 library browser 8 11 183 light intensity 139 limiter gradient dv dt 160 lower 160 lower upper 160 range 160 upper 160 LOG 6 35 157 LOG10 6 35 157 216 218 logic gate 166 lookup table 2 D 205 loss calculation 120 121 diode 123 IGBT 125 127 131 MOSFET 129 machine brushless de 85 87 120 dc 84 85 induction 77 80 82 116 nonlinear induction 80 nonlinear permanent magnet synchronous 94 nonlinear switched reluctance 99 permanent magnet synchronous 92 94 squirrel cage induction 80 81 82 switched reluctance 97 synchronous external excitation 89 wound rotor induction 80 82 83 MagCoupler 105 MagCoupler block 104 105 106 107 MagCoupler Module 104 107 108 112 MagCoupler DL block 104 Ma
82. 3817 3818 UCC3895 1 1 1 14 1 16 1 1 1 2 o GND GDRV gt o BOUT GND o ILIM STDN o GND DRV o EAN EAP o PKLM VCC o AOUT PGND o VREF VIN o PKLM VCC gt o EAO SS o CAO CT o o VC COUT o CS BOUT o o CAO CT o o RAMP OUTA o IS SS m o COMP ENB oy CS VC gt o CAI SS o o REF OUTB io o MOUT RSET o SS VCC o NI GND o MOUT RT o o GND PGND o o IAC VS fo o INV VREF o INV AOUT o IAC VS o SYNC VCC m o VAO ENA a CT ZD a o COMP SYNC o VAO OVP o e CT OUTC ra VRMS VREF o z CT RT Go 3 VFF VREF 9 o gt RT OUTD F o DLAB CS m o DLCD o To C ADS 14 Attribute Parameter Description Model Level All these IC models have two levels PWM IC Descriptions UC3823A B UC3825A B UC3842 3843 UC3844 3845 UC3846 UC3854 UC3854A B Chapter 6 Other Components Level 1 The PWM gating outputs are control signals with logic level of 1 high and 0 low Level 2 the PWM gating outputs are power signals which can directly drive three state switches High speed PWM controller for high frequency switch mode power supplies The UC3823A and UC3823B and the UC3825A and UC3825B family of PWM controllers are improved versions of the standard UC3823 and UC3825 family Current mode fixed frequency PWM controller for off line or dc dc converters The UC3842 3 4 5 family of control devices provides the necessary functions to implement off line or dc to dc fixed frequenc
83. 5 2 2 Differentiator 173 5 5 2 3 Digital PI Controller 173 5 5 2 4 Digital Filters 174 5 5 3 Unit Delay 176 5 5 4 Quantization Blocks 177 5 5 5 Circular Buffers 179 5 6 5 7 5 8 5 5 6 Convolution Block 180 5 5 7 Memory Read Block 180 5 5 8 Data Array 181 5 5 9 Stack 181 5 5 10 Multi Rate Sampling System 182 SimCoupler Module 182 5 6 1 Set up in PSIM and Simulink 182 5 6 2 Solver Type and Time Step Selection in Simulink 184 CosiMate Links 186 Design Suite Blocks 186 5 8 1 Torque Control PMSM 186 5 8 2 Dynamic Torque Limit Control PMSM 187 5 8 3 Dynamic Torque Limit Control Nonlinear PMSM 188 5 8 4 Voltage Control PMSM 189 5 8 5 DC DC Charging Control 190 5 8 6 DC DC Discharging Control 191 5 8 7 DC DC Regeneration Control 192 Other Components 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 Switch Controllers 193 6 1 1 On Off Switch Controller 193 6 1 2 Alpha Controller 193 6 1 3 PWM Lookup Table Controller 194 Sensors 196 Probes Meters and Scopes 6 3 1 Probes and Meters 196 6 3 2 Voltage Current Scopes 198 Function Blocks 200 6 4 1 Control Power Interface Block 200 6 4 2 Initial Values 213 6 4 2 1 abc dqo Transformation 201 6 4 2 2 abc co B Transformation 202 6 4 2 3 o B to dq Transformation 203 6 4 2 4 Cartesian Polar Transformation 204 6 4 3 Math Function Blocks 204 6 4 4 Lookup Tables 205 6 4 5 C Block 207 6 4 6 Simplified C Block 208 6 4 7 External DLL Blocks 209 6 4 8 E
84. A the inductance factor A is expressed as Ua UA A 7 length Chapter 4 Power Circuit Components 71 4 4 5 72 where JZ is the relative permeability of the core material Saturable Core This element models a magnetic core with saturation and hysteresis Image Cl M1 a M2 Attributes Parameters Description Inductance Factor Ay Inductance factor A of the core defined as the inductance per turn squared Resistance for Losses Resistance R in Ohm that represents the core losses Coefficient phi sat Coefficient for the core B H curve in Weber Coefficient K1 Coefficient K for the core B H curve Coefficient Kexp1 Coefficient Keyp for the core B H curve Coefficient K2 Coefficient K for the core B H curve Coefficient Kexp2 Coefficient K for the core B H curve Initial Flux phi o Initial flux of the core in Weber Current Flag Display flag of the electric current that flows through the resistor R If the rms value of the current is Jms the core losses can be calculated as Poore loss Lo R In the element image the nodes M and M are the two nodes that connect the core to other magnetic elements such as winding flux leakage path air gap etc The node marked with a dot is Node M gt Node C is a control output node which shows the flux in Weber flowing through the core from Node M to Mj The initial flux of the core is the flux flowing from Node M to M at the beginning co
85. AG at a larger time step and speed up the overall simulation The interface ports of the MagCoupler block are signal ports That is electric currents do not flow into or out of the interface ports and an electric current must first be converted into a voltage signal before it can be connected to the block On the other hand the MagCoupler DL block is a native power element and the interface ports behavior in the same way as other power circuit nodes i e voltages can be applied and currents can flow in and out of the nodes Because of the difference the MagCoupler DL block provides more efficient and robust interface between PSIM and JMAG To run the MagCoupler Module the JMAG installation directory and the directories that include the JMAG DLL files jbdll dll and RT DII dll must be added to the PSIM s search path To add to PSIM s search path in PSIM go to Options gt gt Set Path and click on Add Folder Also the MagCoupler Module requires Microsoft Internet Explorer Version 6 or higher It will not work with Internet Explorer Version 5 The description of the MagCoupler DL block and the MagCoupler block is given below MagCoupler DL Block The MagCoupler DL block has the following image and properties Image MagCoupler DL Block Attributes Parameter Description Netlist XML File The file defines the interface between PSIM and JMAG The file extension is xml JMAG Input File The JMAG input data file It has th
86. EB POWERSIM PSIM User s Guide Powersim Inc PSIM User s Guide Version 10 0 Release 3 April 2015 Copyright 2001 2015 Powersim Inc All rights reserved No part of this manual may be photocopied or reproduced in any form or by any means without the written permission of Powersim Inc Disclaimer Powersim Inc Powersim makes no representation or warranty with respect to the adequacy or accuracy of this documentation or the software which it describes In no event will Powersim or its direct or indirect suppliers be liable for any damages whatsoever including but not limited to direct indirect incidental or consequential damages of any character including without limitation loss of business profits data business information or any and all other commercial damages or losses or for any damages in excess of the list price for the licence to the software and documentation Powersim Inc email info powersimtech com http www powersimtech com Contents 1 General Information 1 1 1 2 1 3 1 4 1 5 1 6 1 7 Introduction 1 Circuit Structure 3 Software Hardware Requirement 3 Installing the Program 3 Simulating a Circuit 4 Simulation Control 4 Component Parameter Specification and Format 5 Circuit Schematic Design 2 1 22 2 9 2 4 2 2 6 2al 2 8 29 2 10 2 11 212 2 13 PSIM Environment 7 Creating a Circuit 8 File Menu 9 Edit Menu 10 View Menu 11 Design Suites
87. F ales ea Add Curve Add Curve Delete Curve 2 Click on the Cani Wizard to proceed to the next step Or if you wish to re do this step Click on Back x axis IF Y axis Vd Suffix Invert graph Xmax fo F XxinLog Ymax fo l YinLog Enter values in the following format 1 y1 x2 y2 x3 y3 Refresh ON STATE CHARACTERISTICS 3 Q T a I LEH AZT z Opposite pe fo ene ori CTT TT ETT eae z A A T es s aa AU A I S AA A I S LOA T A 3 Cert IE EI Gavin LE An TL of the h x axis IF Y axis Vd grap Junction Temperature Tj oC Redraw Cancel e In this step the border of the graph area is defined by first left clicking at the origin of the graph usually the lower left corner then left clicking again at the opposite corner of the origin usually the upper right cor ner Note that the graph origin does not have to be the lower left corner and it can be any one of the four corners e To locate the origin of the corner more accurately right mouse click to zoom in and press the Esc escape key to exit the zoom After this a blue rectangle will appear around the border of the graph and the dialog window will appear as follows On state voltage drop Vd vs IF els Add Curve Delete Curve Click on the graph to capture the data points Right mouse click to zoom Click on the Graph Wizard to complete the data capture process X axis IF Y axis Vd
88. Keyboard j m Add Shortcut Key Current Shortcut Keys Elements F Commands FILE PARAMS WEEP PARAMS WEEP 1 channel Scope 1 channel Scope 1 ph 3 w Transforme 1 ph 3 w Transforme 1 ph 4 w Transforme ph 4 w Transforme Press new shortcut key ail ce ti Switch to previous Shift F6 F4 Assign Top Page Close ph 5 w Transforme ph 5 w Transforme inter Setup ph 5 w Transforme Y Exit e Choose View gt gt Custom Keyboard The Custom Toolbars dialog window will appear Choose New Tool bar and the following window will appear e In the section Add Shortcut Key select the option Elements Then find and highlight the element Resis tor e Move the cursor into the input field of Press new shortcut key and press the key r on the keyboard Then click on Assign e The key r will be assigned to the resistor and the definition will appear in the Current Shortcut Key list 2 11 Utilities Menu 24 Several utility programs are provided under the Utilities menu Parameter Tool It launches a parameter file window One can load an existing parameter file or enter expressions for computation purposes s2z Converter This program converts a s domain function to a z domain function This program is part of the Digital Control Module option Device Database Editor The device database editor PcdEditor exe for the Thermal Module B H Curve This program plots the B H curve of the saturable
89. On resistance of the IGBT transistor in Ohm Threshold voltage drop of the anti parallel diode in V On resistance of the anti parallel diode in Ohm Initial position for Switch i Current flag for Switch i Attributes for the CSI3 bridge Init Position i Current Flag i Parameters Description Voltage Drop Forward conduction voltage drop of the switch in V Resistance Forward on resistance of the switch in Ohm Initial position for Switch i Current flag for Switch 7 Similar to single phase modules only the gating signal for Switch 1 need to be specified for three phase modules Gating signals for other switches will be automatically derived For the 3 phase half wave thyristor bridge the phase shift between two consecutive switches is 120 For all other bridges the phase shift is 60 Thyristor bridges can be controlled by an alpha controller Similarly voltage current source inverters can be 62 Chapter 4 Power Circuit Components 4 3 4 3 1 controlled by a PWM lookup table controller The following examples illustrate the control of three phase thyristor and voltage source inverter modules Example Control of Three Phase Thyristor and VSI Modules The thyristor circuit on the left uses an alpha controller For a three phase circuit the zero crossing of the voltage V e corresponds to the moment when the delay angle alpha is equal to zero This signal is used to provide
90. PSIM Subcircuit Image C PS5IM7 0 Fi Fie Edit view Window Variable Label Vanable Hame Variable alue Inductance L r t Capacitance C 100u Add Modify Remove Then from Subcircuit gt gt Edit Default Variable List add the variables L and C as the default variables This step is necessary as the new element obtains the parameter information from the default variable list The default variable list window should appears as follows Chapter 2 Circuit Schematic Design 27 Here Variable Label is the text that describes the parameter Variable Name is the variable that is used as the parameter value in the subcircuit and Variable Value is the default value of the parameter In the example for the inductor L the Variable Label is nductance the Variable Name is L and the Variable Value is Im For the capacitor C the Variable Label is Capacitance the Variable Name is C and the Variable Value is 100u After the file is created place it in the lib sub folder in the PSIM directory Step2 Add the New Element to the PSIM Library To add the subcircuit element into the PSIM library follow these steps e Go to Edit gt gt Edit Library gt gt Edit Library Files and choose the custom image library for the new ele ment Click on New Library to create a new image library or select an existing library and click on Edit Selected Library e In the Library Editor click on the button New Element Subcircuit Enter
91. PSIM file Change all Text Link Font To change the font for all the text link in the opened PSIM file Place 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 Place Wire To enter the wiring mode The cursor will change to the shape of a pen Place Label To place a label on the schematic When two nodes are connected to two labels of the same name they are considered physically connected Place External Port To place an external port Edit Attributes When an element is selected choose Attributes to bring out the property dialog window Add Remove Current Scope To add or remove the current scope for an element that has the current flag After this function is selected click on top of the element and select the branch current name to display the current scope Select the branch current name again to remove the current scope Show Hide To show or hide the parameters of elements that can be changed Runtime Variables at runtime in the middle of the simulation After this is selected the text of the parameter will appear Double click on the text and a small dialog window will appear Enter the new value directly in the data field and click Apply Or alternatively click on the up down arrow keys on the keyboard to increase decrease the value Disable To disable an element or part of a circuit When the element or the circuit is disabled it will be grayed out and
92. Pulse Width Counter A pulse width counter measures the width of a pulse The rising edge of the input activates the counter At the falling edge of the input the output gives the width of the pulse in sec During the interval of two falling pulse edges the pulse width counter output remains unchanged Image Up Down Counter An up down counter increments or decrements by 1 at each rising edge of the clock Image Preset Enable j Preset Value Clock gt Output Up Down Reset Attribute Parameter Description No of Bits Number of bits N When the Up Down input is 0 the counter decrements and when the Up Down input is 1 the counter increments The Reset input resets the counter to 0 when it is high 1 The Preset Enable input sets the counter to the preset value when it is high Chapter 5 Control Circuit Components The truth table of the counter is Up Down Preset Enable Reset Clock Action No count Count up Count down Preset Reset x Do not care 5 4 8 A D and D A Converters A D and D A converters perform analog to digital and digital to analog conversion Both 8 bit and 10 bit converters are provided Images ADC 8 bit ADC 10 bit DAC 8 bit DAC 10 bit ref The output will be clamped to 2 1 For example if Viet 5 V Vin 3 2 V N 8 bits then V 256 5 3 2 163 84 10100011 binary The output of the D A converter is calculated as
93. RT coef magnet Magnet coefficient used in JMAG RT Chapter 4 Power Circuit Components 109 110 coef material turns coill turns coil2 Current Flag Back emf Flag Rotor Angle Flag Speed Flag Torque Flag shaft Master Flag Material coefficient used in JMAG RT Coil 1 turns used in JMAG RT Coil 2 turns used in JMAG RT Display flag for 3 phase FEM coil currents 1 display 0 no display Display flag for 3 phase FEM coil back emf Display flag for the rotor angle in mechanical deg Display flag for the shaft mechanical speed in rad sec Display flag for the developed torque in N m Master slave flag of the machine 1 master 0 slave The parameters of a 2 phase step machine is shown below Parameter Description RA Resistance of Phase A in Ohm RA Resistance of Phase A in Ohm RB Resistance of Phase B in Ohm RB Resistance of Phase B in Ohm MomentofInertia Moment of inertia of the machine in kg m ShaftTimeConstant Shaft time constant of the machine in sec OffsetAngle Initial rotor angle in mechanical deg turns coil2 Coil 2 turns used in JMAG RT coef inertial coef _inertia2 Current Flag Back emf Flag Rotor Angle Flag Speed Flag Torque Flag shaftl Master Flag Inertia 1 coefficient used in JMAG RT Inertia 2 coefficient used in JMAG RT Display flag for 3 phase FEM coil currents 1 display 0 no display Display flag for 3 phase FEM coil back emf Di
94. S DPF cos 9 For the 3 phase circuit the definitions are similar Note that all the 3 phase meters including 3 phase wattmeter kWh meter VAR meter VA Power Factor meter are for 3 phase 3 wire circuit only and cannot be used in 3 phase 4 wire circuit The models of the meters are based on the assumption that the summation of 3 phase voltages and currents must be equal to zero that is v v tv 0 i i 1 0 For 3 phase 4 wire circuit single phase meters should be used instead To use the single phase or 3 phase wattmeter VAR meters insert the meters into the circuit Example This example shows how single phase and 3 phase meters are used The circuit on the left shows the use of the wattmeter and VAR meter and the circuit on the right shows the use of the three phase wattmeter and VAR meter W kWh W kWh V V W kWh Pees W kWh _ ro W kWh var 2 IHS W kWh Var mn cs Voltage Current Scopes While voltage current probes and meters save the simulation results for post waveform processing voltage current scopes allow users to view simulation waveforms at runtime in the middle of the simulation Three scopes are provided 1 channel voltage scope 2 channel voltage scope 4 channel voltage scope and current scope Chapter 6 Other Components Below are the images of the voltage and current scopes and their expanded view 1 channel 2
95. SP Analysis Power Generation 6 Hardware Thermal Electronics SimCoder Motor Control Design Sui esign Suite Solar Wind ModCoupler Power lt ModelSim HEV Design Suite Renewable Energy Digital Control Motor Drive _ FPGA i MagCoupler SimCoupler MagCoupler RT DLL Matlab 3rd party eis Ss Link to Saber AMESim etc The PSIM simulation environment consists of the circuit schematic program PSIM the simulator engine and the waveform processing program SIMVIEW The simulation process is illustrated as follows PSIM Schematic Circuit Schematic Editor input psimsch PSIM Simulator PSIM Simulator output smv or txt SIMVIEW Waveform Processor input smv or txt This manual covers both PSIM and all add on Modules except SimCoder Module ModCoupler Modules HEV Design Suite and Motor Control Design Suite The document SimCoder User Manual describes the use of the SimCoder Module and associated hardware targets The document ModCoupler User Manual describes the use of the ModCoupler Module The document Tutorial HEV Design Suite pdf describes the use of the HEV Design Suite The document Tutorial Motor Control Design Suite pdf describes the use of the Motor Control Design Suite The organization of this manual is as follows Chapter 1 PSIM circuit structure software hardware requirement and parameter specification format Chapter 2 PSIM environment and how to build a PSIM schematic Chapter 3 S
96. Wind Turbine 143 4 11 3 Lithium Ion Battery Model 145 4 11 4 Ultracapacitor Model 146 5 Control Circuit Components 5 1 Transfer Function Blocks 149 5 1 1 Proportional Controller 150 5 1 2 Integrator 150 5 1 3 Differentiator 152 5 1 4 Proportional Integral Controller 152 5 1 5 Single Pole Controller 153 5 1 6 Modified PI Controller 153 5 1 7 Type 3 Controller 154 5 1 8 Built in Filter Blocks 155 5 2 Computational Function Blocks 156 5 2 1 Summer 156 5 2 2 Multiplier and Divider 156 5 2 3 Square Root Block 157 5 2 4 Exponential Power Logarithmic Function Blocks 157 5 2 5 Root Mean Square Block 157 5 2 6 Absolute and Sign Function Blocks 158 5 2 7 Trigonometric Functions 158 5 2 8 Fast Fourier Transform Block 158 5 2 9 Maximum Minimum Function Block 159 5 3 Other Function Blocks 160 5 3 1 Comparator 160 5 3 2 Limiters 160 5 3 3 Gradient dv dt Limiter 160 5 3 4 Trapezoidal and Square Blocks 161 5 3 5 Sampling Hold Block 161 5 3 6 Round Off Block 162 5 3 7 Time Delay Blocks 162 5 3 8 Multiplexer 163 5 3 9 THD Block 164 5 3 10 Space Vector PWM 165 5 4 Logic Components 166 5 4 1 Logic Gates 166 5 4 2 Set Reset Flip Flop 166 5 4 3 J K Flip Flops 167 5 4 4 D Flip Flops 167 5 4 5 Monostable Multivibrator 168 5 4 6 Pulse Width Counter 168 5 4 7 Up Down Counter 168 5 4 8 A D and D A Converters 169 5 5 Digital Control Module 170 5 5 1 Zero Order Hold 170 5 5 2 z Domain Transfer Function Block 171 5 5 2 1 Integrator 172 5
97. a Image Command Predefined Load Button lt lt gt gt Add Button Add Separator icon images Update Button Insert Button Insert Separator Delete Button Delete Separator Edit Command Elements Commands ACS WEEP FILE PARAMS WEEP 1 channel Scope 1 ph 3 w Transform 1 ph 4 w Transform 1 ph 5 w Transform ph 5 1 Transform ph 6 1 Transform ph F w Transform P I p _ Icon editing area h 8 w Transform rint Selected h Diode Bridge v Print Selected Pre gt b b e Choose View gt gt Custom Toolbars The Custom Toolbars dialog window will appear Choose New Tool bar and the following window will appear e Specify the Toolbar Name as new e Draw the AND gate icon in the icon editing area Or if the icon is already available in the predefined icon images select the icon and copy it to the icon editing area Chapter 2 Circuit Schematic Design 23 e Under the Edit Command section with the option Elements selected highlight AND Gate Then click on the Add Button The icon will appear in the toolbar icon area Click on OK to close the window and go back to the Custom Toolbars window e Check new in the Custom Toolbars dialog window and the new toolbar will appear Uncheck the box will hide the toolbar Customizing Keyboard To define the key r for getting a resistor from the library for example do the following Customize
98. ackage is available Image a core P winding eid git ey Tle Electrical Characteristics L uH Inductance in uH Maximum Ratings Imax rms A Maximum rms current rating in A Core Information Core Type and Size Specify core shape and size Core Material Specify core material and magnetic characteristics Winding Information Winding Type and Size Specify conductor shape size and insulation type Winding Distribution Specify winding number of turns layers distance between layers distance between wires and distance between core and winding Distribution of Parallel Wires Specify parallel wire distribution in radial and height directions Gap Information Gap Data Specify the number of gaps and the length of each gap A new inductor can be added to the database by selecting Device gt gt New Inductor Databases of core materials cores and winding can be added and edited by selecting Device gt gt Edit Inductor Core Database Edit Winding Database and Edit Core Material Database 4 10 4 2 Inductor Loss Calculation A database inductor can be selected and used in the simulation for loss calculation An inductor in the Thermal Module library has the following parameters Chapter 4 Power Circuit Components 131 Attributes Parameters Description Device The specific inductor selected from the device database Frequency Fundamental frequency of the inductor in Hz Temperature Flag The flag that defines how core tem
99. age represents the calculated transistor junction temperature 7 in C For example a voltage value of 25V would mean a junction temperature of 25 C The on resistance of the MOSFET is expressed as Chapter 4 Power Circuit Components hinga Mogens ere E a The temperature coefficient is calculated as ADS on i Kins on_b Ta a The base values are normally obtained at the test conditions of 25 C Using the normalized value of R DS on based on the base value we have K 2S on normalized 7 25 The on resistance Rps on iS calculated at every time step and is used in the simulation Also the forward conduction voltage drop Vy of the diode changes depending on the current The new conduction voltage value is used in the simulation 4 10 3 2 MOSFET Loss Calculation A MOSFET device in the database can be selected and used in the simulation for loss calculation A MOSFET in the Thermal Module library has the following parameters Attributes Parameters Description Device The specific device selected from the device database Frequency Frequency in Hz under which the losses are calculated Voc upper level Voc lower level Rg on turn on Ro off turn off Rpg on Calibration Factor ge Calibration Factor P Q Calibration Factor cond _ Poy Q Calibration Factor Poond p Calibration Factor Pow p Calibration Factor Number of Parallel Devices Upper level of the gat
100. alog for SimCoder for automatic code generation Click on the Generate Code button to generate code for this subcircuit If the checkbox Replace subcircuit with generated code for simulation is checked the schematic inside the subcircuit will be replaced by the generated code for simulation In the Color Tab In this tab the subcircuit color can be changed Example Use of Subcircuit The circuit below illustrates the use of subcircuit The circuit on the left is a buck converter with the L C filter inside a subcircuit The content of the subcircuit is shown on the right In this example there are two bi directional ports in and in on the left and two bi directional ports Chapter 2 Circuit Schematic Design 13 o and Migan on the right Subcircuit Inside the subcircuit Lin 100u am l e File chop sch File chop_sub sch 2 7 1 Creating Subcircuit In the Main Circuit The following are the steps to create the subcircuit chop sub sch in the main circuit chop sch Open or create the main circuit chop sch If the file chop sub sch does not exist go to the Subcircuit menu and select New Subcircuit If the file exists select Load Subcircuit instead A subcircuit block rectangle will appear on the screen Place the subcircuit If the circuit that is to be converted into a subcircuit has already been created in the main circuit a quick way of converting it into a subcircuit is to
101. ample The following is a second order transfer function 400 amp Mz ee z 1200 z 400 e Assuming a sampling frequency of 3 kHz the specification will be Order N 2 Coeff bo by 0 0 400 e3 Coeff ag ay 1 1200 400 e3 Sampling Frequency 3000 Chapter 5 Control Circuit Components 171 5 5 2 1 Integrator 172 There are three types of integrators regular integrator external resettable integrator and internal resettable integrator Images Regular Integrator External Resettable Integrator Internal Resettable Integrator Attribute Parameters Description Algorithm Flag Flag for integration algorithm 0 trapezoidal rule 1 backward Euler 2 forward Euler Initial Output Value Initial output value Reset Flag Reset flag 0 edge reset 1 level reset for external resettable integrator only Lower Output Limit Lower limit of the output for internal resettable integrator only Upper Output Limit Upper limit of the output for internal resettable integrator only Sampling Frequency Sampling frequency in Hz The output of an external resettable integrator can be reset by an external control signal at the bottom of the block With the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal With the level reset reset flag 1 the integrator output is reset to zero as long as the control signal is high 1
102. an be implemented and simulated in PSIM and the rest of the system in Simulink One can therefore make full use of PSIM s capability in power simulation and Matlab Simulink s capability in control simulation in a complementary way The SimCoupler interface consists of two parts the link nodes in PSIM and the SimCoupler model block in Simulink The images are shown below Images In PSIM In SimuLink SimCoupler Model Block In Link Node Out Link Node oe ee In PSIM the In Link nodes receive values from Simulink and the Out Link nodes send the values to Simulink They are all control elements and can be used in the control circuit only In Simulink the SimCoupler model block is connected to the rest of the system through input output ports Set up in PSIM and Simulink The use of the SimCoupler Module is easy and straightforward As an example the following shows a permanent magnet synchronous motor PMSM drive system with the power stage implemented in PSIM and the control in Simulink Chapter 5 Control Circuit Components Fa File Edit view Subcircuit Elements Simulate Options Window Help laj x eE Power in PSIM File pmsm_psim sch File Edit View Simulation D Hg Format Tools Help amp B 2 SHl amm amp Control in SimuLink File pmsm_simulink mdl res 109 odes The following
103. and A Z2 phase shifting transformers 3 phase 4 winding transformer windings unconnected 3 phase 6 winding transformer windings unconnected Chapter 4 Power Circuit Components 65 66 Images Y Y Y D D D Eas 6 winding unconnected P 5 a A P 5 A P p a e EHe OEA E c P Winding 2 N n N Y D D 2 winding unconnected Winding 1 Winding 3 ae eB s ap Primary A a S B b B b C ct Cc 3 winding unconnected A A P at A A a B B B b CH B a C al eT AA C c AA T BB BB cc CC ca ae cc CC Y Z1 As P a A B b B C c C N Np Ns Ns2 Np 4 winding unconnected Pl g at a b b ct C aat aa bb cct P2 T cc D Z1 D Z2 A P a a A Np o w o w o c C C Q Nsl Ns2 Np Nsl Ns2 Nsl Ns2 Attributes for all transformers except phase shifting transformers Parameters Description Rp primary R secondary R tertiary L pri leakage L sec leakage L ter leakage Lm magnetizing Np primary N secondary N tertiary Resistance of the primary secondary tertiary winding in Ohm Leakage inductance of the primary secondary tertiary winding in H Magnetizing inductance in H seen from the primary side No of turns of the primary secondary tertiary winding Chapter 4 Power Circuit Components Attributes for phase shifting transformers Parameters Descri
104. and can not be simulated The figure below shows a hardware circuit diagram from a SPI A D converter example Chapter 2 Circuit Schematic Design 29 P4HCT136 The blocks F28335 74HCT138 and TLV1548 are all created by the Image Editor To illustrate how to create an image using the Image Editor and save the image as a symbol into a custom library we will create the image for the decoder 74HCT138 as shown below e In PSIM create a new schematic window Then choose Edit gt gt Image Editor A rectangle will appear Place the rectangle on the schematic and press the Esc key to escape e Double click on the rectangle and a dialog window will appear In the Main tab enter the data field as shows on the screen below The Library Part Name is the name of the element as it appears in the library The size of the block is 5 in width and 9 in height without taking into account the length of the leads Main Pins Part Description 74HCT 138 Location Bottom Left Library Part Name 74HCT 138 decoder Part Name U2 Name location Top Left P Width 5 z Height fo E Fill color Transparent x m Line color p tee Line thickness 1 z Text color E amp E 7 F Edit inside image Save in library Save as in library e Click on the Pins tab In this tab the connection pins will be defined Click on the Add button and define Location as 1 Left Name as A and Number as 1 Leave the boxes for Dot
105. and is not used for simulation This feature allows the parameters of a subcircuit to be defined at the main circuit level In the case where the same subcircuit 1s used several times in one main circuit different parameters can be assigned to the same variable For example if the subcircuit sub sch is used two times in above example in one subcircuit L can be defined as 3mH and in another subcircuit L can be defined as 1mH Note that this example also illustrates the feature that parameters can be defined as a variable for example Vin for the input dc voltage source or a mathematical expression for example R1 R2 for the load resistance The variables Vin R1 and R2 are defined in the parameter file para main txt See Section 4 1 for more details 2 7 4 2 Customizing the Subcircuit Image The following are the procedures to customize the subcircuit image of sub sch In the subcircuit select Edit Image in the Subcircuit menu A window will pop up as shown below PSIM Subcircuit Image C psim6_demo i D IOl x File Edit View Window JESL ajeje 5 N In the window the diamonds marked red are the connection nodes of the subcircuit block in exactly the same positions as appearing in the main circuit Use the drawing tool to create edit the image for the subcircuit block If the drawing tool is not already displayed go to the View menu and check Drawing Tools
106. ap Flag for the current that flows into Node k 4 1 8 Saturable Inductor A saturable inductor takes into account the saturation effect of the magnetic core Image Attributes Parameters ENN Description Current vs Inductance Current Flag Characteristics of the current versus the inductance i4 L1 io L2 etc Flag for the current display The nonlinear B H curve is represented by piecewise linear approximation Since the flux density B is proportional to the flux linkage and the magnetizing force H is proportional to the current i the B H curve can be represented by the A i curve instead as shown below Inductance L A i The inductance is defined as L i the ratio of A vs i at each point The saturation characteristics are defined by a series of data points as i4 L1 in L2 i3 L3 ete Chapter 4 Power Circuit Components 45 46 Note that the defined saturation characteristics must be such that the flux linkage A is monotonically increasing That 1S Ly i lt L5 i5 lt L Tiz etc Also similar to the saturation characteristics in the real world the slope of each linear segment must be monotonically decreasing as the current increases In certain situations circuits that contain saturable inductors may fail to converge Connecting a very small capacitor across the saturable inductor may help the convergence Coupled Inductors Coupled inductor
107. apacity Rated capacity Q 4teq of the battery cell in Ah Internal Resistance Internal resistance Rpattery of the battery cell in Ohm Full Voltage Full or maximum voltage Ep of the battery cell in V Exponential Point Voltage Battery voltage E in V top at the end of the exponential region in the discharge curve Chapter 4 Power Circuit Components 145 Nominal Voltage Battery voltage E om at the end of the nominal region in the discharge curve in v Maximum Capacity Maximum capacity Q of the battery cell in Ah Exponential Point Capacity Battery capacity Q at the end of the exponential region in the discharge curve in Ah Nominal Capacity Battery capacity Q om at the end of the nominal region in the discharge curve in Ah Initial State of Charge Initial state of charge SOC from 0 to 1 In the images the extra node at the top of the battery image or at the side of the battery cell symbol image is for the SOC output It is a control circuit node Note that the battery parameters are all for one battery cell while the model can be used to define a battery pack where the number of cells in series or in parallel is not 1 For a battery pack all voltages need to be multiplied by N K all capacities by N K and the resistance by N N For example for the entire battery pack ated total NV Aas etn r r Lont toti N K i Pope Erytt total 7 Ns 45 2 y7 ee N i
108. apter 4 Power Circuit Components 137 4 11 Renewable Energy Module Renewable Energy Module library contains the following elements Solar modules physical model functional model cSi model and thin film model Wind turbine Lithium Ion battery and Super capacitor 4 11 1 Solar Modules 4 11 1 1 Solar Module Functional Model Functional model represents the solar module based on i v characteristics Functional model of solar module is easy to use because it requires only four parameters which can be obtained on any manufacturer s datasheet Image i Pmax O ITF In the image The nodes marked with the and signs are the positive and negative terminals The node on the top is theoretical maximum power in W given the operating conditions While the positive and negative terminal nodes are power circuit nodes the other nodes are all control circuit nodes Attributes Parameter Description Open Circuit Voltage Voc Voltage measured when solar cell terminals are open circuit in V Short Circuit Current Isc Current measured when the solar cell terminals are short circuited in A Maximum Power Voltage Vm Solar cell terminal voltage when the output power is at the maximum in V Maximum Power Current Im Solar cell terminal current when the output power is at the maximum in A Using the four input parameters the functional model will create the i v curve of the solar cell The figure
109. arameter names can all be defined inside the DLL routine For more details on defining and programming for the general DLL block please refer to the help file Help General DLL Block pdf and related examples The name of the DLL file can be arbitrary The DLL file can be placed in one of the two places in the order of precedence in the PSIM directory and in the same directory as the schematic file that uses the DLL file Note When a DLL file is used in multiple DLL blocks in a schematic if global or static variables are declared and used in the DLL code these global static variables will be the same and be shared among all the DLL blocks If this is not what users intended the DLL calculation can be incorrect and users should avoid using global static variables in the code in this case Several examples using the simple DLL blocks and the general DLL blocks are provided in the examples custom DLL sub folder in the PSIM directory Embedded Software Block An Embedded Software Block is a special type of the external DLL blocks It is intended for modeling embedded software devices such as microcontrollers and DSP Attribute Parameter Description DLL File Name of the DLL file that defines the functionality and the interface of the block Number of Nodes Total number of input and output nodes An Embedded Software Block has similar functionality as a general external DLL block However unlike the general DLL block whose c
110. arate they should have the matched pole spacing with respect to the rotor magnets and should be mounted on the shaft in close proximity to the hall switches If the trigger magnets use the rotor magnets of the machine the hall switches must be mounted close enough to the rotor magnets where they can be energized by the leakage flux at the appropriate rotor positions Example Defining Brushless DC Motor Parameters from Manufacturer Datasheet This example illustrates how to define brushless dc motor parameters from manufacturer datasheet Below is the information provided on the datasheet of the brushless dc motor Maxon EC 22 16730 32V 50W from Maxon Motor Values at nominal voltage Nominal voltage V 32 No load speed rpm 38700 No load current mA 327 Chapter 4 Power Circuit Components 4 6 6 Characteristics Terminal resistance phase to phase Ohm 0 363 Terminal inductance phase to phase mH 0 049 Torque constant mNm A 7 85 Speed constant rpm V 1220 Rotor inertia gcm 4 2 Other specifications Number of pole pairs l Number of phases 3 Using the element based on manufacturer datasheet information and after converting all the quantities to the SI units the motor parameters in PSIM are defined as follows Resistance phase phase 0 363 Inductance phase phase 0 049m Speed Constant 1220 Torque Constant 7 85m No of Poles P 2 Moment of Inertia 4 2e 7 No Load Speed 38700 No Load Current
111. are the steps to set up SimCoupler for PSIM Matlab Simulink co simulation for the example above Adding the SimCoupler Block to the Simulink Library Run the program SetSimPath exe to add the SimCoupler block to the Simulink library and set up the SimCoupler Module for co simulation of PSIM and Matlab Simulink After the execution the SimCoupler block will appear as S function SimCoupler in the Simulink Library Browser Note that this step is necessary otherwise Simulink will not be able to find PSIM With this it is also not necessary to manually add the PSIM folder to the Matlab path Also this program needs to be run only once It needs to be run again only if the PSIM folder or Matlab folder has changed In PSIM After the rest of the power circuit is created connect three Out Link nodes to the low pass filters of Phase A B and C currents and rename them as Ia Ib and Ic and connect one Out Link node to the speed sensor output and rename it as Wrpm Connect three In Link nodes to the positive inputs of the comparators and rename them as Va Vb and Vc Go to the Simulate menu and select Arrange SLINK Nodes A dialog window will appear Arrange the order of the In Link nodes SLINK In and Out Link nodes SLINK Out to be the same as how the input output ports would appear in the SimCoupler model block in Simulink the order of the ports is from the top to the bottom In this
112. ation block with offset Vo max 2 Binary numbers N Actual output limit 4 k 4 nee 2 l an 3 Sg ances ep me repens econ online eeepc an 1 Vo min l 0 Vin min V gt Vy 3 Vin max The number of bits determines the quantization resolution The input range Vin max Vin mins 18 divided into A stages with the width of each stage as Chapter 5 Control Circuit Components AV Ven max ae min in N 2 except for the Ist stage where the width is 0 5 AV and the last stage where the width is 1 5 AV Note that for the quantization block without the offset the width of the Ist and last stage is AV If the input falls in the ky stage the output will be calculated as V o Ve min k 1 AV where k is from 1 to 2 and the output step is calculated as V V os o max o min AV as 2 Note that the value V But because of the o max Corresponds to the output value when the input is at V in max quantization the output can be represented in only N levels from 0 to 2 1 As a result the actual limit of the output is not Vy max but Vy max A Vo as shown in the figure above Example For a quantization block with the offset let N 3 V 0 V y 0 and V in min in max o min o min 1 We have AV AV 1 8 If V 0 25 it is in the 3rd stage k 3 and it corresponds to V 0 3 1 1 8 0 25 If V 0 6 it is in
113. ays have one normally open switch and one normally closed switch When a dc voltage is applied to the relay coil in the polarity as shown in the image if the voltage reaches the Operate Voltage after a time delay defined by the Operate Time the NO switch will be closed and the NC switch will be opened When the coil voltage reduces to the Release Voltage after a time delay defined by the Release Time the two switches will return to their default positions Motor Drive Module The Motor Drive Module is an add on module to the basic PSIM program It provides machine models and mechanical load models for motor drive system studies The Motor Drive Module includes electric machines as described in this section and mechanical elements and speed torque position sensors as described in Section 4 9 Reference Direction of Mechanical Systems In a motor drive system in order to formulate equations for the mechanical system a position notation needs to be defined Take the following motor drive system as an example Ik Ihde a IM IM The system consists of two induction machines IM1 and IM2 connected back to back One operates as a motor and the other as a generator From the point of view of the first machine IM1 the mechanical equation can be written as Chapter 4 Power Circuit Components TT 78 do J Jy dt lan Ton where J and J are the moment of inertia and 7 and T gt are the developed t
114. be floating and must be connected to ground In the parameters Frequency refers to the main frequency under which the inductor is excited For example if an inductor conducts a 60 Hz current in an ac circuit which also has 20kHz switching harmonic components the frequency should be set to 60 Hz If an inductor conducts dc current in a de circuit which has 20kHz switching harmonic components the frequency should be set to 20kHz For more information on how to use the Thermal Module inductor please refer to the tutorial Tutorial Inductor loss calculation in Thermal Module pdf 4 10 5 Device Database Editor The device database editor PcdEditor exe provides an easy and convenient way of adding editing and managing devices Pull down PSIM s Utilities menu an image of the database editor is shown below 132 Chapter 4 Power Circuit Components Ph PcdEditor fs D File Device View Help database File Name CAPSIM_test Softkey PSIM10 0 2015 1 9 Device diode dev Manufacturer Powerex y Part Number C5240650 files CAPSIM_test Softkey PSIM10 0 2015 1 9 Device GBT dev CAPSIM_test Softke APSIM10 0 2015 1 9 Device lnductor dev CAPSIM_test SoftkeyAPSIM10 0 2015 1 9 Device MOSFET dev CAPSIM_test Softke APSIM1 0 0 2015 1 9 Device Semikron dev EH Discrete Style Package Absolute Maximum Ratings Device Type Manufacturer Virm max v 600 IF max A 50 Tj max oC 150 Device AT pes v All
115. bias conditions For the push button switch the switch position 1s set directly from the parameter input Chapter 4 Power Circuit Components 4 2 10 Linear Switches Linear switches which can operate in three states include npn and pnp BJT and n channel and p channel MOSFET BJT devices can operate in either cut off linear or saturation state MOSFET devices can operate in either cut off active or ohmic state MOSFET 3 state has 2 level models Level 1 is the basic MOSFET 3 state model while Level 2 takes the intrinsic and parasitic components into consideration Images npn Transistor pnp Transistor MOSFET p MOSFET 3 state 3 state 3 state 3 state r Attributes for non Transistor 3 state and pnp Transistor 3 state Parameters Description Current Gain beta Transistor current gain B defined as B I I Bias Voltage V Forward bias voltage in V between base and emitter for the npn transistor or between emitter and base for the pnp transistor Vee sat Or Vec sat for pnp Saturation voltage in V between collector and emitter for the npn transistor and between emitter and collector for the pnp transistor Attributes for MOSFET 3 state and p MOSFET 3 state Level 1 Model Parameters Description On Resistance On resistance Rps on of the MOSFET in Ohm Threshold Voltage Vy 4 Threshold voltage of the gate to source voltage in V beyond which the MOSFET starts to cond
116. c The password protection is used in situations where the person who created the file needs to share it with someone else but does not wish to reveal the details of the schematic Save in Package File To save a schematic file and all associated files to one single package file This is especially useful if the main circuit calls multiple subcircuits and one needs to send the files to someone else Rather than finding and collecting all the subcircuit files one can just create the package file and send out the single package file Save as Older Versions To save a file in the previous version format Note that if the file uses elements that are unique in the current version these elements will be omitted Print To print the schematic Note that the schematic is printed as it appears on the screen If you zoom in or out the schematic the printout will be changed accordingly Print Preview To preview the printout Print Selected To print only a portion of the schematic selected Print Selected Preview To preview the printout of the portion of the schematic selected Print Page Setup To adjust the print page position and set the print page legend Printer Setup To set up the printer Exit To exit the PSIM schematic program Edit Menu The following functions are provided in the Edit menu for circuit editing Undo To undo the previous change Redo To go back to the state before undoing the changes Cut To cut the selected circuit out of t
117. ce referred to the stator side in Ohm L rotor Rotor winding leakage inductance referred to the stator side in H Ns Nr Turns Ratio Stator and rotor winding turns ratio for wound rotor machine only No of Poles Number of poles P of the machine an even integer Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal torque T Master Slave Flag Master slave flag of the machine 1 master 0 slave Im VS Lim Unt Characteristics of the magnetizing current versus the magnetizing inductance Cmi Lm Uin2Lm2 where Z is in A and L 1s in H All the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 4 6 1 The operation of a 3 phase induction machine with saturation is described by the following equations d d Yet R avae te Gel tated Ge lhasa d Papa el Gina d GeLove J where 1 oe cos8 cos cos a 2 99 3 3 i E ji 1 2T 2T atl tae all all Mec My E l E fase J My cos 0 z cos cos 0 z ed E J 9 9 1 cos 0 cos 0 7 cos 3 3 cos8 cos 7 cos o 27 1 ol 3 3 2 9 l 2T ARN shee f MA Eli Manas Moy cos cos cos ped My 5 l 3 lapel 1 1 cos cos 0 cos8 9 9 l In this case the inductance M is no longer constant but a function of the magnetizing current J The magnetizing current and inductance L ar
118. channel and 4 channel voltage scopes Current scope j a J k a off head T u Po yp y g a A B A B c D Interface for current scope and l channel and 4 channel voltage scopes Oscilloscope SCOPE2 Oscilloscope SCOPE1 Interface for 2 channel scope Timebase Scale r Channel A Channel B Trigger Timebase Scale Channels Trigger 10 ms Div Scale 5 V Div Scale 5 V Div Ch a 10 ms Div Scale 5 V Div Channel Ch J Name scopE2 Offset 0 orsefo F oncer Name SCOPET Osefo fa zl F once M Color Color B Bl Color B H Level 0 4 Color Colo B By Level i _Save Help DE AC Gnd DE AC Gnd V Auto scale _Save _Help DE Ac Gnd IV Auto scale The 1 channel and 4 channel voltage scope and the current scope have the same interface For the 4 channel scope the channel can be selected through the drop down channel selection and the settings apply that the channel selected The scope is designed to operate in a similar way as the actual oscilloscope in the lab It has 3 main sections Timebase section Channel section and Trigger section In the Timebase section the scale of time x axis is defined In the Channel section the scale of the Y axis as well as the offset and the color of the waveform are defined The channel display mode can be either DC AC or Gnd for groun
119. chematic file in a folder called user defined in the PSIM directory or in one of the sub folders of the user defined folder Any schematic files and sub folders under the user defined folder will appear in the PSIM library list Another way is to add the custom model directly to an image library The advantage of this approach is that the custom element will have the same look and feel as the standard PSIM elements giving it a better interface It is also possible to associate a help file to the custom model There are three main steps to add a new element modeled in a subcircuit into the library e Create the subcircuit model of the new element e Add this element to the PSIM library e Create an on line help file for this new element To illustrate this process a LC filter element is used as an example Step 1 Create Subcircuit The first step is to create the subcircuit of the new element in the same way as if the subcircuit is to be called by another circuit For example the subcircuit of the 2nd order LC filter called LC_filter sch and its image are shown below L C Q In this case the inductance and capacitance values will be defined through the interface and need to appear in the property window of the new LC filter element Therefore the parameter value for the inductance needs to be defined as a variable in this case L and the value for the capacitance as C Subcircuit Default ariable List x
120. cks in PSIM s Motor Drive Module Their images are shown below On the left side is the MTPA for linear internal permanent magnet synchronous machine linear IPM and on the right side is for nonlinear IPM Images MTPA IPM MTPA NL Id oAIs Ide gt Ld 71s o gt Lq Iq Lambda Iq m Attributes of MTPA for Linear IPM Parameters Description Ld d axis inductance d axis inductance of the PMSM machine in H Lq q axis inductance q axis inductance of the PMSM machine in H Vpk krpm Peak line to line back emf constant of the machine in V krpm mechanical speed Number of Poles Number of poles of the machine Maximum Inverter Maximum inverter output current amplitude peak in A Current Base Voltage Value System base voltage value in V Base Current Value System base current value in A Base Mechanical Speed System base mechanical speed in rad sec The Maximum Torque Per Ampere control block has the following inputs and outputs all in per unit values Is Inverter current amplitude reference input Id d axis current reference output Iq q axis current reference output This block is for the control of linear PMSM machines only Given the current amplitude reference this block will calculate the d axis and q axis current references Id and Iq such that the maximum amount of torque is generated by the machine The block requires the parameters of the PMSM controlled and th
121. core element under Elements gt gt Power gt gt Magnetic Elements Solar Module physical model This program plots the 1 v curve of the solar module physical model element under Elements gt gt Power gt gt Renewable Energy This function is part of the Renewable Energy option SimCoupler Setup This will launch the program SetSimPath exe that performs the setup for co simulation between PSIM and Matlab Simulink This function is part of the SimCoupler Module DSP Oscilloscope The DSP Oscilloscope function is available as part of the TI F2833x F2803x Target It is used together with the SCI functions to display DSP waveforms in real time For more information on how to use the DSP Oscilloscope please refer to the document Tutorial Using SCI for Real Time Monitoring in TI F2833x Target pdf Ultracapacitor Model Tool The parameter extraction tool for ultracapacitor models For more information please refer to the document Tutorial Ultracapacitor Model pdf Launch Export to To launch the SmartCtrl software or if the ac sweep result is available to export the ac SmartCtrl sweep result to SmartCtrl SmartCtrl is a separate software for control loop design For more information please refer to the Help menu in SmartCtrl Chapter 2 Circuit Schematic Design 2 12 Unit Converter This program performs unit conversion in length area weight and temperature Calculator This will launch the Windows calculator Managi
122. ct sensor is the same as the built in hall effect sensor in the brushless dc machine Examples of BDCM motor drive systems using the hall effect sensor are given in the examples sub folder of the PSIM directory Thermal Module The Thermal Module is an add on module to the PSIM program It provides a quick way of estimating the losses of semiconductor devices diodes IGBT and MOSFET as well as the core and winding losses of inductors The core of the Thermal Module is the device database A device database editor is provided to allow users to add new devices to the database and to manage the database easily The devices in the database can then be used in the simulation for the loss calculation A database device simulation contains two parts of calculation e The behavior model of the device is used in the simulation The behavior model of a switch takes into account the static characteristics such as conduction voltage drop on state resistance etc but not the dynamic characteristics such as turn on and turn off transients The behavior model of an inductor is an ideal inductor e Based on the voltage current and temperature values from the simulation for switches PSIM accesses the device database and calculates the conduction losses or switching losses The static characteristics of the Chapter 4 Power Circuit Components device are updated for the next simulation For inductors PSIM accesses the device database and calcu
123. ctance in H Peak Current Rating Peak current rating of the inductor in A Level 1 Model r ANA Parallel Resistance a el Cp oSYYV o e Parallel Equivalent series resistance ESR in Ohm Leakage resistance in parallel with the inductor in Ohm Parallel parasitic capacitance in F Initial inductor current in A Flag for branch current waveform display Level 2 Model Capacitance 4 1 3 Individual and Electrolytic Capacitors Images Capacitor Capacitor Electrolytic S le Q O O O I4 42 Chapter 4 Power Circuit Components Attributes of Level 1 Model Parameters Description Capacitance Capacitance in F Initial Voltage Initial capacitor voltage in V Current Flag Flag for branch current display Attributes of Level 2 Model Parameters Description Capacitance Capacitance in F Voltage Rating Voltage rating of the component in V RMS Current Rating RMS current rating in A Resistance ESR Equivalent series resistance ESR in Ohm Inductance ESL Equivalent series inductance ESL in H Leakage Resistance Initial Voltage Current Flag Equivalent Circuit Leakage resistance in Ohm Initial capacitor voltage in V Flag for branch current waveform display Level 1 Model Level 2 Model Parallel Resistance Capacit o ca ESR C ESL I l A Parallel Resistance Capacitor Electrolytic
124. ctance of the inductor L1 in Simulink change the Inductance to varL in PSIM as shown below ho ee Parameters Other Info Calor Inductor Help Display Mame fi Inductance varL1 Iw eal f Initial Current 0 Ea Current Flag 1 E In Simulink double click on the SimCoupler block to open the property dialog and click on Add Variable Click on the newly added row in the list and type the variable name and value as shown below Chapter 5 Control Circuit Components 185 9 7 5 8 5 8 1 186 Ey PSim Settings PSIM Schematic File CAPS iexamples SimCouplerichop1gq_ifb_psim_param psimsch Browse Show Schematic Variable Add Variable Delete Variable The variable varL will now be accessible from PSIM CosiMate Links CosiMate links provide the link between PSIM and CosiMate a co simulation platform that supports various software Through the links one can perform co simulation between PSIM and the software that CosiMate supports For more information on CosiMate please visit www chiastek com The links consist of two parts Input Port and Output Port An input port represents a control signal input from CosiMate to PSIM and an output port represents a control signal output from PSIM to CosiMate During co simulation data are exchanged between PSIM and other software through these ports Note that the links will be functional only if one has CosiMate ins
125. cuit List To list the file names of the main circuit and the subcircuits The following functions are to be performed inside the subcircutt Set Size To set the size of the subcircuit Place Bi directional To place a bi directional connection port in the subcircuit Port Chapter 2 Circuit Schematic Design Place Input Signal To place an input signal connection port in the subcircuit Port E Output Signal To place an output signal connection port in the subcircuit or Display Port To display the connection port of the subcircuit Edit Default To edit the default variable list of the subcircuit This is done Variable List inside the subcircuit Edit Image To edit the subcircuit image 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 If the functions Set Size Display Port Edit Default Variable List and Edit Image are performed in the main circuit they will be applied to the main circuit instead There are three types of subcircuit ports for signal interface with the main circuit Bi directional port for power circuit and mechanical systems and input signal and output signal ports for control circuit Even though bi directional ports also work for control circuit it is strongly recommended to use input or output signal ports for control circuit for better clarity Fur
126. cuit menu to display the port names as defined inside the subcircuit Connect the wires to the connection points accordingly 2 4 Other Features of the Subcircuit This section describes other features of the subcircuit through the example shown below C psim6_demo main sch q d i Ioj x Inside the subcircuit One Quadrant DC DC Circuit File File Parameter File Help L a Name FILET EET Subcircuit T am la File sub sch File main sch 2 7 4 1 Passing Variables from the Main Circuit to Subcircuit In this example the main circuit main sch uses a subcircuit sub sch In the subcircuit the inductance value Chapter 2 Circuit Schematic Design 15 is defined as L and the capacitance is defined as C The default values of L and C can be set by selecting Subcircuit Set Default Variable List In this case L is set to 5mH and C is set to 100uF When the subcircuit is loaded into the main circuit the first time this default variable list will appear in the tab Subcircuit Variables in Subcircuit Edit Subcircuit from the main circuit main sch New variables can be added here and variable values can be changed In this case L is changed to 2mH and C is kept the same as the default value Note that the variables and the values are saved to the netlist file and used in simulation The default variable list inside the subcircuit is not saved to the netlist
127. d When the display mode is in DC the entire waveform is displayed If the display mode is in AC only the ac portion of the waveform is displayed When the display mode is Gnd the waveform will show 0 In the Trigger section the trigger conditions are defined The trigger can be set to either ON or OFF When the trigger is off the waveform is free running and the display of the waveform in the scope may vary from one frame to another If the trigger is on the waveform display will only start when the trigger conditions are met This will lead to a steady waveform display There are three trigger modes rising edge triggering falling edge triggering and one shot triggering if the once checkbox is checked the one shot triggering is selected The one shot triggering will trigger only once and it is useful for example in situations where a transient needs to be captured The trigger level sets the level at which the triggering occurs For example if Channel A is selected with the rising edge triggering and the trigger level of 0V whenever the Channel A input crosses over 0 from negative to positive triggering will occur and the waveform display will start from that instant On the scope if the Auto scale checkbox is checked the scale of all the channels will be automatically adjusted so that the waveforms are within the display of the scope Note that voltage scopes have connecting terminals which can be connected to either power circ
128. d N are the number of rows and columns respectively Since the row or column index must be an integer the input value is automatically converted to an integer If either the row or 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 The data format for 2 dimensional lookup tables with floating point input is M N Va Vio Vem Viet V cba VX Ay A192 IN Ay Ar gt Aon M m 9 Alyn where m is the number of rows and n is the number of columns V is the row vector and V is the column vector and A i j is the output value at Row i and Column j Note that Vectors V and V must be monotonically increasing If an input falls between two points interpolation is used to calculate the value If an input is less than the minimum or greater than the maximum value the input will be set to be the same as the minimum or maximum value Examples The following shows a one dimensional lookup table 1 10 2 30 3 20 4 60 5 50 ER If the input is 0 99 the output will be 10 If the input is 1 5 the output will be 10 JAE Chapter 6 Other Components 6 4 5 The following shows a 2 dimensional lookup table with integer inputs 3 4 1 2 4 1 2 Dey Oe 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 The f
129. d amount of time Note that this applies to the PSIM network version only When PSIM is timed out the license will be released and other users will be able to check it out When PSIM is back from the idle state it will try to log back in the License Manager if a license is still available If there is no license available an error message will be posted This feature will prevent users from holding up licenses unintentionally In Code Generation Indication section Show image next to elements This is for SimCoder only for automatic code generation When this option is checked in the PSIM library an image will appear next to the elements that can be used for code generation This is used to differentiate elements that can be used for code generation from the ones that can not In PSIM Help File section Use alternate PSIM help file path By default PSIM reads the help file psim chm from the same PSIM folder When this option is checked PSIM will read the help file from the specified file path instead Under the Colors tab Color settings Colors for grids elements subcircuits ports wire text nodes and labels can be set Wire color The wire color can be set either by default or by circuit type Chapter 2 Circuit Schematic Design 2 10 2 Set Path Options The Set Path function in the Options menu allows users to define additional search paths when loading an external DLL file or device file For example if a schematic fi
130. d in the simulation The information in the Other Info tab on the other hand is not used in the simulation It is for reporting purposes only and will appear in the parts list in View gt gt Element List in PSIM Information such as device rating manufacturer and part number can be stored under the Other Info tab Chapter 1 General Information 5 The component color can be set in the Color tab Parameters under the Parameters tab can be a numerical value or a mathematical expression A resistance for example can be specified in one of the following ways 12 5 12 5k 12 50hm 12 5kOhm 25 2 0hm R1 R2 R1 0 5 Vo 0 7 Io where R1 R2 Vo and Io are symbols defined either in a parameter file see Section 4 1 or in a main circuit if this resistor is in a subcircuit see Section 6 3 4 1 Power of ten suffix letters are allowed in PSIM The following suffix letters are supported G 10 M 10 korK 10 m 10 u 10 n 10 p 10 12 X AN SQRT SIN COS ASIN ACOS TAN ATAN ATAN2 SINH COSH EXP LOG LOG10 ABS SIGN A mathematical expression can contain brackets and is not case sensitive The following mathematical functions are allowed addition subtraction multiplication division to the power of Example 2 3 2 2 2 square root function sine function cosine function sine inverse function cosine inverse function tangent function inverse tangent function inverse tangent functio
131. d the Project View is on the left hand side The Project View window provides an organized tree view of user s projects and their related files as well as the simulation result graphs Each PSIM circuit is treated as a project The following content are displayed in stacking tiers in the project view Project Name Usually this is the same as the top level PSIM circuit file name Documents Any files related to the PSIM circuit descriptive parameter lookup table etc Schematic The PSIM schematic files top level and subcircuits Graphs All probes in the PSIM schematic are included in the graph list On the right hand side is the Design window This is a graphic editor where users can build and editor their simulation circuit schematics User may arrange schematics in the Design window in tiles as shown above or in tabs as shown below Chapter 2 Circuit Schematic Design T 2 2 File Edit View Design Suites Subcircuit Elements Simulate Options Utilities Window Help Dae 2 Application Look Tabbed 4 WIE RELDSsT R ANRE Status Bar Windows 2000 EE C Powersim PSIM10 Pil v Toolbar Office XP EA Element Toolbar Windows XP 4 Controlled PFC Converter UC FE Library Browser Office 2003 i w Project View e Visual Studio NET 2005 ain 3 6 Find Result View Office 2007 gt
132. d they provide a very powerful and convenient way of modeling any types of magnetic devices Different unit systems have been used in the magnetic circuit analysis The table below shows magnetic quantities in the SI System International and the mixed CGS Centimeter Gram Second unit systems and their conversion Quantity SI Unit CGS Unit CGS SI Conversion Flux Weber Maxwell 1 Weber 10 Maxwell Flux Density B Tesla Gauss 1 Tesla 10 Gauss 1 A Turns m lt Oersted Field Intensity H A Turns m Oersted LONO Magnetomotive Force mmf F A Turns Gilbert 1 A Turns k Ciber Permeability 4o in space Ar 1077 l Am 10 7 Winding A winding element provides the interface between the electric circuit and the magnetic equivalent circuit Image a ol E E 2 Mo Attributes Parameters Description Number of Turns No of turns of the winding Winding Resistance Winding resistance in Ohm This element represents a winding on a magnetic core The two electric nodes E and E gt are connected to an electric circuit while the two magnetic nodes M and M3 are connected to other magnetic elements such as leakage flux path air gap and magnetic core Chapter 4 Power Circuit Components 69 4 4 2 4 4 3 70 Leakage Flux Path This element models the flow path of the leakage flux Image M e gt M Attributes Parameters Description Inductance Factor Ay Inducta
133. d vs IF o Add Curve Delete Curve t5 o X axis IF Y axis Yd Suffix Invert graph x0 fi xmas 11000 X V XinLog YO 0 6 Ymax 12 6 X I YinLlog Enter values in the following format x1 y1 x2 y2 x3 y3 1 0 70932 10 15 1 0502 100 75 1 8219 280 79 2 3942 Refresh Vd Tj 25 1000 Junction Temperature Tj oC 25 Redraw Cancel X axis IF Y axis Vd 1 2496 2 5468 e To see the x and y axis values of a particular data point on the graph place the cursor inside the graph area The cursor image will change to a cross image and the x and y coordinates of the cursor will be displayed at the upper right corner of the dialog window Place the cursor on top of the curve to read the x and y axis readings e If there are multiple curves for different junction temperatures repeat the same process and enter the junc tion temperature value for each curve accordingly Use the drop down menu at the upper right corner of the dialog window to show one particular curve or to show all the curves at the same time e With the same process define the reverse recovery characteristics t vs Ip I vs Ip and Q vs Ip e Enter the Thermal Characteristics as Rin j c 0 6 Rin c s 0 4 e Enter the Dimension and Weight as Length mm 53 Width mm 36 Height mm 29 e Choose Device gt gt Save Device to save the device information This completes the process of adding the diode into the database Ch
134. de Resistance Init Position i Current Flag i Initial position for Switch i Current flag for Switch 7 Diode Threshold Voltage Threshold voltage of the diode or forward voltage drop of the thyristor in V On resistance of the diode in Ohm for diode bridges only Node C at the bottom of the thyristor module is the gating control node for Switch 1 For the thyristor module only the gating signal for Switch 1 needs to be specified The gating signals for other switches will be derived internally in the program Similar to the single thyristor switch a thyristor bridge can also be controlled by either a gating block or an alpha controller as shown in the following examples Examples Control of a Thyristor Bridge The gating signal for the circuit on the left 1s specified through a gating block and the gating signal for the circuit on the right is provided through an alpha controller A major advantage of the alpha controller is that the delay angle alpha of the thyristor bridge in deg can be directly controlled 60 Chapter 4 Power Circuit Components 4 2 13 Three Phase Switch Modules The following figure shows three phase switch modules and the internal circuit connections A three phase voltage source inverter module VSI3 consists of either MOSFET type or IGBT type switches A current source inverter module CSI3 consists of GTO type switches or equivalently IGBT in series with diodes I
135. der in the PSIM directory Input Nodes Number of input terminals of the new element Output Nodes Number of output terminals of the new element Hide menu Leave this box unchecked If this box is checked this element will not appear in the library Help File On line help file associated with this element This file must be placed in the help sub folder in the PSIM directory When the Help button is clicked in the property dialog window this file will be displayed This file can be a text file which can be opened by a text editor such as NotePad or a HTML file e In the next dialog window set the new element size as Width 5 and Height 2 Then create an image for this element or accept the default image e Click on the buttons Save Image Library and Update Menu The new element will appear in the library and will be ready to use The information regarding the number of parameters and the parameter description for the new inductor element is obtained from the DLL file automatically In this case the new element will have one parameter as Inductance 2 13 Creating a Symbol Library With the Image Editor in the Edit menu one can easily create good component images very quickly These images can be used as secondary images of PSIM library elements or images of subcircuits One can also store these images in a symbol library for the purpose of circuit wiring diagrams Note that such a schematic is solely for display purposes
136. des for transistor conductor losses Peona _ the node with a circle for transistor switching losses P for diode conductor losses Poona D the node with a square and for diode switching losses P p respectively The style of the package for example TO 247 TO 268 etc can be specified in the Style field Absolute Maximum Ratings Vcemax V Maximum collector emitter voltage Tenax A Maximum collector current Tj max C Maximum junction temperature Electrical Characteristics Transistor Vee sat VS Ie Collector emitter saturation voltage Vee sar vs collector current Ze Eee Turn on energy losses E vs collector current Z Fore VS Le Turn off energy losses E pvs collector current 1 Electrical Characteristics Diode or Anti Parallel Diode Va vs Ip Forward conduction voltage drop Vg vs forward current Ip tir VS p Reverse recovery time vs current Ip Ly vs Ip Peak reverse recovery current J vs current Ip Q vs Ip Reverse recovery charge Q vs current Ip E vs Ip Reverse recovery energy losses E vs current Ip Electrical Characteristics Free Wheeling Diode for IGBT Diode device only Va vs Ip Forward conduction voltage drop vs forward current Ip tir WS Ip Reverse recovery time vs current Ip L vs Ip Peak reverse recovery current Z vs current Ip Q vs Ip Reverse recovery charge Q vs current Ip E vs Ip Reverse recovery charge E vs curre
137. ding resistance in Ohm Stator d axis inductance in H Dg i i i l sin 0 2 Chapter 4 Power Circuit Components 2N 3 wo Vpk krpm Peak line to line back emf constant in V krpm mechanical speed This value should be available from the machine data sheet If not it can be obtained through experiment by operating the machine as a generator at 1000 rpm and measuring the peak line to line voltage No of Poles P Number of poles P Moment of Inertia Moment of inertia J of the machine in kg m Shaft Time Constant Shaft time constant T 4 1n sec It is associated with the friction coefficient B as B J That Lg Lookup Table File File name of the lookup table for Lgm L Lookup Table File File name of the lookup table for Lgm dq Flag Flag for the lookup table When the flag is 0 Lgm and Lgm are function of Iq and 74 When the flag is 1 Ly and Lgm are function of the current magnitude and the angle Transformation Flag Flag for the transformation convention see details below Torque Flag Output flag for internal developed torque T Master Slave Flag Master slave flag of the machine 1 master 0 slave For more details on the definition and use of the master slave flag refer to Section 4 6 1 The relationship between the d axis and q axis inductances Lq and L and the magnetizing inductances Lgm and Lgm 1s as follows La Lst Lan q S qm where L is the stator leakage inductance Since L
138. do ay Coefficients of the denominator from dg to ay Sampling Frequency Sampling frequency fy in Hz For General Digital Filter or FIR Filter that reads the coefficients from a text file Parameters Description File for Coefficients Name of the file storing the filter coefficients Sampling Frequency Sampling frequency f in Hz The transfer functions of the low pass filters are listed below For first order low pass analog filter in s domain O E St O For second order low pass analog filter in s domain o G s K 2 2 S 260 Ss 0 The Ist order and 2nd order digital filters are obtained by discretizing the analog filter using the Backward Euler method The transfer function of a general digital filter is expressed in polynomial form as byt by z thy 2 by 2 MZ N 1 N Z 1 ataj Tarse Tay EAZ Chapter 5 Control Circuit Components If ag 1 the output y and input u can be expressed in difference equation form as y n by u n b u n 1 by un M a y n 1 4a V n 2 ay y n N If the denominator coefficients dg ay are not zero this type of filter is called infinite impulse response IIR filter The transfer function of a FIR filter is expressed in polynomial form as MZ bt b Z byi ee by If a 1 the output y and input u can be expressed in difference equation form as y n by un t b u n 1 by u n N The
139. dref amp Idref 1 a amp Iqref amp Isa amp Isb Isc amp nm amp Slip Theta amp amp Vma amp Wm Wm _ref Induction Motor Drive System with Vector and Field Weakening Control tos 460V 100 HF 60 He 4 poles 1756 spm 600 Nem 2 3 14185 0 Wmb wr TH Tosa Note This example The inners current laopa operate at a sampling frequ and the outer speed loop operates at a sampling fra They can be the same cz different If the base values Vb Ib Wb and Th are all set the control is in r al value Otheswise it s in per Motor Controller for Simulation Only Fieid Weakening Control Vdc sim Field Weakening Hye vma p arar G araz 1 E Ia sv PAN C ptam Iday1y 7 drez Sam os Ka z SV PAM mye EHE ISO Se re tHe cups les eee ne ee ita_sim Easy Wimet We_psse wimo tpeta_sim Zaw Kw ae ne Ese ae am eras atse Ahe co maw SSH rE E 2 3 7 m E CAPowersim PSIM10 0 1 examples dc dc buck main psimsch D Buck Converter Subcircuit S1 n Voltmeter To measure the 4 uw b Project View Library Browser iM chee OEE COS EE 9000 p mappa pE By default the menu bar and the standard toolbar appear on top of the window while the frequently used element bar appears at the bottom an
140. ductor 45 4 1 9 Coupled Inductors 46 4 1 10 Nonlinear Elements 47 Switching Devices 48 4 2 1 Diode 49 4 2 2 LED 50 4 2 3 Zener Diode and DIAC 51 4 2 4 Thyristor and TRIAC 52 4 2 5 Transistor 53 4 2 6 MOSFET 54 4 2 7 IGBT 55 4 2 8 GTO 56 4 2 9 Bi Directional Switches 56 4 2 10 Linear Switches 57 4 2 11 Switch Gating Block 59 4 2 12 Single Phase Switch Modules 60 4 2 13 Three Phase Switch Modules 61 Transformers 63 4 3 1 Ideal Transformer 63 4 3 2 Single Phase Transformers 64 4 3 3 Three Phase Transformers 65 4 3 4 Three Phase Transformer with Saturation 68 Magnetic Elements 69 4 4 1 Winding 69 4 4 2 Leakage Flux Path 70 4 4 3 AirGap 70 4 4 4 Linear Core 71 4 4 5 Saturable Core 72 Other Elements 73 4 5 1 Operational Amplifier 73 4 5 1 1 Ideal Operational Amplifier 73 4 5 1 2 Non Ideal Operational Amplifier 74 4 5 2 TL431 Shunt Regulator 75 4 5 3 Opto Coupler 75 4 5 4 dv dt Block 76 4 5 5 Relays 77 Motor Drive Module 77 4 7 4 8 4 9 4 10 4 11 4 6 1 Reference Direction of Mechanical Systems 77 4 6 2 DC Machine 84 4 6 3 Induction Machines 80 4 6 4 Induction Machine with Saturation 82 4 6 5 DC Machine 84 4 6 6 Synchronous Machine with External Excitation 89 4 6 7 Permanent Magnet Synchronous Machine 92 4 6 8 Permanent Magnet Synchronous Machine with Saturation 94 4 6 9 Switched Reluctance Machine 97 4 6 10 Nonlinear Switched Reluctance Machine 99 4 6 11 Motor Control Blocks 1
141. e jcf extension Note that the xml and jcf files must be in the same directory JMAG Case Text Comments for the JMAG circuit Terminal Names Terminal names of the block The power circuit nodes and mechanical shaft nodes as well as the rest of the interface between PSIM and the JMAG data files are defined in the Netlist XML File This file is in XML format and is generated by JMAG To specify this file click on the browse button at the right of the edit field Chapter 4 Power Circuit Components When a specific XML is selected the jcf data file will be read and the terminals nodes of the block will be displayed In the block image the power circuit nodes will be placed at the top of the block arranged from the left to the right The mechanical shaft nodes will be placed on the left and right of the block with the first shaft node on the right and the second shaft node on the left The JMAG Input File is the JMAG data file for the device modeled The file has the jcf extension and is defined in the netlist XML file Note that the jcf file and the xml file must be in the same directory The JMAG Case Text is a text identifying the specific JMAG study case It can be any text The parameters of a sample permanent magnet synchronous machine is shown below Parameter Description dt of JMAG Time step used in JMAG Ir Rated current It is used in JMAG dl threshold Current threshold It is used in JMAG dr_ threshold
142. e resistance self inductance and mutual inductance and E and E are the back emf of Phase 4 B and C respectively The back emf voltages are a function of the rotor mechanical speed and the rotor electrical angle 0 that is E Ke i j 0 Ey Ky Oy i oor i O The coefficients ke a ke p and ke o are dependent on the rotor angle 0 In this model an ideal trapezoidal e a e waveform profile is assumed as shown below for Phase 4 Also shown is the Phase A hall effect sensor signal S V krpm 1 2 1000 27 60 Given the values of Vpk krpm and Vrms krpm the angle is determined automatically in the program where K is the peak trapezoidal value in V rad sec which is defined as K The developed torque of the machine is Les dl or gad pe ea NO The mechanical equations are Chapter 4 Power Circuit Components 87 88 where B is the friction coefficient Tioaq 18 the load torque and P is the number of poles The coefficient B is calculated from the moment of inertia J and the shaft time constant T as below ha V shaft The shaft time constant T a7 therefore reflects the effect of the friction and windage of the machine Note that when the shaft time constant is set to 0 the friction term is B is ignored To better understand the definition of the shaft time constant we can represent the mechanical equation with the following equivalent circuit This circui
143. e Delay Phase delay 8 of the waveform in deg The specifications of a square wave source are illustrated as follows Chapter 7 Sources 223 7 4 4 224 When the phase delay O is positive the waveform is shifted to the right along the time axis Triangular Sawtooth Sources A triangular wave voltage source or current source is defined by peak to peak amplitude frequency duty cycle and DC offset The duty cycle is defined as the ratio between the rising slope interval versus the period Images Voltage Current T Attributes Parameters Description Vpeak peak Peak to peak amplitude V Frequency Frequency in Hz Duty Cycle Duty cycle D of the rising slope interval DC Offset DC offset Vo fret Phase Delay Phase delay 8 of the waveform in deg The specifications of a triangular wave source are illustrated as y V offset My When the phase delay O is positive the waveform is shifted to the right along the time axis A sawtooth wave voltage source is a special case of the triangular source with the duty cycle of 1 and dc offset and phase delay of 0 and with one node grounded It is defined as below Image Sawtooth wave Chapter 7 Sources Attributes Parameters Description Vpeak Peak amplitude Frequency Frequency in Hz 7 4 5 Step Sources A step voltage current source changes from one level to another at a g
144. e arrow Machines Mechanical Loads Encoders IH pai Ti F ae Speed Sensor Torque Sensor Gear Box Mechanical Electrical Interface Block o Hp IC The reference direction of each element and the reference direction of the overall mechanical system determine how the element interacts with the mechanical system For example if the reference direction of a machine is along the same direction as the reference direction of the mechanical system the developed torque of the machine will contribute to the shaft rotation in the positive direction However if the reference direction of the machine is opposite to that of the mechanical system the developed torque will contribute to the shaft rotation in the negative direction In the two machine example above using the notation of the reference direction if we define the machine IM1 as the master unit the reference direction of the overall mechanical system will be from left to right as shown below Based on this direction the machine IM1 will be along the reference direction and the machine IM2 will be opposite to the reference direction This leads to the equivalent circuit of the mechanical system as Chapter 4 Power Circuit Components shown on the right _ Circuit Reference direction Master Unit a 1 J 2 dWm dt Temi 7 Tem2 Similarly if we define the machine IM2 as the master unit the reference direction of the overall mechanical system will b
145. e defined by a series of data points in pair for example 0 0 041 5 0 035 20 0 03 Between two data points the inductance L is interpolated linearly When the magnetizing current is less than the minimum or greater than the maximum the inductance will be clamped to the value at the first point or the last point Chapter 4 Power Circuit Components 83 4 6 4 DC Machine The image and parameters of a dc machine are as follows 84 Image a Armature oe Shaft Node Winding Field Winding Attributes Parameters Description R armature La armature Ry field Ly field Moment of Inertia V rated I rated n rated I rated Torque Flag Master Slave Flag When the torque flag is set to 1 the internal torque generated by the machine will be saved to the output file for display For more details on the definition and use of the master slave flag refer to Section 4 6 1 Armature winding resistance in Ohm Armature winding inductance in H Field winding resistance in Ohm Field winding inductance in H Moment of inertia of the machine in kg m Rated armature terminal voltage in V Rated armature current in A Rated mechanical speed in rpm Rated field current in A Output flag for internal torque Tp The master slave flag of the machine 1 master 0 slave The operation of a dc machine is described by the following equations where v vs ig and ipare the ar
146. e electrical side represents the shaft mechanical speed A current source flowing out of this node represents a mechanical load and a capacitor connected to this node represents the load moment of inertia Mechanical load model Example A custom machine model with a constant torque load Similarly one can build a custom machine model and connect it to the mechanical load in PSIM The figure below shows such a circuit The custom machine model must use the capacitor analogy to model the mechanical equation The node representing the mechanical speed is then made available and is connected to the electrical side of the mechanical electrical interface block Custom machine model in subcircuit form Mechanical speed Speed Torque Sensors A speed sensor or torque sensor is used to measure the mechanical speed or torque Images Speed Sensor Torque Sensor Attribute Parameter Description Gain Gain of the sensor The output of the speed sensor is in rpm Chapter 4 Power Circuit Components The output of the speed torque sensor depends on how the sensor is connected in a mechanical system For the speed sensor if the sensor is along the reference direction of the mechanical system refer to Section 2 8 1 for more details on the definition and use of the reference direction a positive mechanical speed would give a positive sensor output Otherwise if the sensor is opposite to the refe
147. e encoder is a position sensor that provides the shaft position within a 360 range mechanical degree Image rf e Count Position Chapter 4 Power Circuit Components Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Bits of Resolution Number of Bits of resolution N The encoder output resolution is determined by the number of bits N The encoder has two outputs one is the number of counts the range is from 0 to 2 1 and the other is the position in mechanical deg the range is from 0 to 360 An example of a PMSM drive system using the absolute encoder is given in the sample file Absolute Encoder PMSM Drive sch 4 9 6 2 Incremental Encoder An incremental encoder is a position sensor that produces quadrature outputs which indicate the speed angle and direction of the shaft Image Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Lines Number of lines that are in the code pattern of the code disk of the encoder The two quadrature outputs are A and A A is the inverse of A and B and B They are offset by 90 In addition the encoder provides separate index signal output Z and Z that provide one count per revolution An example of an induction motor drive system using the incremental encoder is given in the sample file Incremental Encoder INDM Drive sch
148. e from right to left as shown below Based on this direction the machine IM1 will be opposite to the reference direction and the machine IM2 will be along the reference direction This leads to the equivalent circuit of the mechanical system as shown on the right Master Unit l o Equiva ent Circuit a direction g 9 dWm dt Toa The following shows another mechanical system with sensors and loads connected in different ways Master Unit Reference direction of the mechanical system Load 1 Speed Torque Load 2 Speed Torque P Tr 1 Sensor 1 Sensor 1 T L2 Sensor2 Sensor 2 In this mechanical system the machine on the left is the master unit The reference direction of the mechanical system is from left to the right along the mechanical shaft Comparing this direction with the reference direction of each element Load 1 Speed Sensor 1 and Torque Sensor 1 will be along the reference direction and Load 2 Speed Sensor 2 and Torque Sensor 2 will be opposite to the reference direction of the mechanical system Therefore if the speed of the machine is positive Speed Sensor 1 reading will be positive and Speed Sensor 2 reading will be negative Similarly the two constant torque mechanical loads with the amplitudes of Tz and 7 gt interact with the machine in different ways Load 1 is along the reference direction and the loading torque of Load 1 to the master machine will be 7 On the other hand Load 2 is op
149. e inverter current rating Attributes MPTA for Non linear IPM Parameters Description Maximum Inverter Maximum inverter output current amplitude peak in A Current Base Current Value System base current value in A This block is for the control of nonlinear internal permanent magnet synchronous machines IPM only It has the following inputs and outputs all in per unit value except the inductances Ld and Lq and the flux linkage Chapter 4 Power Circuit Components Lambda If the base value Ib is set to 1 all input and output quantities are in real values Input Signals Is Inverter current amplitude reference Ld d axis inductance Ld in H La q axis inductance Lq in H Lambda Peak stator phase flux linkage in Weber Output Signals Id d axis current reference Iq q axis current reference Given the current amplitude reference this block will calculate the d axis and q axis current references Id and Iq such that the maximum amount of torque 1s generated by the machine 4 6 11 2 Field Weakening Control The images of field weakening control blocks are shown below Images For IPM For IPM Non linear For SPM For Induction Machine Field Weakening IPM Field Weakening NL Field Weakening SPM Field Weakening om Is ld Is Id o Is Iai Vdc gt Ld o gt Vdc gt Vdc Id o gt Lq o gt Wm Iq o gt Lambda o gt Wm Iq o gt We gt Vde o gt
150. e largest dot is the primary winding or first primary winding For the multiple winding transformers the sequence of the windings is from the top to the bottom For the transformers with 2 or 3 windings the attributes are as follows Attributes Parameters Description R primary Resistance of the primary secondary tertiary winding in Ohm R secondary R tertiary L pri leakage Leakage inductance of the primary secondary tertiary winding in H seen from the L sec leakage primary L ter leakage Ln magnetizing Magnetizing inductance in H N primary No of turns of the primary secondary tertiary winding N secondary N tertiary All the resistances and inductances are referred to the primary winding side If there are multiple primary windings they are referred to the first primary winding side For a transformer with more than 1 primary winding or more than 3 secondary windings the attributes are as follows Attributes Parameters Description R i primary i Resistance of the i primary secondary tertiary winding in Ohm R secondary i 64 Chapter 4 Power Circuit Components L pri i leakage Leakage inductance of the i primary secondary tertiary winding in H referred to L sec i leakage the first primary winding L magnetizing Magnetizing inductance in H seen from the first primary winding N i primary i No of turns of the i primary sec
151. e source voltage in V Lower level of the gate source voltage in V Gate resistance during turn on Gate resistance during turn off In most cases the turn on gate resistance Ry on and the turn off gate resistance Ro opare identical The calibration factor of the on state resistance Rps on The calibration factor of the forward transconductance gp The calibration factor Keona o of the transistor conduction losses Poond O ond _ The calibration factor K of the transistor switching losses Psw The calibration factor K q p of the diode conduction losses Poong D The calibration factor K p of the diode switching losses Psw D Number of identical devices in parallel The parameter Frequency refers to the frequency under which the losses are calculated For example if the device operates at the switching frequency of 10 kHz and the parameter Frequency is also set to 10 kHz the losses will be the values for one switching period However if the parameter Frequency 1s set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter Peona Calibration Factor is the correction factor for the transistor conduction losses For the example if the calculated conduction losses before the correction is Peond O cap then Chapter 4 Power Circuit Components a cond Q7 Kcond Q D cond QO cal 129 130 Similarly the parameter P Calibration Factor is the correction factor for the transistor switchi
152. e unit delay block is a discrete element and the delay time is equal to the sampling period For a discrete system the unit delay block should be used Example In this circuit the first time delay block has a delay time of 1 ms and the second block has a delay time of 4 ms This example illustrates that the input of the time delay block can be either an analog or a digital signal wini 1 ms 0 Time ms 5 3 8 Multiplexer The output of a multiplexer is equal to a selected input depending on the control signal Two types of multiplexers are provided One with binary control inputs and the other with individual control inputs Images Binary Control Inputs Individual Control Inputs 2 input 4 input 8 input 3 input 4 input d0 J d0 d0 ws d0 H ji dl x o dl o dl MUX MUX MUX Y oX d2 x dl o d2 gt MUX HY d2 d3 oa 7 d3 gt gt s0 d7 gt sl sO s2 sl s0 sl sO s2 sl sO In the images d0 d7 are the data inputs and s0 s2 are the control inputs The truth tables of the multiplexers are as follows Chapter 5 Control Circuit Components 163 9 3 9 164 For multiplexers with binary control inputs 2 Input 4 Input 8 Input s0 Y sl s0 Y s2 sl sO 0 d0 0 0 dO 0 0 0 l dl 0 l dl 0 0 l l 0 d2 0 l 0 l l d3 0 l l l 0 0 l 0 l l l 0 l l l For multiplexers with individual control inputs 3 Input 4 Input sl s0 s2 sl s0 X l X X l l 0 xX 1 0 otherwise l 0 0 otherwise Note tha
153. e voltage and current probes the readings of all the meters are meaningful only when the readings reach the steady state The single phase and 3 phase VAR meter measure the reactive power VAR at the fundamental frequency and the VA Power Factor meters measure the apparent power VA the total power factor PF and the displacement power factor DPF The kilowatt hour meter reading gives the integration of the real power over a time interval defined by the start time and the stop time For a single phase circuit the real power P reactive power Q apparent power S total power factor PF and the displacement power factor DPF are defined as follows Assume both the voltage and current contains harmonics 1 e v t J 2V sin t 0 J 2 sin t 5 i t J27 sin t 0 J2 sin w t 0 where is the fundamental frequency and all others are harmonic frequencies We have the rms values of the Chapter 6 Other Components 197 6 3 2 198 voltage and current as SY V V rms IL n J rms Teus The real power or average power P is defined as olif P zl O t i t dt where T is the fundamental period The reactive power Q is defined as Y V 1 sin o 9 Note that the reactive power is for the fundamental component only The apparent power S is defined as S Voit rms rms The total power factor PF and the displacement power factor DPF are then defined as follow P PF
154. ed as 4 sw of Er f VR VR datasheet or Psw of 1 4 O i VR an where E is the reverse recovery energy losses Q 1s the reverse recovery charge fis the frequency as defined in the input parameter Frequency Vp is the actual reverse blocking voltage and Vp datasheet 18 the reverse blocking voltage in the E characteristics of the datasheet defined as Reverse blocking voltage VR V in the test conditions The reverse recovery charge Q 1s defined as Oy 1 2 j fyr Ly Whenever E is given in the device database the losses will be calculated based on If E 1s not given the losses will be calculated based on Q If Q is not given the losses will be calculated based on and J If both are not given the losses will be treated as 0 The losses Peona and Psw in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the Poong or P node and the ground When they are not used these two nodes cannot be floating and must be connected to ground Example Diode Loss Calculation The circuit below shows a sample circuit that uses the Powerex s discrete diode CS240650 600V 50A The conduction losses and the switching losses are measured through two ammeters Once the information of the losses is available by building the thermal equivalent circuit the device junction temperature can be calculated This
155. ed in Section 2 1 Zoom In To zoom in the schematic Zoom Out To zoom out the schematic Fit to Page To adjust the zooming so that the entire schematic fits the screen Chapter 2 Circuit Schematic Design 11 2 6 2 Zoom In Selected To zoom in to the selected area Zoom Level To zoom the schematic to 10 20 200 and custom size Element List To generate the parts list of the circuit Element Count To count the number of elements Voltage current probes and meters are not included in the element count Display Voltage Current If the option Save all voltages and currents under Options gt gt Settings gt gt General is checked after the simulation is complete choose this function to display any node voltages or branch currents Display Differential Voltage With the option Save all voltages and currents checked after the simulation is complete choose this function to display any voltages between two nodes Set Node Name With the option Save all voltages and currents checked after the simulation is complete choose this function to define the name of a node so that the displayed voltage waveform has the specified name Refresh To refresh the screen display Design Suites Menu Functions are provided in the Design Suites menu to run two design suite templates which generate electrical circuit schematics automatically The following functions are provided Update Parameters To update the parameters in the circui
156. eep probes at the desired output location To measure the loop response of a closed control loop use the node to node probe Place the AC Sweep block on the schematic and define the parameters of the ac sweep Run the simulation Chapter 6 Other Components 215 Below are the images of the ac sweep probes and the AC Sweep block Images AC Sweep Probe AC Sweep Probe loop AC Sweep e QO AC Sweep Attributes Parameters Description Start Frequency Start frequency of the ac sweep in Hz End Frequency End frequency of the ac sweep in Hz No of Points Number of data points Flag for Points Flag to define how the data points is generated Flag 0 Points are distributed linearly in LOG1O scale Flag 1 Points are distributed linearly in linear scale Source Name Name of the excitation source Start Amplitude Excitation source amplitude at the start frequency End Amplitude Excitation source amplitude at the end frequency Freq for extra Points Frequencies of additional data points If the frequency domain characteristics change rapidly at a certain frequency range one can add extra points in this region to obtain better data resolution The principle of the ac analysis is that a small ac excitation signal is injected into the system as the perturbation and the signal at the same frequency is extracted at the output To obtain accurate ac analysis results the excitation source amplitude must be set properly The am
157. egrator in sec Initial value of the output Initial Output Value Reset Flag Reset flag 0 edge reset 1 level reset Chapter 5 Control Circuit Components For Internal Resettable Integrator Parameters Description Time Constant Time constant 7 of the integrator 1n sec Initial Output Value Initial value of the output Lower Output Limit Lower limit of the output Upper Output Limit Upper limit of the output The transfer function of an integrator 1s G s The Bode plot of the amplitude G and the phase angle of the integrator is shown as below rad sec 20dB dec The output of the external resettable integrator can be reset by an external control signal at the bottom of the block For the edge reset reset flag 0 the integrator output is reset to zero at the rising edge of the control signal For the level reset reset flag 1 the integrator output is reset to zero as long as the control signal is high 1 The output of the internal resettable integrator is reset to 0 when the output reaches either the lower limit or the upper limit It works in the same way as the external resettable integrator with the edge reset except that in this case users do not need to set up the external reset circuit When a limiter is connected to the integrator output anti windup is implemented automatically Example The following circuit illustrates the use of the rese
158. ematical functions in a parameter file are modulo to the power of gt gt lt lt amp amp sin r cos r tan r asin x acos x atan x atan2 x y sinh x cosh x tanh x pow x y x to the power of y sqrt x exp x ln x or log x log10 x abs x sign x if 4 eleif trellet lif comparison valuel value2 inline if statement note it is 11f not 1f Error Error text of f varl var2 up to 5 variables are supported Warning Warning text f of varl var2 up to 5 variables are supported Note that the input or output of all trigonometric functions is in rad Also the Error or Warning reporting functions can control the variable number format as shown below Error Error message Error Error message nf k1 Print the value of k1 where n is the number of digits after the decimal point For example if k1 12 34 1f will give 12 3 Warning Warning message Warning Warning message nf k1 Print the value of k1 where n is the number of digits after the decimal point For example if k1 12 34 1f will give 12 3 An Error function will stop the simulation while a Warning function will allow the simulation to proceed To display the variable values of a parameter file go to Edit gt gt Show Values For example the figure below shows a parameter file on the left and the values on the right 214 Chapter 6 Other Components 6 8
159. ensity input T is the ambient temperature input v is the voltage across the entire solar module and 7 is the current flowing out of the positive terminal of the solar module i Solar Module physical model Pi Manufaciurer Datasheet Number of Cells Me x Maximum Pawer Prax a de Voltage at Fmax ud ty Cunnent at Pmax 3 5 A pen Circuit Voltage Voc 211 Short Circuit Current Isc 3a ga Terperature Coeff of Vor 40 39 0 or ox Temperature Coeff of Ese oas HaC or ot Standard Test Cenditiers Light Intensity 0 iog Wiim m Temperature Tref l 25 foc viv cya shape at Vor 565 WA iF available P ty Model Parameters defined Bend Energy Eg i12 v Idealty Factor A 12 Shunt Resistance Rsh 1000 Ohm Coefficient Ke g Model Parameters caloulaied Calculete Parameters Series Resistance Ps 0 008 Ohm Short Circuit Current Isc 3 80 A Saturation Cunrent Ish Sies AD Temperature Coetident Ct o 00287 ARJ Maximum Power Point caloulated r t plmee T i I Operating Conditions es so aN Savt Calauiate IA Curre Light Intensity 1000 Witm m ymax 17 04 Vy Load Copy PSIM parameters Ambient Temperature Ta 25 pt imax 355 A Close Some of the parameters of the physical model can be obtained from manufacturer datasheet and the rest of the parameters can be obtained by trial and error A utility to
160. ent Chapter 6 Other Components Images Voltage Probe Current Probe DC Voltmeter AC Voltmeter DC Ammeter AC Ammeter H 3 ph VA kWh Meter kWh Meter 3 ph VAR Meter be C o Attributes Parameters Description Operating Frequency Operating frequency or fundamental frequency of the ac meter in Hz Cut off Frequency Cut off frequency of the low pass high pass filter in Hz kWh Meter Start Time Time from which the kilowatt hour meter starts in sec for W kWh meters only kWh Meter Stop Time Time at which the kilowatt hour meter stops in sec for W kWh meters only VA Display Flag Display flag for apparent power 0 no display 1 display for VA Power Factor meters only PF Display Flag Display flag for power factor 0 no display 1 display for VA Power Factor meters only DPF Display Flag Display flag for displacement power factor 0 no display 1 display for VA Power Factor meters only In the images for the single phase 3 phase wattmeter kWh meter the node with the letter W is for the real power output in watt and the node with the letter kWh is for the kilowatt hour output in kilowatt hour A low pass filter is used in the dc meter and wattmeter models to filter out high frequency components whereas a high pass filter is used in the ac meter models to filter out the dc component The cut off frequency determines the transient response of the filter Except th
161. er in the dq frame must be multiplied by 3 2 to have the same power 1 e Power Vq ig vp ip Ve ie 3 2 vg igtVg ig To have the power invariant transformation replace 2 3 with i and 1 2 with i 3 2 From dgo to abc with the transformation flag set to 0 cos sin l V V cos sin e l v 3 3 SIN cos o sin o ji ro 3 3 From dgo to abc with the transformation flag set to 1 cos sin ji V V cos o sin o 1 Vp 3 3 2 Ue cos 0 sin o l SN aS Example In this example three symmetrical ac waveforms are transformed into dqo quantities The angle O is defined as 0 wt where 27 60 Since the angle O changes linearly with time a piecewise linear voltage which has a ramp waveform is used to represent 0 The simulation waveforms show the three phase ac top the angle 0 middle and the dqo output In this example the q component is constant and both the d and the o components are zero 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms 6 4 2 2 abc a Transformation The abc a function blocks perform the transformation between the abc coordinate and the oP coordinate It is often referred to as the Clarke transformation 202 Chapter 6 Other Components Images ac to of a to abc In the images the letter al refers to a and the letter be refers to B The transformation equations
162. erature Electrical Characteristics Va vs Ip Forward conduction voltage drop Vy vs forward current Ip tir Vs Ip Reverse recovery time t vs current Ip L vs Ip Peak reverse recovery current J vs current Ip Q vs Ip Reverse recovery charge Q vs current Ip E vs Ip Reverse recovery energy losses E vs current Ip Thermal Characteristics RthG c Junction to case thermal resistance in C W Rihic s Case to sink thermal resistance in C W Dimensions and Weight Length mm Length of the device in mm Height mm Height of the device in mm Weight g Weight of the device in g Chapter 4 Power Circuit Components 121 Note that the condition Reverse blocking voltage VR V in characteristics E vs Ip is used to scale the loss calculation and must be entered correctly Also parameters under Absolute Maximum Ratings Thermal Characteristics and Dimensions and Weight are not used in the loss calculation and are optional In addition the diode forward conduction voltage drop Vy changes depending on the forward current Ip The new voltage drop is used in the subsequent simulation 4 10 1 2 Diode Loss Calculation 122 A diode device in the database can be selected and used in the simulation for loss calculation A diode in the Thermal Module library has the following parameters Attributes Parameters Description Device The specific device selected from the device database Frequency Freque
163. erence direction of mechanical system 78 79 85 112 115 117 118 Regeneration Control 192 relay 77 renewable energy 145 resistor 6 13 24 25 41 45 70 71 72 196 200 213 219 228 233 resolver 118 119 120 rheostat 45 root mean square function block 157 round off block 162 rubber band 21 runtime graph 18 21 41 44 S sampling hold block 161 scope current 4 11 18 19 198 199 200 voltage 4 18 198 sensor current 196 hall effect 85 86 87 88 89 120 position 77 86 87 88 89 104 108 112 118 119 120 speed 116 117 118 183 torque 116 117 118 Index 237 voltage 196 200 231 shunt regulator 75 sign function block 6 35 158 SimCoder 2 13 18 22 214 SimCoupler Module 3 18 24 182 183 184 simulation control 4 17 19 solar cell 139 source 221 constant 221 current controlled current 227 current controlled voltage 106 227 228 des2 53 222 math function 227 nonlinear voltage controlled 229 piecewise linear 221 random 226 sawtooth 224 sinusoidal 222 223 Square wave 162 Square wave 223 step 225 triangular 224 voltage controlled current 106 227 voltage controlled voltage 106 227 Space 165 square waveform block 161 square root function block 157 stack 181 subcircuit 10 12 13 15 17 connecting 15 creating in the main circuit 14 in the subcircuit 14 image 16 summer 156 sweep ac 215 216 218 233 parameter 219 switch bi directional 48 56 193 DIAC 48 51 linear 49 57
164. ers Description Breakdown Voltage Breakdown voltage Vp of the zener diode in V Forward Threshold Threshold voltage of the forward conduction from anode to cathode in V Voltage Forward Resistance On resistance of the forward conduction in Ohm Current Flag Flag for zener current output from anode to cathode When the zener diode 1s 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 Vy is less than the breakdown voltage Vz When Vx exceeds Vp the voltage Vx will be clamped to Vp Note that when the zener is clamped since the diode is modelled with an on resistance of 10UQ the cathode anode voltage will in fact be equal to Vay Vg t 10UQ I 4 Therefore depending on the value of Ixy Vga will be slightly higher than Vp If Jr 1s very large Vy can be substantially higher than Vp DIAC A DIAC is a bi directional diode A DIAC does not conduct until the breakover voltage is reached After that the DIAC goes into avalanche conduction and the conduction voltage drop is the breakback voltage Image Vey Attributes Parameters Description Breakover Voltage Voltage at which breakover occurs and the DIAC begins to conduct in V Breakback Voltage Current Flag Conduction voltage drop in V Current flag Chapter 4 Power Circuit Components 51 4 2 4 Thyristor and TRIAC A thyristor i
165. ersa In addition when PSIM saves a parameter file it will save the information of both the relative path and absolute path of the parameter file as well as a copy of the content of the parameter file When PSIM loads a schematic with a parameter file element it will search and load the parameter file in the following order relative path relative to the schematic file absolute path and the local path the local folder where the schematic file is If PSIM still can not find the parameter file it will create the parameter file in the local schematic folder from the copy that it saved in the schematic file Parameter Tool With the capability to show variable values and handle conditional statements the parameter file element becomes a very useful computational tool in its own right To facilitate its usage a function is provided to open a parameter file without the need of a schematic To access this function go to Utilities gt gt Parameter Tool AC Analysis AC Sweep The frequency response of a circuit or a control loop can be obtained with the ac analysis A key feature of the ac analysis in PSIM is that a circuit can be in its original switchmode form and no average model is required Nevertheless with the average model it takes much shorter time to perform the ac analysis The following are the steps to set up the ac analysis Identify a sinusoidal voltage source as the excitation source for the ac sweep Place ac sw
166. es Voltage Current o 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 Veg set Chapter 7 Sources Series Resistance Source series resistance in Ohm for voltage source only Series Inductance Source series inductance in H for voltage source only Tstart Starting time in sec Before this time the source is 0 To facilitate the setup of three phase circuits a symmetrical three phase Y connected sinusoidal voltage source is provided The dotted phase of the source refers to Phase A Image 3 phase Voltage o a b c Attributes Parameters Description V line line rms Line to line rms voltage amplitude Frequency Frequency f in Hz Initial Angle phase A Initial angle for Phase A in deg Series Resistance Source series resistance in Ohm Series Inductance Source series inductance in H 7 4 3 Square Wave Source A square wave voltage source or current source is defined by peak to peak amplitude frequency duty cycle and DC offset The duty cycle is defined as the ratio between the high potential interval versus the period Images Voltage Current Attributes Parameters Description Vpeak peak Peak to peak amplitude V Frequency Frequency in Hz Duty Cycle Duty cycle D of the high potential interval DC Offset DC offset Vogier Phas
167. es the curve corresponding to the lowest or highest 7 will be used If there 1s only one curve that curve is used regardless of the calculated T Conduction Losses The transistor conduction losses is calculated as Transistor Conduction Losses Ip R DS on where p is the drain current and RDs on is the static on resistance When the transistor is conducting periodically with an on duty cycle of D the conduction losses are calculated as Transistor Conduction Losses Ip R DS on D Switching Losses The transistor turn on losses is calculated as Transistor Turn on Losses Epy f where is the transistor turn on energy losses and f is the frequency as defined in the input parameter Frequency The transistor turn off losses is calculated as Transistor Turn off Losses E ae f where E yis the transistor turn off energy losses The energy losses and E are calculated using the rise times and the fall times of the voltage and current waveforms based on the information of the MOSFET gate current input output reverse transfer capacitances and gate charges Please note that the gate charge losses are not included in the switching losses above The gate charge losses are usually quite small compared to the turn on turn off switching losses and can be neglected in the full load conditions However they can become substantial in the light load conditions To calculate the gate charge losses Pigss Og E
168. etc Unlike the C block the simplified C block can be used for automatic code generation 6 4 7 External DLL Blocks An external DLL dynamic link library block allows users to write code in C C compile it into DLL using Microsoft Visual C C and link it with PSIM These blocks can be used in either the power circuit or the control circuit A DLL block receives values from PSIM as inputs performs the calculation and sends the results back to PSIM PSIM calls the DLL routine at each simulation time step However when the inputs of the DLL block are connected to one of these discrete elements zero order hold unit delay discrete integrators and differentiators z domain transfer function blocks and digital filters the DLL block is called only at the discrete sampling times Two types of DLL blocks are provided Simple DLL Block and General DLL Block The simple DLL block has a fixed number of inputs and outputs and the DLL file name is the only parameter that needs to be defined On the other hand the general DLL block allows users to define arbitrary number of inputs outputs and additional parameters Users can also customize the DLL block image The simple DLL block is easier to program and use Simple DLL blocks with 1 input out up to 25 inputs outputs are provided The images and parameters of DLL blocks with 1 3 and 6 inputs outputs are shown below Images l input 3 input 1 l l gt l DLL gt i i 6
169. example the netlist name of the resistor is R To create a new element called My Resistor select the netlist R To create the image for this resistor click on Edit Image The following functions are provided in the library editor Edit Image Library Library file path C PSIM_test softkey PSIM9 2 0 MyLib lib Menu name My Library Menu 1 My Resistor J Menu 2 gt PER Add Separator Add Submenu Edit Edit Image New Element Save Element as Delete Element More gt gt gt gt New DLL Element New Subcircuit Element External New Subcircuit Element Internal Netlist name Y Netlist name Save Image Library Update Menu Help Close Up To move an element up in the menu Down To move an element down in the menu gt To move an element one level lower in the menu lt To move an element one level higher in the menu Add Separator To add a separator between elements Add Submenu To add a submenu in the library Chapter 2 Circuit Schematic Design 25 Edit To edit the name of an element Edit Image To edit the image of an element New Element To create a new element in the image library This element will be linked to a netlist element in the netlist library Save Element as To save the existing element as a new element The new element will have the image of the existing element as the default image Delete Element To delete an element from the library New Ele
170. example the order will be Va Vb and Vc for the In Link nodes and Ia Ib Ic and Wrpm_ for the Out Link nodes Save the schematic file In this example we assume that the file 1s saved to C PSIM pmsm_psim sch In Simulink Start Matlab Launch Simulink Open an existing file or create a new file After the rest of the system is created go to the menu S function SimCoupler in the Simulink Library Browser select the SimCoupler block and place it on the schematic In the PMSM example file double click on the SimCoupler block and click on the Browser button to Chapter 5 Control Circuit Components 183 5 6 2 184 locate and select the PSIM schematic file C PSIM pmsm_psim sch Then click on Apply The number of input and output ports of the SimCoupler model block will automatically match those defined in the PSIM netlist In this case there will be 3 input ports and 4 output ports Go to the Simulation menu and select Simulation Parameters Under Solver Options set the Type to Fixed step Set Fixed step size to be the same as or close to PSIM s time step In this case the time step is set to 0 1ms More discussion on the selection of the solver option and the time step is given in the next section The setup is now complete Go to Simulink and start the simulation The SimCoupler Module supports Matlab Simulink Release 13 and higher Please also
171. f inertia of the load in kg m The torque speed curve of a constant power load is shown below Chapter 4 Power Circuit Components Torque Nm 0 pase Speed rpm When the mechanical speed is less than the base speed npase the load torque is 1 ne When the mechanical speed is above the base speed the load torque is P Taea lod where P T nax Obase ANd pase 2T MNpase 60 The mechanical speed is in rad sec 4 9 1 3 Constant Speed Load The image of a constant speed load is Image Wr P Attributes Parameters Description Constant Speed rpm Speed constant in rpm Moment of Inertia Moment of inertia of the load in kg m A constant speed mechanical load defines the speed of a mechanical system and the speed will remain constant as defined by the speed constant 4 9 1 4 General Type Load The image of a general type mechanical load is as follows Image Attributes Parameters Description Te Constant torque term k coefficient Coefficient for the linear term Chapter 4 Power Circuit Components 113 k coefficient Coefficient for the quadratic term k gt coefficient Coefficient for the cubic term Moment of Inertia Moment of inertia of the load in kg m7 A general type load is expressed as T sign 7 Ay O ky O ky o where is the mechanical speed in rad sec Note that the to
172. f the source DC Offset DC offset Math Function Source A math function source allows one to define the source in a mathematical expression Image Attributes Parameters Description Expression The mathematical expression of the source Tstart Start time of the source In the expression T or t represents time For example to implement a sinusoidal source the expression will be sin 2 3 14159 60 t 2 09 Voltage Current Controlled Sources The following types of controlled sources are available Voltage controlled voltage source Current controlled voltage source Voltage controlled current source Current controlled current source Variable gain voltage controlled voltage source Variable gain voltage controlled current source The controlling current of a current controlled source must come from a RLC branch Also for a controlled current source the controlling voltage or current can not be an independent source Note that controlled sources can be used in the power circuit only Chapter 7 Sources 227 228 Images Voltage controlled Current controlled Current controlled Variable gain flowing through voltage controlled T J a i Vin k Vim Variable gain Current controlled voltage controlled Voltage controlled Current controlled flowing through a f 5 Vink X Kk Vino Attribute Parameter Description Gain Gain of the source
173. g format N Ai where N is the length of the array and a ay are the array values Example To define an array A 2 4 6 8 we will have Array Length 4 Values 2 4 6 8 If the array is to be read from a file the file will be 4 a a Stack A stack is a first in last out register Image V push oS 1 D Vo pop fr Parameter Description Stack Depth The stack depth Attribute The rising edge triggers the push or pop action When a pop action is performed and the stack is empty the output remains unchanged When a push action is performed and the stack 1s already full the data at the bottom of the stack will be pushed out and will be lost Chapter 5 Control Circuit Components 181 5 5 10 Multi Rate Sampling System 5 6 5 6 1 182 A discrete system can have more than one sampling rate The following system is used to illustrate this The system below has 3 sections The first section has a sampling rate of 10 Hz The output Vo fed back to the system and is sampled at 4 Hz in the second section In the third section the output is displayed at a sampling rate of 2 Hz It should be noted that a zero order hold must be used between two elements with different sampling rates SimCoupler Module The SimCoupler Module is an add on module to the PSIM software It provides interface between PSIM and Matlab Simulink for co simulation With the SimCoupler Module part of a system c
174. gCoupler RT Module 108 112 magnetic elements 24 69 72 math function block 204 205 Matlab Simulink 1 18 24 182 183 184 maximum power 138 maximum minimum function block 159 Maximum Torque Per Ampere Control 100 mechanical coupling block 112 115 mechanical load constant power 112 constant speed 113 constant torque 112 externally controlled 114 general type 113 mechanical load model 1 77 112 116 memory read block 179 180 message error 22 208 232 warning 2 18 22 216 232 meter 3 phase VAR 198 VA power factor 196 VAR 196 198 monostable 168 Motor Drive Module 1 77 112 multiplexer 163 multiplier 3 156 multi rate sampling system 182 N node link 182 183 SLINK 18 183 nonlinear element 47 48 conductance type 47 48 conductance type with additional input 47 resistance type 47 resistance type with additional input 47 O operational amplifier ideal 73 non ideal 74 optocoupler 75 P Parameter Tool 24 215 password 10 disable 21 enter 21 PE Pro F28335 5 PHEV 12 physical model 140 pitch angle 144 port bi directional 13 input signal 13 158 output signal 13 subcircuit 14 15 power coefficient 144 145 power function block 157 print step 4 232 233 probe 196 ac sweep 217 ac sweep loop 216 current 12 18 106 107 118 196 voltage 18 196 propagation delay 163 231 proportional integral controller 152 Pulse 168 PWM space vector 165 Q quantization block 1 177 R ref
175. gating pattern is selected based on the modulation index The synchronization signal provides the synchronization to the gating pattern The gating pattern is updated when the synchronization signal changes from low to high The delay angle defines the relative angle between the gating pattern and the synchronization signal For example if the delay angle is 10 deg the gating pattern will be leading the synchronization signal by 10 deg Image Enable Disable Delay Mod Sync Angle Index Signal Chapter 6 Other Components Attributes Parameters Description Frequency Switching frequency in Hz Update Angle Update angle in deg based on which the gatings are internally updated If the angle is 360 the gatings are updated at every cycle If it is 60 the gatings are updated at every 60 File Name Name of the file storing the PWM gating pattern A lookup table which is stored in a file contains the gating patterns It has the following format N M1 M2 5 My Oaie Gn2 gt sales Gaikn where n is the number of gating patterns m is the modulation index correspondent to Pattern i and k is the number of switching points in Pattern i The modulation index array m to m should be monotonically increasing The output will select the i pattern if the input is smaller than or equal to m If the input exceeds m the last pattern will be selected The following table shows an example of a PWM pat
176. ged in the similar way Branch currents can also be displayed in the free run mode To display the inductor current for example right click on top of the inductor and a menu will appear Choose Current Scopes and the branch current name An image of the current scope similar to the voltage scope image but without connection terminals will appear Double click on the scope to expand and view the inductor waveform Below is how the window would look like with both the voltage scope and the current scope Other branch currents such as capacitor current load current diode current or MOSFET switch current can be displayed in the similar way Chapter 2 Circuit Schematic Design 19 2 9 2 2 10 20 EF PSIM C psim_test softkey PSIM7 1 2_softkey examples dc dc Scope buck i_loop sch BAX E File Edit View Subcircuit Elements Simulate Options Utilities Window Help SN ET i bel S o B x 2 Z alls enp w ale 5 D Average Current Mode Control Timebase Scale Channels Trigger jouw Scale 1 A Div Channel Ch A 7 Name ie Oftset 0 4 ja zl F Once T Color Color fa Level 0 Sae el pe AC Gnd Auto scale Timebase Scale r Cha 20 us Div H Scale 200 mv Scale 200 mv ch 2 4 i 7 me N scop Offset 0 4 Offset 0 4 F Oncel AA AE JRE JK EH fa gz m l Es a ae me Levelfo4 H Voltage scope Color lor Color her OC AC Gnd DC AC Gnd I Auto scale
177. ges beside the MOSFET and diode terminal nodes there are four extra nodes from the top to the bottom or from the left to the right on the top for the 6 pack package They are the node for transistor conductor losses Peona o the node with a circle for transistor switching losses Py 9 for diode conductor losses Puond p the node with a square and for diode switching losses P p respectively The style of the package for example TO 220 TO 262 TO 247 etc can be specified in the Style field Absolute Maximum Ratings Vps max V Maximum drain to source voltage Ip max A Maximum continuous drain current Tj max C Maximum junction temperature Electrical Characteristics Transistor Rps on ohm Drain to source on resistance Rps on p at the test conditions test conditions junction temperature 7 in C usually 25 C gate to source voltage Vg in V and drain current Ip in A Temperature Coefficient Temperature coefficient K7 of the on resistance in 1 C Vasan V Gate threshold voltage Vasan test condition drain current p in A gr S Forward transconductance gp In the linear region of the device we have 81s T test conditions drain to source voltage Vp in V and drain current Jp in A 6s GS th tr ns and tp ns Rise time and fall time y test conditions drain to source voltage Vps in V drain current Ip in A and gate resistance R in ohm Qs Qgs and Qog Total gate cha
178. gh the drop down menu Chapter 5 Control Circuit Components 159 5 3 5 3 1 5 3 2 5 3 3 160 Other Function Blocks Comparator The output of a comparator is high when the positive input is higher than the negative input When the positive input is lower the output is zero If the two input are equal the output is undefined and it will keep the previous value Note that the comparator image is similar to that of the op amp For the comparator the noninverting input is at the upper left and the inverting input is at the lower left For the op amp however it is the opposite Image Limiters Four types of limiters are provided to limit the amplitude of a signal lower upper limiter lower limiter upper limiter and range limiter Images Lower upper Limiter Lower Limiter Upper Limiter Range Limiter Attributes Parameters Description Lower Limit Lower limit Vower of the limiter Upper Limit Upper limit V of the limiter For a lower upper limiter or lower limiter or upper limiter the output of the limiter is clamped to the upper or lower limit whenever the input exceeds the limiter range If the input is within the limit the output is equal to the input A range limiter limits the output v between the lower limit and the upper limit that is Vie es L pee Let the range of the upper limit and the lower limit be V ange When the output is equal to or greater than the upper limi
179. gives the common logarithm base 10 of the input Root Mean Square Block A root mean square function block calculates the RMS value of the input over a period specified by the base frequency fp The output is defined as _ ir tiie a A Vink t dt where T 1 f The output is only updated at the beginning of each period Image cma Attribute Parameter Description Base frequency Base frequency fp in Hz Chapter 5 Control Circuit Components 157 5 2 6 5 2 7 5 2 8 158 Absolute and Sign Function Blocks An absolute value function block gives the absolute value of the input A sign function block gives the sign of the input i e the output is 1 if the input is positive 0 if the input is 0 and 1 if the input is negative Images Absolute Sign Trigonometric Functions The following trigonometric functions are provided two sine sin blocks two cosine cos blocks arc sine sin arc cosine cos tangent tan arc tangent tg and arc tangent 2 atan2 The output is equal to the corresponding trigonometric function of the input For the sin cos and tan blocks the input is in deg and for the arcsin arccos and arctangent blocks the output is in deg For the sin and cos blocks that have the letter r at the upper left corner and the atan2 block the input is in radian Images E E Dace 1 input in deg input in rad input in deg input in
180. h controller The delay angle alpha in deg is specified through the dc source in the circuit 52 Chapter 4 Power Circuit Components 4 2 5 Transistor The bipolar junction transistor BJT models in PSIM are ideal switching devices Their behavior is a little bit different from that of the devices in real life A BJT switch in PSIM will block reverse voltage in this sense it behaves like a GTO Also it is controlled by a voltage signal at the gate node not a current An npn transistor is turned on when the gating signal is a logic high when a voltage of 1V or higher is applied to the gate node and the switch is positively biased collector emitter voltage is positive A pnp transistor is turned on when the gating signal is a logic low and the switch is negatively biased collector emitter voltage is negative Images npn n Transistor pnp Transistor i A Attributes for npn Transistor and pnp Transistor Parameters Description Saturation Voltage The saturation voltage Vce_sat for npn or Vec_sat for pnp in V Initial Position Initial switch position flag 0 off 1 on Current Flag Switch current flag 0 no display 1 display Example Control of a npn Bipolar Junction Transistor The circuit on the left uses a gating block and the one on the right uses an on off switch controller If the switch is controlled by a control circuit signal as shown in the circuit on the righ
181. he bottom The order can be changed by highlighting the node and click on the upper or down arrow The OUT Nodes are the nodes through which JMAG passes the values back to PSIM In the MagCoupler block image the order of the output nodes is from the top to the bottom The order can be changed by highlighting the node and click on the upper or down arrow By clicking on the Edit Image button one can edit and customize the image of the MagCoupler block Clicking on the Display File button will display the Link Table File in the Microsoft Internet Explorer environment and clicking on the Read File button will read or re load the Link Table File Set up in JMAG and PSIM Using the MagCoupler block it 1s easy to set up the link between JMAG and PSIM for co simulation It involves two main steps setting up the circuit in JMAG and generating the link table file and loading the link table file into PSIM An inductor example below is used to illustrate this process In the PSIM circuit of this example the circuit on the left uses the built in inductor element from the PSIM library and the circuit on the right has the inductor implemented in JMAG In this case the inductor is modelled as a controlled current source in PSIM The voltage across the inductor is first converted to a node to ground voltage through a voltage controlled voltage source and the value is passed to the input node VL of the MagCoupler block At each time step PSIM calls JMAG
182. he 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 The PI regulators of both the inner current loop and the outer voltage loop are implemented using op amp Chapter 4 Power Circuit Components 73 4 5 1 2 Non ldeal Operational Amplifier As compared to the ideal op amp model the non ideal op amp model also referred to as Level 1 op amp model includes the following characteristics in the model Op amp bandwidth Output current limit The non ideal op amp is modelled using power circuit elements and similar to the ideal op amp 1s treated as a power element in PSIM Two non ideal op amp elements are provided Op Amp level 1 and Op Amp ground level 1 The difference between these two elements is that for Op Amp level 1 the reference ground of the op amp model is connected to the power ground whereas for Op Amp ground level 1 the reference ground node of the model is accessible and can be floating The non ideal op amp images have the number 1 at the upper right corner as shown below Images Op Amp level 1 Op Amp ground level 1 V t 1 y 1 Vo l Vo V4 V gnd Attributes Parameters Description Input Resistance Rin Input resistance of the op amp in Ohm DC Gain A DC gain of the op amp Unit Gain Frequency Freq
183. he result file in segment For example if the buffer size is set to 20 MB the simulation data will be first saved to the buffer and when it reaches 20 MB the whole 20 MB data will be written to the result file Please note that the runtime graph only plots the data in the buffer Therefore when the old data are saved to the file and the new data fills in the buffer the runtime graph will only show the waveform of the new data and the old waveform will be lost To retain all the waveforms in the runtime graph one can either increase the buffer size or un check this option When this option is un checked however PSIM will allocate all the required memory for the buffer at the very beginning If the simulation time step is small and the total time 1s long and if there are many output curves a very large memory may be required which Chapter 2 Circuit Schematic Design 21 22 will take some time to allocate and may even fail if the computer does not have sufficient amount of memory Disable simulation warning messages When this option is checked warning messages generated in the simulation are suppressed Save all voltages and current When this option is checked all the voltages and currents of the circuit will be saved for display To display a voltage or current after the simulation is complete and after results are loaded into SIMVIEW choose View gt gt Display Voltage Current or click on the corresponding icon When the
184. he same label they are connected It is equivalent as though they were connected by wire Using labels will reduce the cross wiring and improve the schematic layout The text of a label can be moved To select the text left click on the label then press the Tab key Assign To assign the parameters of an element double click on the element A dialog box will appear Specify the values and hit the lt Return gt key or click on OK Move To move an element or a circuit block select the element circuit block and drag the mouse while keeping the left button pressed Pan Schematic To scroll schematic right click and drag the mouse 2 3 File Menu The following functions are provided in the File menu for various file operations New To create a new schematic file Open To open an existing schematic file New Project To create a new PSIM project Chapter 2 Circuit Schematic Design 9 2 4 Open Project To open an existing PSIM project Save Project To save current PSIM project Close To close the current schematic file Close All To close all schematic files Save To save the current schematic file Save As To save the current schematic file to a different name Save All To save all schematic files Save with Password To save a schematic file so that it is protected with a password When a file is password protected it can still be used in the simulation but one needs to enter the correct password in order to see the schemati
185. he schematic The circuit that 1s cut can be pasted back To delete an element or a portion of the circuit select the item and hit lt Delete gt key Copy To copy an element or a portion of a circuit into a buffer which can then be pasted back Paste To paste back the copied element or circuit Select Matched Elements To select the elements which matches the specification Select All To select the entire schematic To select only a portion of the schematic left click and drag the mouse Copy to Clipboard To copy the schematic image to the clipboard which can then be pasted back in another software One can choose one of the three options Metafile Format Color Bitmap or Black and White bitmap The metafile format is vector based and gives better image quality especially when the image is resized The Black amp White option will result in a smaller image file size as compared to the color bitmap Draw To draw images on the schematic for display purposes The following images are provided line ellipse rectangle half circles bitmap images and graph To draw a bitmap image left click the mouse and drag the mouse to define the area that will contain the bitmap image Then select the bitmap file To draw a graph left click the mount and drag the mouse to define the area that will Chapter 2 Circuit Schematic Design 2 5 display the waveform of selected probe Change All Text Font To change the font for all the text in the opened
186. her Components Attributes Parameters Description Expression f X X9 Xn Expression of the output versus inputs where n is the number of inputs Expression df dx Expression of the derivative of the function f versus the i input p i p th Np The derivative df dx can be set to zero The variables that are allowed in the expression are T or t for time and x i from 1 to n which represents the ip input For example for the 3 input math function block the allowed variables are T t x1 X2 and x3 For the 1 input math function block the variable x which refers to the only input 1s also allowed 6 4 4 Lookup Tables There are four lookup table blocks One dimensional regular lookup table and lookup table with data from Simview graph and 2 dimensional lookup tables with integer input and floating point input All four lookup tables can be used in both power circuit and control circuit Images 1 dimensional 2 dimensional Simview graph Integer Floating Index j Ay point Ea a Index i Attributes for one dimensional lookup table Simview graph Parameter Description Graph File Name of the Simview file to be used as the lookup table data Input Column Input column of the lookup table selected from a drop down menu after a graph file is loaded Output Column Output column of the lookup table selected from a drop down menu after a graph file is loaded For 2 dimensiona
187. hine Linear solenoid Each block has the dedicated image as shown below Images Step Machine Step Machine RT Linear Synchronous Machine Linear Solenoid A B C Linear Synchronous Machine RT Linear Solenoid RT Chapter 4 Power Circuit Components Attributes Parameter Description Netlist XML File The XML file that defines the interface between PSIM and JMAG RT It has the xml extension JMAG RT Input File The JMAG RT data file It has the rtt extension Note that the xml file and the rtt file must be in the same directory JMAG Case Text Comments for the JMAG RT circuit Terminal Names Terminal names of the block In the MagCoupler RT block images the power circuit nodes such as A B C A A B B C C D and D as shown above are placed at the top of the block arranged from the left to the right The mechanical shaft nodes are placed on the left and right of the block with the first shaft node such as M as shown above on the right and the second shaft node such as M on the left The electric nodes and rotor shaft nodes as well as the rest of the interface between PSIM and the JMAG RT data files rtt file are defined in the Netlist XML File This file is in XML format and is generated by the JMAG RT Manager To specify this file click on the browse button at the right of the edit field Note that for each type of MagCoupler RT block the NetlistEleme
188. hm Mass Mass of the machine in kg ShaftTimeConstant Shaft time constant of the solenoid in sec OffsetDisp Initial displacement in m coef inductance coef flux coef force coef magnet coef material Inductance coefficient used in JMAG RT Flux coefficient used in JMAG RT Torque coefficient used in JMAG RT Magnet coefficient used in JMAG RT Material coefficient used in JMAG RT turns coill Coil 1 turns used in JMAG RT turns coil2 Coil 2 turns used in JMAG RT coef mass Mass 1 coefficient used in JMAG RT coef mass2 Mass 2 coefficient used in JMAG RT Current Flag Display flag for 3 phase FEM coil currents 1 display 0 no display Back emf Flag Display flag for 3 phase FEM coil back emf Position Flag Display flag for the solenoid position in m Velocity Flag Display flag for the solenoid velocity in m sec Force Flag Display flag for the developed force in N mass Master Flag Master slave flag of the solenoid 1 master 0 slave In all the parameter definitions above except the flags current flag back emf flag rotor angle position flag speed velocity flag torque force flag and master flag all other parameters are read from the rtt file defined in the XML file These values can be changed and for these parameters noted with used in JMAG RT the changed values will be sent back to JMAG RT for calculation Several MagCoupler RT examples are provided under the examples MagCoupler RT f
189. i Characteristic Slope 1 Rg Va th Diode Level 2 Model Reverse Recovery Parameter Definitions 0 25 Irm The reverse recovery time trr consists of two parts ta and tb During the period ta the current increases from 0 to Irm Based on JEDEC Joint Electron Device Engineering Council tb is defined as the interval from the time of rm to the time when the straight line from rm through 0 25 rm in red in the diagram intersects with the time axis For further information on how to use the Level 2 model please refer to the tutorial Tutorial Diode model with reverse recovery pdt 4 2 2 LED A light emitting diode LED emits light when it conducts Its v i characteristic is the same model as diode s Level 1 model Image v o a9 Attributes Parameters Description Forward Voltage LED forward threshold voltage V4 sn in V The LED starts to conduct and emit light when the positive bias voltage is greater than V4 jp Resistance LED on resistance Rj in Ohm after it starts to conduct Initial Position Flag for the initial LED position If the flag is 0 the LED is off If it is 1 the LED is on Current Flag Current flag for LED current display 50 Chapter 4 Power Circuit Components 4 2 3 Zener Diode and DIAC Zener A zener diode is modeled by a circuit as shown below Images Zener Circuit Model A gt K A K Oz Vp Attributes Paramet
190. ia of J2 The equation that describes the mechanical system 1s do it J2 77 lert load where is the shaft mechanical speed In PSIM this equation is modelled by an equivalent circuit as shown below On speed node In this circuit the two current sources have the values of 7 and T 7 and the capacitors have the values of J and J gt The node to ground voltage speed node voltage represents the mechanical speed This is analogous to C dV dt i for a capacitor where C J J5 V Om and i T Tigad Chapter 4 Power Circuit Components 115 4 9 5 116 In PSIM mechanical equivalent circuits for motors and mechanical loads all use the capacitor based circuit model The mechanical electrical interface block provides the access to the internal mechanical equivalent circuit If the mechanical side of an interface block with the letters M is connected to a mechanical shaft the electrical side with the letters E will be the speed node of the mechanical equivalent circuit One can thus connect any electrical circuits to this node With this element users can connect built in motors or mechanical loads with user defined load or motor models Example An induction machine with a custom mechanical load model The figure below shows an induction machine connected to a user defined mechanical load model through the mechanical electrical interface block As explained above the voltage at th
191. iamond 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 14 Chapter 2 Circuit Schematic Design 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 int will be within that diamond box and a port labelled with in will appear on the screen Connect the port to the upper left node The same procedure is repeated for the linking nodes in out and out After the four nodes are placed the node assignment and the subcircuit appear in PSIM as shown below Port Mame fin m g oF O gt The creation of the subcircuit is now complete Save the subcircuit and go back to the main circuit 2 7 3 Connecting Subcircuit In the Main Circuit Once the subcircuit is created and connection ports are defined complete the connection to the subcircuit block in the main circuit In the main circuit the connection points on the borders of the subcircuit block appear as hollow circles Select the subcircuit block and select Show Subcircuit Ports in the Subcir
192. idual Flux Phase B residual flux in per unit value Phase C Residual Flux Phase C residual flux in per unit value Np primary Number of turns of the primary winding N secondary Number of turns of the secondary winding Chapter 4 Power Circuit Components 4 4 4 4 1 All the resistances and inductances are referred to the primary side In the images p refers to the primary side and s refers to the secondary side The node en is a control node to be connected to a control logic signal The moment when the signal changes from 0 to 1 indicates the moment that the transformer is energized Note that the operating voltage refers to the voltage per phase in the actual operating condition not necessarily the rated voltage For example if a transformer rated at 63kV primary side line to line rms operates under the rated condition and if the primary winding is connected in Y the operating voltage per phase will be 63 000 3 V If the primary winding is connected in delta the operating voltage per phase will be 63 000V If the same transformer is connected in delta but the actual operating voltage is only 60 000V for example the operating voltage per phase will be 60 000V instead Magnetic Elements A set of magnetic elements including winding leakage flux path air gap linear core and saturable core is provided to model magnetic devices These elements are the basic building blocks of magnetic equivalent circuits an
193. ifferential equation form as follows x 0 0 0 0 AA xe ean eee a HE 1 0 0 0 4 4 a B74 B A aS ds o REE E a x 0 0 0 1 hag 7A x Bana BA The output equation in the time domain can be expressed as p jae y xX ea n The initial values of the state variables x to x can be specified as the inputs in the element s domain Transfer Function initial value Example The following is a second order transfer function Chapter 5 Control Circuit Components 149 5 1 1 150 400 amp G s 1 5 M S 1200 s 400 e In PSIM the specification will be Order n 2 Gain 1 5 Coeff B B 0 0 400 3 Coeff A Ao 1 1200 400 e3 Proportional Controller The output of a proportional P controller is equal to the input multiplied by a gain Image Attribute Parameter Description Gain Gain k of the transfer function Integrator There are three types of integrators regular integrator external resettable integrator and internal resettable integrator Images Regular Integrator External Resettable Integrator Internal Resettable Integrator La Attributes For Regular Integrator Parameters Description Time Constant Time constant T of the integrator in sec Initial Output Value Initial value of the output For External Resettable Integrator Parameters Description Time Constant Time constant T of the int
194. ifier op amp models are provided ideal op amp model and non ideal op amp model Level 1 model Note that the ideal op amp model works in the negative feedback mode but does not work in the positive feedback mode The non ideal op amp model does not have such a restriction 4 5 1 1 Ideal Operational Amplifier Three ideal op amp elements are provided Op Amp Op Amp ground and Op Amp ground inverted An ideal op amp is modelled using power circuit elements as shown below Images Op Amp Op Amp ground Op Amp ground inverted V_ V V Vo Vo Vo gnd gnd Circuit Model of the Op Amp Ne vy V gnd where V V noninverting and inverting input voltages Vo output voltage Ao op amp dc gain A is set to 100 000 Ro output resistance R is set to 80 Ohms Attributes Parameters Description Voltage Vs Upper voltage source level of the op amp Voltage Vs Lower voltage source levels of the op amp The difference between the element Op Amp and Op Amp ground or Op Amp ground inverted 1s that for the Op Amp element the reference ground of the op amp model is connected to the power ground whereas for Op Amp ground or Op Amp ground inverted the reference ground node of the model is accessible and can be floating Note that the image of an op amp is similar to that of a comparator For the op amp the inverting input is at the upper left and t
195. imulation result display and analysis with Simview Chapter 4 through 7 Components in PSIM element library Chapter 8 Error warning messages Chapter 1 General Information 1 2 Circuit Structure A circuit is represented in PSIM in four blocks power circuit control circuit sensors and switch controllers The figure below shows the relationship between these blocks Switch Sensors Controllers Control Circuit The power circuit consists of switching devices RLC branches transformers and coupled inductors The control circuit is represented in block diagram Components in s domain and z domain logic components such as logic gates and flip flops and nonlinear components such as multipliers and dividers are used in the control circuit Sensors are used to measure power circuit quantities and pass them to the control circuit Gating signals are then generated from the control circuit and sent back to the power circuit through switch controllers to control switches 1 3 Software Hardware Requirement PSIM runs in Microsoft Windows 7 8 on personal computers The minimum RAM memory requirement is IGB 1 4 installing the Program A quick installation guide is provided in the flier PSIM Quick Guide and on the CD ROM Some of the files in the PSIM directory are PSIM exe PSIM circuit schematic editor PcdEditor exe Device database editor SetSimPath exe Program to set up the SimCoupler Module File exte
196. ing expression V 2o EE in new in If the truncation flag is 1 the output will be equal to V truncated and then divided by 10 Otherwise the in new output will be equal to V rounded off to the nearest integer and then divided by 10 in new Examples If Vi 34 5678 N 0 truncation flag 0 then we have the output V out 35 Similarly if V 34 5678 N 0 34 truncation flag 1 then V If V 34 5678 N 1 truncation flag 1 then Vys V 30 out 34 5 If V 34 5678 N 1 truncation flag 1 then Time Delay Blocks Two types of time delay blocks are provided one with arbitrary delay time and the other with only one simulation time step Images Time Delay Unit Time Delay Chapter 5 Control Circuit Components Attribute Parameter Description Delay Time Delay time in sec for the Time Delay block only A time delay block delays the input signal by a specified amount of time interval It for example can be used to model the propagation delay of a logic element A unit time delay block delays the input signal by just one simulation time step If the simulation time step is changed the delay time will be changed accordingly Note that the difference between the unit time delay block and the unit delay block in Digital Control Module is that this block is a continuous element and the delay time is one simulation time step whereas th
197. interface block is treated as a voltage source when the power circuit is solved With this block some of the functions that can only be generated in the control circuit can be passed to the power circuit Image C p bo Example A Constant Power Load Model In a constant power dc load the voltage V current and power P have the relationship as P V 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 1s fed to a divider The output of the divider gives the current value 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 7 4 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 Chapter 6 Other Components Control Circuit 3 Power Circuit 6 4 2 Transformation Blocks Function blocks of the following transformations are provided abc dqo transformation abc a transformation aB dq transformation Cartesian polar transformation All these blocks can be used in either power circuit or control circuit 6 4 2 1 abc dqo Transformation The abc dg
198. ion temperature T at test in C RDS on at Test On resistance RDs on at test in Ohm Temperature Temperature coefficient K of the on resistance in 1 C Coefficient Anti parallel diode forward threshold voltage in V Anti parallel diode on resistance in Ohm Initial switch position flag for the transistor only 0 off 1 on Switch current flag for the whole module the transistor plus the diode The following examples illustrate the control of a MOSFET switch The circuit on the left uses a gating block and the one on the right uses an on off switch controller The gating signal is determined by the comparator output 4 2 7 IGBT An IGBT switch consist of an active switch with an anti parallel diode It is turned on when the gating signal is high when a voltage of 1V or higher is applied to the gate node and the switch is positively biased collector emitter voltage is positive It is turned off whenever the gating signal is low or the current drops to zero Images Attributes ae Parameters Saturation Voltage Transistor Resistance Diode Forward Voltage Chapter 4 Power Circuit Components Description Saturation voltage Vce_sat of the IGBT in V Transistor on resistance in Ohm Anti parallel diode forward threshold voltage in V 55 4 2 8 4 2 9 56 Diode Resistance Anti parallel diode on resistance in Ohm Initial Position
199. iven time Two types of step sources are provided one that changes from 0 to a certain level refer to as Step in the library and the other that changes from one level to another level referred to as Step 2 eve in the library Images Voltage Current o t Attributes For the Step type source Parameters Description Vstep Value Vstep after the step change Tstep Time T tep at which the step change occurs For the Step 2 level type source Parameters Description Vstep1 Value Vstep before the step change Vstep2 Value Vstep2 after the step change Tstep Time Tye at which the step change occurs T_ transition Transition time Tpansition TOM Vgtep1 tO V step The specifications of the voltage step sources are illustrated as follows Step Type Step 2 level Type V step V step2 T transition 0 L step f 7 4 6 Piecewise Linear Source The waveform of a piecewise linear source consists of piecewise linear segments It is defined by the number of points the values and the corresponding time in sec The values and times can be entered either separately or in pair Images Chapter 7 Sources 225 7 4 7 226 Voltage Current T Attributes For the sources that define the values and times separately Parameters Description Frequency Frequency of the waveform in Hz No of Points n No of points Values V1 Vn Values at each point Time T1 Tn Time
200. junction temperature is in turn fed back and used in the loss calculation The circuit shows a thermal circuit without considering the thermal transient Athj Fih es A heatsink 4 10 2 IGBT Thermal Model 4 10 2 1 IGBT Device in Database An IGBT device has three types of packages discrete dual or 6 pack For the dual package both the top and the bottom switches can be IGBT s full bridge configuration or one of the switches is IGBT and the other is a free wheeling diode half bridge configuration For the half bridge dual IGBT device since the free wheeling diode parameters can be different from these of the anti parallel diode Chapter 4 Power Circuit Components 123 124 this type of device is referred to as the IGBT Diode device and is treated as a different type in the simulation But for the convenience of discussion both devices are referred to as the IGBT devices here The following information is defined for an IGBT device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Package It can be discrete dual or 6 pack as shown in the figure below Images Discrete Dual Dual Type I Dual Type II Za P cond QO P sw Q 7 a n w P cond D E sw D In the images beside the IGBT and diode terminal nodes there are four extra nodes from the top to the bottom or from the left to the right on the top for the 6 pack package They are the no
201. ke where Ry is the load resistor in the switching time test circuit For 4N25 for example from the datasheet we can obtain t 1 3 us and Rz 100 Ohm The capacitance is calculated as C 6 nF dv dt Block A dv dt block has the same function as the differentiator in the control circuit except that it is for the power circuit Image The output of the dv dt block is equal to the derivative of the input voltage versus time It is calculated as Vth V the y oT At where V and V t At are the input values at the current and previous time step and A is the simulation time Step Chapter 4 Power Circuit Components 4 5 5 Relays 4 6 4 6 1 Two relay blocks with one normally open NO switch and one normally closed NC switch are provided Images Relay 1 NO 1 NC Relay 1 NO 1 NC changeover A yy seals D l I C T a S T a I i i i Attributes Parameters Description Rated Coil Voltage Rated voltage of the relay coil in V Coil Resistance Resistance of the coil in Ohm Operate Voltage Voltage at which the relay will operate in V Release Voltage Voltage at which the relay will return to the default position in V Operate Time Time from the moment the operate voltage is reached to the moment the switches operate in sec Release Time Time from the moment the release voltage is reached to the moment the switches return to the default positions in sec The rel
202. l N 13 Via Ney N59 j 2sin Ia Chapter 4 Power Circuit Components 67 The table below shows typical transformer turns ratios and delay angles d Ngo Ng1 Ng2 Ny Ng1 tNg2 Vab VAB dew Copo e f or y Cafon f foe y Ps e366 ror y Cof i r o aaa a f oe o S oo f poa ose fos w ee a E a Caf o e ee S o ey ee C A A a ee 4 3 4 Three Phase Transformer with Saturation 68 A three phase three winding transformer that can take into account saturation and residual flux is provided Image A P 5 a A a a B b B b C c C g en Ah Attributes Parameters Description Operating Voltage Transformer primary side rms voltage per phase under the circuit operating phase condition in V Operating Frequency Operating frequency of the transformer in Hz Rp primary Resistance of the primary winding in Ohm L pri leakage R secondary L sec leakage Rp core losses Leakage inductance of the primary winding in H Resistance of the secondary winding in Ohm referred to the primary side Leakage inductance of the secondary winding in H referred to the primary side Resistance that represents transformer core losses in Ohm Ln Vs Lm Values of the magnetizing current I in A vs the magnetizing inductance L in H that defines the magnetizing characteristics seen from the primary winding Phase A Residual Flux Phase A residual flux in per unit value Phase B Res
203. l lookup tables the node on the left is for the row index input and the node on the top is for the column index input A one dimensional lookup table has one input and one output Two data arrays corresponding to the input and output arrays are stored in a lookup table A 2 dimensional lookup table with integer input has two inputs The output data is stored in a 2 dimensional matrix The two inputs correspond to the row and column indices of the matrix For example if the row index is 3 and the column index is 4 the output will be A 3 4 where A is the data matrix A 2 dimensional lookup table with floating point input is similar to the lookup table with integer input The difference is that inputs are floating point values and interpolation is used to calculate the output Except the one dimensional lookup table Simview graph where data is defined in a Simview file there are two ways to define lookup table data One is to enter the data directly in the dialog window in the Lookup Table tab Another is to prepare the lookup table externally using a text editor and define the file in the dialog window To enter the data directly in the dialog window define the number of rows and columns for 2 dimensional lookup tables and click on Set Then enter the values in the data cells provided For 2 dimensional lookup tables with floating point input also enter row input array in the left most column and column input array in the top most row
204. l the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 4 6 1 The equations of the synchronous machine can be expressed as follows where i a S T E lv V V VFO 0 i Ly ee a ae ore Chapter 4 Power Circuit Components 7 ii F diag R R is Re Rar Rz ial h p o p gr Rar and A L The inductance matrix is defined as follows y led bea ad ed and Lo Lr L t Lot Locos 20 L cos 26 _ 2 lt L cos 28 S O r 3 2 3 z Ls 2T 2T Ly i 3 Lcos 20 oe 3 L say oes Lo cos 20 ee a 7 L2cos 20 L L cos 26 o Lid 2N 3 Z cos 28 LL E 20 2 3 L cos 28 L gcos 28 81n 20 2N 2T 2N Lareos 20 5 Lagcos 20 5F Lagsin 20 5 z sfCOS8 20 3 sql O8 20 z aS ln 20 3 L cos 20 7 L cos 26 m h sin 20 22 3 Lp Lea 9 i Arae Lar 9 i G Fe where 0 is the rotor angle The developed torque can be expressed as The mechanical equations are do Jt La i E d P de Qa The input parameters and the parameters in the equations are related in the following way Lee 15 A ae E Na Lof Lai S Log Lam Le Loy Ley Lp Lop Lage Lady Chapter 4 Power Circuit Components 91 Lg Lye Eii bey es Loi 4 6 7 Permanent Magnet Synchronous Machine A 3 phase permanent magnet synchronous machine has 3 phase
205. lates the core and winding losses Loss calculation of inductors takes into account the material characteristics of the device such as core material shape winding type size and air gap etc Note that the loss calculation is only an approximation and the accuracy of the results depends on the accuracy of the device data as well as the proper scaling of the results from the device test condition to the actual circuit operating conditions Users should always verify the results with the measurement from experimental setup 4 10 1 Diode Thermal Model 4 10 1 1 Diode Device in Database The following information is defined for a diode device in the database General Information e Manufacturer Device manufacture e Part Number Manufacturer s part number e Package It can be discrete dual or 3 phase bridge package as shown in the figure below Dual Dual Dual 3 phase D t l ai Type I Type II Type IID Bridge P SW Pona In the images beside the diode anode and cathode terminals there are two extra nodes The node with a dot is for the diode conduction losses P 7 and the node without a dot is for the diode switching losses P The style of the package for example TO 220 TO 247 etc can be specified in the Style field Absolute Maximum Ratings Virm max V Peak reverse blocking voltage Te max A Maximum dc current Tj max C Maximum junction temp
206. le Control Xap Rheostat Filters Computational Blocks z E ER aae Saturable Inductor Logic Elements im Digital Control Module R3 SimCoupler Module ModCoupler Modules B Design Suite Blocks Other Switch Controllers CG Sensors Drohec An na Project View Library Browser ait Ave db ob te Jt IK GE GE oo A OOA S0000 Pe HHS SGEAARHE lt Library Browser Element Toolbar 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 at desired location on schematic Select Element s To select an existing element on a schematic click on the element A rectangle will appear around the element To select a section of a circuit keep the left button of a mouse pressed and drag the mouse until the rectangle covers the selected area Rotate Before the element is placed right click to rotate the element After an element is selected select Edit gt gt Rotate to rotate the element Wire To connect a wire between two nodes select Edit gt gt Wire The image of a pen will appear on the screen To draw a wire keep the left button of the mouse pressed and drag the mouse A wire always starts from and end at a grid intersection For easy inspection a floating node is displayed as a circle and a junction node is displayed as a solid dot Label If two or more nodes are connected to t
207. le Energy Module SimCoder Module Built in electric machine models and mechanical load models for motor drive system studies Discrete library elements such as zero order hold z domain transfer function blocks quantization blocks digital filters for digital control system analysis Interface between PSIM and Matlab Simulink for co simulation Library elements and functions calculate semiconductor device losses and inductor losses Library elements such as solar module wind turbine battery and ultracapacitor models for renewable energy applications Function for automatic code generation capability F2833x Target Library elements for automatic code generation for TI F2833x series DSP F2803x Target Library elements for automatic code generation for TI F2803x series DSP MagCoupler Module Interface between PSIM and the electromagnetic field analysis software JMAG for co simulation MagCoupler RT Module Link between PSIM and JMAG RT data files ModCoupler gt Modules Interface between PSIM and ModelSim for co simulation There are two Motor Control Design Suite HEV Design Suite versions of the interface ModCoupler VHDL that supports VHDL code and ModCoupler Verilog that supports Verilog code Pre built templates for induction motor and linear nonlinear PMSM drives Pre built templates for hybrid electric vehicle HEV powertrain system design In addition a link 1s provided between PSIM and CosiMa
208. le Number Number of stator poles teeth Rotor Pole Number Number of rotor poles teeth Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal torque T Master Slave Flag Master slave flag of the machine 1 master 0 slave For more details on the definition and use of the master slave flag refer to Section 4 6 1 The node assignments are Nodes a a b b c c etc are the stator winding terminals for Phase a b c d and e respectively The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit The equation of the switched reluctance machine for one phase is AL 7 eu je 2 V I R Ji 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 O in electrical deg as shown in the following figure The inductance profile is half wave symmetrical That is it repeats itself after 180 Chapter 4 Power Circuit Components 97 98 8 in deg The rotor angle is defined such that when the stator and the rotor teeth are completely aligned 0 The value of the inductance can be in either rising stage flat top stage falling stage or flat bottom stage If we define the constant k as the rising slope of the inductance from L to Lmax which is the same as the fa
209. le uses a DLL file and this DLL file is placed in a directory other than the schematic directory or the PSIM directory this directory can be included in PSIM by using the Set Path function Similarly if a Thermal Module device is placed in a folder other than the default device folder this device file can be used by PSIM schematic by including the folder in the Device File Path PSIM searches the DLL files in the following order PSIM directory Schematic file directory Directories as defined in the PSIM Search Path section The first time that the DLL file is encountered it will be loaded For example assume that the PSIM program files are in C PSIM the schematic file is in C TEMP and the directory as defined in the Set Path function is C TEMPDLL The DLL file can be in one of the three places C PSIM C TEMP C TEMPDLL PSIM loads the Thermal Module device files in the following order The device sub folder in the PSIM directory Directories as defined in the Device File Path section All the device files in the PSIM s device sub folder and in the folders defined in the Device File Path will be loaded 2 10 3 Customizing Toolbars and Keyboards The procedures for create customized toolbars and to customize keyboards are described below Customizing Toolbars To create a toolbar called new and add the AND gate to the toolbar for example do the following Toolbar Name Cancel Toolbar icon are
210. lel devices is greater than one the total current through the group of the parallel devices will be equally divided among the devices The total losses are then obtained by multiplying the losses in each device by the number of parallel devices The currents flowing out of Nodes Prong and P are the total losses of all the parallel devices combined The voltage at the conduction losses node Poong or the switching losses node P represents the calculated junction temperature T of the diode and this junction temperature is used when the database curves are used for loss calculation If the calculated T is between the junction temperatures of two curves interpolation will be used If the calculated 7 is lower than the lowest 7 or higher than the highest T in the curves the curve corresponding to the lowest or highest 7 will be used If there is only one curve that curve is used regardless of the calculated T Conduction Losses The diode conduction losses are calculated as Conduction Losses Vy Ip Chapter 4 Power Circuit Components where V4 is the diode voltage drop and Ip is the diode forward current When the diode is conducting periodically with an on duty cycle of D the conduction losses are calculated as Conduction Losses Vy Ip D Switching Losses In calculating the switching losses the diode turn on losses are neglected and are not considered The diode turn off losses due to the reverse recovery 1s calculat
211. lement to be selected The most often used elements can be selected the Element Toolbar It is located at the bottom of the PSIM screen by default Another way is to use the Library Browser as shown below The Library Browser provides a convenient way of navigating through the library To launch the Library Browser go to View gt gt Library Browser Chapter 2 Circuit Schematic Design Element Menu File Edit View Design Suites Subcircuit Elements Simulate Options Utilities Window Help Dee z z 4 amp amp 7 ALLSODVSH F Library Browser z4 E C APowersim PSIM10 0 1 x Type one or more words to search in element s name and description Find Find Induction Motor Drive System with Vector and Field Weakening Control RLC Branches toz 460V 100 HP 60 Hz amp polea Elements a a 1m eae at eat AAA Resistor aoe C tes ep ee eee Switches AL Inductor Transformers Magnetic Elements Other Motor Drive Module MagCoupler Module z t Capacitor electrolytic MagCoupler RT Module Motor Controller for Simulation Only Mechanical Loads and Sensors j i De E Spena REG m Thermal Module Note This example illustrates an indu The anne current loops operate e A eWmb 2 3 14155 and the outers speed loop operate Capacitor z 1A They can be the same or differen If the base values Vb Ib Wid the control is in real value Ot Renewable Energy Modu
212. lling slope from Lmax to Lmin and the interval of the rising falling slope is 8 4 we can express the inductance L as a function of the rotor angle O from 0 to 180 as follows 0 Ve Dos for 0 lt 0 lt J 0 gt sn O nax L Lyge k 0 sa for 9 lt O lt 9 FO Oz Oar LS dies for 9 T OS O lt 9 O pt O nin 0 O 0 Lots k e tt Op Onsa for 9 t Orrt Onin SOS 28 74 Onin min 2 2 Ora L La for 3 T20 rt O nin SO lt 180 The developed torque of the machine per phase is ks ae eR Based on the inductance expression we have the developed torque in each stage as Tom i k 2 rising stage Tom 0 flat top stage Tom i k 2 falling stage LFN flat bottom stage Chapter 4 Power Circuit Components 4 6 10 Nonlinear Switched Reluctance Machine In the previous switched reluctance models the inductance is only a function of the rotor position and it remains constant during the flat top and flat bottom states In the nonlinear models the inductance can be a nonlinear function of not only the rotor position but also the current The relationship between the inductance and the rotor position and current is defined through a 2 dimensional lookup table The images and parameters are shown as follows Images Shaft Node Nonlinear Nonlinear Nonlinear Attributes Parameters Description Resistance Stator phase resistance R in Ohm Stator Pole Number Number of stator
213. look incorrect or inaccurate or the waveform resolution is poor Solution This may be caused by two reasons One is the time step Since PSIM uses the fixed time step during the entire simulation one should make sure that the time step is sufficiently small As a rule of thumb the time step should be several tens times smaller than the switching period Another reason is the problem of waveform display One should make sure that the print step is not too big To display all the data points set the print step to 1 Chapter 8 Error Warning Messages and Other Simulation Issues 233 234 Chapter 8 Error Warning Messages and Other Simulation Issues A absolute value function block 158 ac analysis 3 215 216 217 air gap 69 70 71 72 ammeter ac 196 dc 196 axis setting 34 134 135 137 B backup automatic 22 band energy 139 band stop filter 155 batch run 20 battery lithium ion 145 146 B H curve 24 45 72 Boltzmann constant 140 C C block 207 208 209 simplified 208 cable 44 calculator 25 37 capacitor 19 41 43 46 70 71 88 115 116 233 Charging Control 190 191 circular buffer 179 180 code generation automatic 1 13 18 22 209 214 command line 20 comparator 53 55 73 160 164 183 Control 200 controller differentiator 152 digital PI 173 modified PI 153 proportional integral PI 152 single pole 153 Type 2 153 Type 3 154 converter A D 169 D A 169 s2z 24 unit 25 convolution block 180 core
214. lue the input will be set to the minimum or maximum value This PMSM model with saturation can also be used as the linear PMSM model if the lookup tables are defined such that Ly and Lgm are linear function of I4 and 74 The following shows an example of the lookup table 4 15 5 7155 4 8990 4 0825 3 2660 5 7155 4 8990 4 0825 3 2660 2 4495 1 6330 0 8165 0 0 8165 1 6330 2 4495 3 2660 4 0825 4 8990 5 7135 0 0109 0 0109 0 0107 0 0104 0 0102 0 0100 0 0098 0 0098 0 0098 0 0100 0 0102 0 0104 0 0107 0 0109 0 0109 0 0109 0 0109 0 0109 0 0106 0 0109 0 0106 0 0105 0 0105 0 0105 0 0106 0 0109 0 0106 0 0109 0 0109 0 0109 0 0109 0 0109 0 0109 0 0109 0 0111 0 0108 0 0106 0 0106 0 0106 0 0108 0 0111 0 0109 0 0109 0 0109 0 0109 0 0110 0 0110 0 0111 0 0110 0 0110 0 0109 0 0108 0 0107 0 0108 0 0109 0 0110 0 0110 0 0111 0 0110 0 0110 Chapter 4 Power Circuit Components 4 6 9 Switched Reluctance Machine Three types of switched reluctance machine models are provided 3 phase 4 phase and 5 phase Images 3 phase Shaft Node Attributes Parameters Description Resistance Stator phase resistance R in Ohm Inductance Lin Minimum phase inductance Lmin in H Inductance Lmax Maximum phase inductance Lmax in H Theta min deg Duration of the interval 0 where the inductance is at the minimum in deg min Theta max deg Duration of the interval 0 where the inductance is at the maximum in deg Max Stator Po
215. machine is shown below Two types of parameter inputs are provided One based on machine model parameters and the other based on manufacturer datasheet information Image gt Shaft Node n Sa Sh So 6 pulse Hall Effect Position Sensor Attributes based on machine model parameters Parameters Description R stator resistance Stator phase resistance R in Ohm L stator self ind Stator phase self inductance L in H Chapter 4 Power Circuit Components 85 86 M stator mutual ind Vpk krpm Vrms krpm No of Poles P Moment of Inertia Shaft Time Constant theta_0 deg theta_advance deg Conduction Pulse Width Torque Flag Master Slave Flag Stator mutual inductance M in H The mutual inductance M is a negative value Depending on the winding structure the ratio between M and the stator self inductance L is normally between 1 3 and 1 2 If M is unknown a reasonable value of M equal to 0 4 L can be used as the default value Peak line to line back emf constant in V krpm mechanical speed RMS line to line back emf constant in V krpm mechanical speed The values of Vpk krpm and Vrms krpm should be available from the machine data sheet If these values are not available they can be obtained through experiments by operating the machine as a generator at 1000 rpm and measuring the peak and rms values of the line to line voltage Number of poles P Moment of inertia J of
216. mages Diode full wave Thyristor full wave DC A c gn DC A A Bo gt C C Co De 4 x K i DC DC Thyristor half wave 3 phase Thyristor half wave 1 Ct A 2 N B N 4 C VSI3 MOSFET or IGBT QW QW Chapter 4 Power Circuit Components 61 Attributes for the diode bridge Parameters Description Diode Threshold Voltage Diode Resistance Init Position i Current Flag i Threshold voltage drop of the diode in V On resistance of the diode in Ohm Initial position for Switch i Current flag for Switch i Attributes for thyristor bridges Parameters Description Voltage Drop Init Position i Current Flag i Conduction voltage drop of the thyristor in V Initial position for Switch i Current flag for Switch 7 Attributes for VSI3 bridge with MOSFET switches Parameters Description On Resistance Diode Threshold Voltage Diode Resistance Init Position i Current Flag i On resistance of the MOSFET transistor in Ohm Threshold voltage drop of the diode in V On resistance of the diode in Ohm Initial position for Switch i Current flag for Switch 7 Attributes for VSI3 bridge with IGBT switches Parameters Description Saturation Voltage Transistor Resistance Diode Threshold Voltage Diode Resistance Init Position i Current Flag i Saturation voltage Vce_sat of the IGBT transistor in Ohm
217. mature and field winding voltage and current respectively E is the back emf gi Ve Dopa bene ary oe dt dip Chapter 4 Power Circuit Components 1s the mechanical speed in rad sec Tp 1s the internal developed torque and 77 is the load torque The back emf and the internal torque can also be expressed as E Loe Ip O a T Sg gt Le em where Laris the mutual inductance between the armature and the field windings It can be calculated based on the rated operating conditions as _ Syed ol af Tp Note that the dc machine model assumes magnetic linearity Saturation is not considered Example A DC Motor with a Constant Torque Load The circuit below shows a shunt excited dc motor with a constant torque load Ty Since the load is along the reference direction of the mechanical system the loading torque to the machine is 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 Speed A eae ESEA Armature current __ Sensor Constant Torque Load 4 6 5 Brushless DC Machine A 3 phase brushless dc machine is a type of permanent magnet synchronous machine with trapezoidal waveform back emf It has 3 phase windings on the stator and permanent magnet on the rotor The image of the 3 phase brushless dc
218. mbedded Software Block 210 IC Models 211 6 5 1 PWMIC 211 6 5 2 DriverIC 212 6 5 3 555 Timer 213 Initial Values 213 AC Analysis 215 6 7 1 AC Sweep 215 6 7 2 AC Sweep Multi Sine 218 Parameter Sweep 219 Sources vi kA T2 7 0 7 4 Constant 221 Time 221 Ground 221 Voltage and Current Sources 222 7 4 1 7 4 2 7 4 3 7 4 4 7 4 5 7 4 6 TAT 74 8 7 4 9 DC Source 222 Sinusoidal Source 222 Square Wave Source 223 Triangular Sawtooth Sources 224 Step Sources 225 Piecewise Linear Source 225 Random Source 226 Math Function Source 227 Voltage Current Controlled Sources 227 7 4 10 Nonlinear Voltage Controlled Sources 229 Error Warning Messages and Other Simulation Issues 8 1 Simulation Issues 231 8 1 1 Time Step Selection 231 8 1 2 Propagation Delays in Logic Circuits 231 8 1 3 Interface Between Power and Control Circuits 231 8 1 4 FFT Analysis 232 8 2 Error Warning Messages 232 8 3 Debugging 233 Index 235 1 1 NOOR WD Introduction 1 General Information PSIM is a simulation software specifically designed for power electronics motor drives and power conversion systems With fast simulation speed and friendly user interface PSIM provides a powerful simulation environment to meed your simulation and development needs PSIM includes the basic package as well as the following add on options Motor Drive Module Digital Control Module SimCoupler Module Thermal Module Renewab
219. ment DLL To create a new element from a DLL file New Subcircuit Element External To create a new element from a subcircuit and the subcircuit file is stored outside the library file New Subcircuit Element Internal To create a new element from a subcircuit and the subcircuit file is stored inside the library file 2 12 1 Creating a Secondary Image It is possible that some users may find certain element images in the standard PSIM image library psimimage lib different from what they are used to use In this case users can create their own secondary images A secondary image can be created for an element in either standard image library psimimage lib or users own custom image libraries Secondary images are saved in a secondary image library with the lib2 extension To illustrate the process a secondary image will be created in the library mylib lib2 for the Diode element in the standard image library e Go to Edit gt gt Edit Library gt gt Edit secondary image library files and click on New library In the dia log define the secondary image library name as mylib lib2 e Then select mylib lib2 and click on Edit selected library The dialog window for editing secondary image library will appear e Click on the Add button From the PSIM library tree navigate to Power gt gt Switches and select Diode The element Diode will appear in the list of the secondary images The text PSIMIMAGE in front of the Diode tex
220. meters Description Gain Gain k of the PI controller Frequency fz1 Frequency f of the first zero in Hz Frequency fz2 Frequency f of the second zero in Hz Frequency fp1 Frequency fp of the first pole in Hz Frequency fp2 Frequency fp of the second pole in Hz The transfer function of a Type 3 controller is defined as l isi bers Gs ki Shy eta i ei 1 1 I 1 here E Se a E a Se WSS a On p22 On po P Inf m4 pe OnF y The Bode plot of the amplitude G and the phase angle of the Type 3 controller is shown as below G 20dB dec 20dB dec rad sec When a limiter is connected to the controller output anti windup is implemented automatically Chapter 5 Control Circuit Components 5 1 8 Built in Filter Blocks Four second order filters and one first order filter are provided as built in blocks in PSIM Images 2nd order low pass 2nd order high pass 2nd order band pass 2nd orderband stop __ Ist order low pass Attributes for second order filters Parameters Description Gain Damping Ratio Cut off Frequency Center Frequency Passing Band Stopping Band Gain k Damping ratio W Cut off frequency fe for low pass and high pass filters in Hz 0 Center frequency f f F for band pass and band stop filter in Hz Frequency width f of the passing stopping band for band pass band stop filters in Hz Attributes for
221. motor speed the field weakening block will calculate the d axis and q axis current references Id and Iq to achieve a maximum power operation This block requires the parameters of the PMSM controlled and the inverter voltage and current ratings Attributes for Field Weakening Non Linear IPM Parameters Description Number of Poles Number of poles of the machine Maximum Inverter Current Maximum inverter output current amplitude peak in A Maximum Inverter Voltage Maximum inverter output voltage amplitude phase peak in V Base Voltage Value System base voltage value in V Base Current Value System base current value in A Base Mechanical Speed System base mechanical speed in rad sec The block has the following inputs and outputs all in per unit value except Ld Lq and Lambda If base voltage value Vb Ib and Wmb are all set to 1 all input and output quantities are in true values Input Signals Is Inverter current amplitude reference Ld d axis inductance at the rated operating conditions in real value in H La q axis inductance at the rated operating conditions in real value in H Lambda Peak stator phase flux linkage at the rated operating conditions in real value in Weber Vde DC bus voltage feedback Wm Motor mechanical speed in Output Signals Id d axis current reference Iq q axis current reference This block is for the control of nonlinear interior PMSM IPM machines only It is no
222. mples the input when the control signal changes from low to high from 0 to 1 and holds this value until the next point 1s sampled Input 4 Control The difference between this block and the zero order hold block ZOH in Digital Control Module is that this block is treated as a continuous element and sampling moments can be controlled externally whereas the zero order hold block is a discrete element and the sampling moments are fixed and of equal distance Image Chapter 5 Control Circuit Components 161 5 3 6 5 3 7 162 For a discrete system the zero order hold block should be used Example In this example a sinusoidal input is sampled The control signal is a square wave voltage source with an amplitude of 1 Victrl i i E s L EE ne E fos F T Y i i oeo ae Epes Fe df ty Pe BU Oe el Ges el ip We Wy Ce Ba i i ged Ee Bee Pe peo el Bye feat Bt et el eres ly eR Eee CoB i i gan fkekdad date bel teak dedide de tokabeigedi Jadida tekal ozo l b Fee eV pe Ae Gy et set Cl OE Ue LEd LLL i i o 00 5 00 10 00 15 00 Time m Round Off Block The image of a round off block is shown below Image INT Attributes Parameters Description No of Digits No of digits N after the decimal point Truncation Flag Truncation flag 1 truncation 0 round off Let the input of the round off block be V The input is first scaled based on the follow
223. n 71 lt atan2 y x lt 7 hyperbolic sine function hyperbolic cosine function exponential base e Example EXP x e logarithmic function base e Example LOG x In x logarithmic function base 10 absolute function sign function Example SIGN 1 2 1 SIGN 1 2 1 Chapter 1 General Information 2 Circuit Schematic Design PSIM s schematic program provides interactive and user friendly interface for circuit schematic entry and editing The PSIM user interface consists of an integrated set of windows tools menus toolbars and other elements that allow you to create simulate and refine your circuits in one places 2 1 PSIM Environment The following figure shows typical screen display of PSIM environment In the figure to illustrate as examples two PSIM circuit files are open a boost power factor correction circuit and a dc dc buck converter circuit File Edit View Design Suites Subcircuit Elements Simulate Options Utilities Window Help Deas a vR ALLSoge F ANR c E C Powersim PSIM10 0 1 examples Motor Control Design Suite Induction Motor Drive main Induction Motor Drive psimsch gy Documents a 4 83 Study buck main 3 6 Schematic buck main psimsch 4 Graphs amp 1 1 amp Vo 4 main Induction Motor Drive gy Documents 4 83 Study main Induction Motc 3 Schematic main Induction Moti 4 S3 block Slip Ca C Powersim PSIN 3 Graphs Ffw I
224. n of A and B as C A8B epini Cyan C where ci X apy bj k 0 m n 1 j 0 mt n 1 1 1 m n 1 Example If A 1 2 3 and B 4 5 we have m 3 n 2 and the convolution of A and B is C 4 13 22 15 Memory Read Block A memory read block is used to read the value of a memory location of a vector Image ual Attribute Parameter Description Memory Index Offset Offset from the starting memory location A memory read block allows one to access the memory location of elements such as convolution block vector array and circular buffer The index offset defines the offset from the starting memory location Example Let a vector be A 2 4 6 8 If index offset is 0 the memory read block output will be 2 If the index offset is 2 the output will be 6 Chapter 5 Control Circuit Components 9 9 8 9 9 9 Data Array This is a one dimensional array The output is a vector The data are either entered directly the element is called Array in the PSIM library or specified in a file the element is called Array file in the PSIM library Image gt Attributes Parameters Description Array Length The length of the data array N for the element Array only Values Values of the array for the element Array only File for Coefficients Name of the file storing the array for the element Array file only If the array is read from a file the file will have the followin
225. n temperatures of two curves interpolation will be used If the calculated junction temperature is lower than the lowest junction temperature or higher than the highest junction temperature in the curves the curve corresponding to the lowest or highest junction temperature will be used If there is only one curve that curve is used regardless of the calculated junction temperature Conduction Losses The transistor conduction losses is calculated as Transistor Conduction Losses Veecsar Le where Vee sar 18 the transistor collector emitter saturation voltage and is the collector current When the transistor is conducting periodically with an on duty cycle of D the conduction losses are calculated as Transistor Conduction Losses Vee san Te D Switching Losses The transistor turn on losses is calculated as Transistor Turn on Losses Epp f Veo Vee datasheet where Epp is the transistor turn on energy losses f is the frequency as defined in the input parameter Frequency Vec is the actual de bus voltage and Vec datasheet 1S the de bus voltage in the Eon and Ep characteristics of the datasheet defined as DC bus voltage V in the test conditions The transistor turn off losses is calculated as Transistor Turn off Losses Eog f Veo Vee datasheet where Epis the transistor turn off energy losses The loss calculation for the anti parallel diode or free wheeling diode is the same as described in the sec
226. nce factor Az defined as the inductance per turn squared Resistance for Losses Resistance R in Ohm that represents the losses due to the leakage flux Current Flag Display flag of the current that flows through the resistor R The resistance R represents the losses due to the leakage flux Assuming that the mmf magnetomotive force applied across the leakage flux path is F the electric equivalent circuit of the leakage flux path is as follows nS The mmf in the form of a voltage source applies across the capacitor the capacitance is Ar and the resistor R Let the current flowing through this branch be i and the rms value be J the relationship between the losses due to the leakage flux and the resistance R is Prose d ed rms Air Gap The image and attributes of an air gap element are as follows Image MI LH M2 The input parameters of the air gap can be defined in two ways One is to define the air gap length and the cross section area and the other is to define the inductance factor Ar They are as follows Attributes For the element Air Gap Parameters Description Air Gap Length The length of the air gap lo in m Chapter 4 Power Circuit Components 4 4 4 2 Cross Section Area Cross section of the air gap 4 inm Resistance for Losses Resistance R in ohm that represents the losses due to the air gap fringing effect Current Flag Display
227. ncy in Hz under which the losses are calculated Poong Calibration Factor The calibration factor K 7 of the conduction losses Pond P Calibration Factor The calibration factor K of the switching losses P Number of Parallel Number of identical diode devices in parallel Devices The parameter Frequency refers to the frequency under which the losses are calculated For example if the device operates at the switching frequency of 10 kHz and the parameter Frequency is also set to 10 kHz the losses will be the values for one switching period However if the parameter Frequency 1s set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter P 7 Calibration Factor is the correction factor for the conduction losses For the example if the calculated conduction losses before the correction is P then cond cab P cond Keond SF cond cal Similarly the parameter P Calibration Factor is the correction factor for the switching losses For the example if the calculated switching losses before the correction is Psw cap then P sw Koy P sw cal When several identical diodes are in parallel one should have just one device in the schematic and set the correct number of devices in the parameter input This is because when several identical devices are in parallel in the schematic the device currents may not be exactly equal due to small differences in the simulation When the number of paral
228. ne of the THD block output is the input current fundamental component i By comparing the phase difference between the input voltage v and the current i one can calculate the input displacement power factor This together with the THD value can be used to calculate the input power factor 5 3 10 Space Vector PWM A space vector PWM block is used in a carrier wave based PWM scheme It changes the 3 phase modulation signals such that the PWM modulator gain is similar to that of a digitally implemented space vector PWM Image Chapter 5 Control Circuit Components 165 5 4 5 4 1 5 4 2 166 Logic Components Logic Gates Basic logic gates are AND OR XORGATE exclusive OR NOT NAND and NOR gates Images AND OR NOT XOR 3 input AND 3 input OR NAND NOR Set Reset Flip Flop There are two types of set reset flip flops One is edge triggered and the other is level triggered Image 3 9 R Q Attribute Parameter Description Trigger Flag Trigger flag 0 edge triggered 1 level triggered An edge triggered flip flop only changes the states at the rising edge of the set reset input The truth table of an edge triggered flip flop is no change 0 0 not used A 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 no change 0 0 not used Chapter 5 Control Circuit C
229. near surface mounted PMSM SPM machines only It is not for internal PMSM IPM machines In a SPM the d axis and q axis inductance values are equal When the machine speed is higher than a certain value the machine will not be able to generate the maximum torque Instead it will be limited by the machine power rating Given the current amplitude dc bus voltage and the motor speed the field weakening control block will calculate the d axis and q axis current references Id and Iq to operate in the constant power region Attributes for Field Weakening IPM Parameters Description Rs stator Stator winding resistance of the machine in Ohm Lls stator leakage Stator leakage inductance of the PMSM machine in H Rr rotor Rotor winding resistance of the machine in Ohm Llr rotor leakage Rotor leakage inductance of the machine in H Lm magnetizing Magnetizing inductance in H Number of Poles Number of poles of the machine Rated Speed rpm Rated speed of the machine in rpm AC Source Frequency AC source frequency in Hz AC Voltage line line rms AC source voltage line to line rms in V Base Voltage Value System base voltage value in V Base Current Value System base current value in A The block has the following inputs and outputs all in per unit value If base values Vb Ib and Wmb are all set at 1 0 all input and output quantities are in real values Input Signals Vdc DC bus voltage We Stator electrical speed
230. ng losses For the example if the calculated switching losses before the correction is Psw o can then P sw Q Kw O a a sw cal Parameters Ponq p Calibration Factor and P p Calibration Factor work in the same way except that they are for the diode losses When several identical MOSFET devices are in parallel one should have just one device in the schematic and set the correct number of devices in the parameter input This is because when several identical devices are in parallel in the schematic the device currents may not be exactly equal due to small differences in the simulation When the number of parallel devices is greater than one the total current through the group of the parallel devices will be equally divided among the devices The total losses are then obtained by multiplying the losses in each device by the number of parallel devices The currents flowing out of Nodes Poona D Psw D Peond o and Ps gare the total losses of all the parallel devices combined The voltage at the diode loss node Poong p OF Psy p of the MOSFET image represents the calculated junction temperature 7 of the anti parallel diode and this junction temperature is used when the database curves are used for determining the forward conduction diode voltage drop If the calculated 7 is between the junction temperatures of two curves interpolation will be used If the calculated 7 is lower than the lowest 7 or higher than the highest 7 in the curv
231. ng point For example if a switch is turned on and off once in one cycle the number of switching points will be 2 For the Gating Block file element the file for the gating table must be in the same directory as the schematic file The gating table file has the following format n Gl G2 where Gl G2 Gn are the switching points Example Assume that a switch operates at 2000 Hz and has the following gating pattern in one period 345 357 0 180 360 deg The specification of the Gating Block element for this switch will be Frequency 2000 No of Points 6 Switching Points 35 92 175 187 345 357 The gating pattern has 6 switching points 3 pulses The corresponding switching angles are 35 92 175 187 345 and 357 respectively Chapter 4 Power Circuit Components 59 If the Gating Block file element is used instead the specification will be Frequency 2000 File for Gating Table test tbl The file test tbl will contain the following 6 35 92 175 187 345 357 4 2 12 Single Phase Switch Modules Built in single phase diode bridge module and thyristor bridge module are provided The images and internal connections of the modules are shown below Images Diode bridge Thyristor bridge A DC At DC DC A A A Ne Rete A DC DC DC Attributes Parameters Description or Voltage Drop Dio
232. ng the PSIM Library A PSIM library element consists of two parts the netlist part and the image part The netlist part comes from the netlist library and there is only one netlist library psim lib The netlist library can not be edited The image part comes from an image library There can be multiple image libraries and all the image libraries in the PSIM directory will be automatically loaded into PSIM The standard image library provided by PSIM is psimimage lib This file also can not be edited However in order to facilitate users to copy images from the standard image library the standard image library can be viewed by going to Edit gt gt Edit Library gt gt Edit library files and choosing psimimage lib Users can create their own custom image libraries To create a new custom image library go to Edit gt gt Edit Library gt gt Edit library files and click on New library Then define the library name as it appears in the PSIM Elements menu and the library file name This library file will be created and placed in the PSIM directory To edit an image library go to Edit gt gt Edit Library gt gt Edit library files and select the library file The figure below shows the library editor dialog window The dialog shows the menu tree of the library as well as various functions To create a new element in the custom image library click on New Element and select the netlist that this element corresponds to from the list For
233. note that when the SimCoupler model block is used in a feedback system in Simulink the SimCoupler model block may be part of an algebraic loop please refer to Matlab Help for more information on algebraic loops Some versions of Matlab Simulink can not solve a system containing algebraic loops and other can solve the system but with degraded performance To break an algebraic loop place a memory block at each output of the SimCoupler model block The memory block introduces one integration time step delay Solver Type and Time Step Selection in Simulink There are certain restrictions on the selection of the solver type and the time step in Simulink when performing the co simulation To illustrate this we use the following one quadrant chopper circuit with average current mode control as an example The circuit on the left is all implemented and simulated in PSIM The circuit on the right has the power stage implemented in PSIM and the control implemented in Simulink In both circuits the PSIM time step is 2 us Complete circuit in PSIM Power circuit in PSIM Time step 2us There are different ways of setting up Simulink to perform co simulation The recommend approach is to set the Solve Type to Fixed step and define the Fixed step size to be the same or close to PSIM s time step The figure below shows this option Control in Simulink Solver Type Fixed step Time step 20 us Constant Gain Integrator Sihkou
234. nput format errors occurred in the simulation It may be caused by one of the following e Incorrect Incomplete specifications e Wrong input for integers and character strings Make sure that the PSIM library 1s 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 F 2 Error message The node of an element is floating This can also be caused by a poor connection in PSIM When drawing a wire between two nodes make sure that the wire 1s connected to the terminal of the element Chapter 8 Error Warning Messages and Other Simulation Issues W 7 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 switching positions Since the computation continues based on the switch positions at the end of the 10th iteration results could be inaccurate One should be cautious when analyzing the results 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
235. nsions used in PSIM are psimsch PSIM schematic file psimpjt PSIM project file lib PSIM library file fra PSIM ac analysis output file text dev Device database file txt Simulation output file in text format SMV Simulation output file in binary format Chapter 1 General Information 3 1 5 1 6 Simulating a Circuit To simulate the buck converter circuit buck psimsch in examples dc dc Start PSIM From the File menu choose Open to load the file buck psimsch From the Simulate menu choose Run PSIM to start the simulation Simulation results will be saved to File buck smv By default Auto run SIMVIEW is selected in the Options menu SIMVIEW will be launched automatically In SIMVIEW select curves for display If this option is not selected from the Simulate menu choose Run SIMVIEW to start SIMVIEW Simulation Control The Simulation Control element defines parameters and settings related to simulation To place the Simulation Control in the schematic go to the Simulate menu and select Simulation Control There are three tabs in the Simulation Control dialog Parameters Define essential parameters for transient simulation SimCoder Define the hardware for SimCoder simulation and automatic code generation For more detailed information please refer to SimCoder User s Manual Color Define the color of the Simulation Control image The default color is blue Image
236. nt must be the same as the predefined name The predefined names are PM Synchronous Machine for 3 phase PMSM Step Machine for 2 phase step machine Linear Synchronous Machine for linear synchronous machine Linear Solenoid for linear solenoid For example the first several lines of a netlist XML file for a PMSM may look like the following lt xml version 1 0 encoding UTF 8 gt lt CircuitElement file 1mp rtt name MagCoupler RT gt lt NetlistElement type JMAGRT element PM Synchronous Machine pole number 4 gt The JMAG RT Input File is the JMAG RT data file for the device modeled The file has the rtt extension and is defined in the netlist XML file Note that the rtt file and the xml file must be in the same directory The JMAG Case Text is a text identifying the specific JMAG RT study case It can be any text The Terminal Names are the names of the interface nodes The parameters of a 3 phase PMSM is shown below Parameter Description shaft _Momentoflnertia Moment of inertia of the machine in kg m shaft ShaftTimeConstant Shaft time constant of the machine in sec RU resistance Resistance of Phase U in Ohm RV_ resistance Resistance of Phase V in Ohm RW resistance Resistance of Phase W in Ohm OffsetAngle Initial rotor angle in mechanical deg coef inductance Inductance coefficient used in JMAG RT coef flux Flux coefficient used in JMAG RT coef torque Torque coefficient used in JMAG
237. nt Ip Thermal Characteristics Rihg c transistor Transistor junction to case thermal resistance in C W Chapter 4 Power Circuit Components Ringj c diode Diode junction to case thermal resistance in C W Rih c s Case to sink thermal resistance in C W Dimensions and Weight Length mm Length of the device in mm Width mm Width of the device in mm Height mm Height of the device in mm Weight g Weight of the device in g Note that the condition DC bus voltage V in the characteristics Eon vs I and Eoff vs I for transistors and the condition Reverse blocking voltage VR V in the characteristics E vs Ip for anti parallel and free wheeling diodes are used to scale the loss calculation and must be entered correctly Also parameters under Absolute Maximum Ratings Thermal Characteristics and Dimensions and Weight are not used in the loss calculation and are optional In addition the collector emitter saturation voltage Vee san of the transistor and the forward conduction voltage drop V4 of the diode change depending on the currents The new values are used in the subsequent simulation 4 10 2 2 IGBT Loss Calculation An IGBT device in the database can be selected and used in the simulation for loss calculation An IGBT device in the Thermal Module library has the following parameters Attributes Parameters Description Device The specific device selected from the device database Fre
238. nt voltage characteristic of cSi and thin film models equations are v pvFRs mVr E 1 V 1 R R DV Where ey Vr h Q Toode and p kT mod p ee o Linear temperature model for the module temperature R 1000 E mi In the above equations ly Module current Ip Diode saturation current Loh Photo current source current Chapter 4 Power Circuit Components 141 142 Vv Module voltage V Temperature voltage V cap bandgap R serial resistance Rp Parallel resistance T Absolute ambient temperature K Taod Module temperature K G Irradiance W m2 c Constant for the linear temperature model Co Coefficient of diode saturation current m diode factor ep Elementary charge k Boltzmann constant The technology dependable parameters providing the v i curve of this model are listed in the table below y lenmi 0 95 0 98 npp G 1000 W m V nppSTC oe 0 8 0 72 nppSTC T 0 9 0 8 scSTC PV generator model for MPPT performance tests MPP to open circuit voltage ratio FE F Les TC VocSTC MPP to short circuit current ratio FF nppSTC seste Formula for the PV current as a function of PV voltage j ER oe rde 1 Irradiance G and temperature T dependent short circuit current G Din Lses 1 a Tp fsro Irradiance and temperature dependent open circuit voltage G Voc Vaeste A B Ip Pera E 1 6 0 G Where the temperature of the PV generator should foll
239. nuous domain integrator is also connected to the input sine source This makes it a mixed continuous discrete circuit and a simulation time step selected for the continuous circuit will be used With this time step the familiar staircase like waveform can be observed at the zero order hold output Without the integrator the circuit becomes a discrete circuit Since only the calculation at the discrete sampling points is needed the simulation time step will be equal to the sampling period and only the results at the sampling points are available The waveforms as shown below appear continuous In fact the waveforms are discrete and the connection between two sampling points makes it look like continuous 170 Chapter 5 Control Circuit Components 0 00 5 00 10 00 15 00 20 00 Time m 9 5 2 Z Domain Transfer Function Block A z domain transfer function block is expressed in polynomial form as by Z b 2 by yt by N 1 DEZ Raye iene Tage ge ae ag Mz If ag 1 the expression Y z H z U z can be expressed in difference equation as y n by un b u n 1 by u n N a y n 1 4a y n 2 tay y n N Image Attributes Parameters Description Order NV Order N of the transfer function Coeff bo by Coefficients of the numerator from b to by Coeff do ay Coefficients of the denominator from dg to ay Sampling Frequency Sampling frequency in Hz Ex
240. o function blocks perform the transformation between the abc coordinate and the dqo coordinate The transformation is often referred to as the Park transformation Images abc to dqo dqo to abc Attributes Parameters Description Transformation Flag Transformation flag 0 The q axis leads the d axis 1 The q axis lags the d axis The angle O at the bottom of the blocks is in rad It should be noted that in power circuit currents must first be converted into voltage quantities using current controlled voltage sources before they can be transformed Also if an input terminal is not used such as in the dqo to abe transformation block where only Phase d and q are not used and Phase o is not used it must be connected to ground Depending on the transformation flag the transformation equations are as follows From abc to dqo with the transformation flag set to 0 cos8 cos cos o 3 Va 9 a Ya 3 sin sin 0 47 sin o i Ve V V 1 I 1 From abc to dqo with the transformation flag set to 1 Chapter 6 Other Components 201 cos8 cos cos 3 3 Vg 9 Ve Vo 3 sin sin o 7 sin o Vp Vo Vo l l l Note that the coefficient 2 3 in front of the transformation matrix means that the transformation is amplitude invariant not power invariant That is the dq vector amplitude is equal to the peak amplitude of the three phase sinusoidal waveforms But the pow
241. oint The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit For more details on the definition and use of the master slave flag refer to Section 4 6 1 The equations of the permanent magnet synchronous machine are 92 Chapter 4 Power Circuit Components v kR 0 0 i A a a d a Wy ORO A v 0 0 R i A where v Vb Yo and i i and i and q b c are the stator phase voltages currents and flux linkages respectively and R is the stator phase resistance The flux linkages are further defined as cos 0 a Loh Lap Les Iy 2T Dig bee opp ag EAn cos 0 5 TRM NTE L 1 c ca cb cec c cos 8 where 0 is the rotor electrical angle and dom is the peak stator phase flux linkage defined as 60 V krpm J3 n P 1000 pm where P is the number of poles The stator self and mutual inductances are rotor position dependent and are defined as Leg bet Le 15 Gos 20 dean Laeda TL cos 20 1 Toa So P oe ae cos 20 L Loy Lp o cos 20 7 Lo 2m ba ee die aorta cos 20 1 L Lpo Lop o ted oe cos 26 where L is the stator leakage inductance The variables in the abc frame can be converted to the dq0 frame using the following transformation cos 0 cos 0 cos Xg 9 Xa a sin 0 sin 0 7 sin X Xo Xe l l 1 The inverse transformation is as
242. ol Solar Module physical model under the Utilities 140 Chapter 4 Power Circuit Components menu is provided to help obtaining the parameters from manufacturer datasheet The interface of the tool is shown on the right For more details on how to use this tool to obtain the model parameters please refer to the tutorial Tutorial Solar Module physical module pdf in the doc sub folder in the PSIM directory 4 11 1 3 Solar Module cSi and Thin File Models The solar module s cSi Crystalline Silicon and Thin Film models are developed according to EN50530 Standard Only three parameters are needed This 1s because material related data are already included in the v i characteristic equations in these models Images EN50530 cSi EN50530 thin film S d S d T _ T e In the image the nodes marked with the and signs are the positive and negative terminals The node with the letter S refers to the light intensity input in W m and The node with the letter T refers to the ambient temperature input in C While the positive and negative terminal nodes are power circuit nodes the other nodes are all control circuit nodes Attributes Parameter Description Maximum Power Solar cell maximum output power in W Maximum Power Voltage Solar cell terminal voltage when the output power is at the maximum in V Test Condition Temperature Test condition temperature in degree C The curre
243. older Chapter 4 Power Circuit Components 111 4 9 4 9 1 Mechanical Elements and Sensors This section describes elements that are shared by Motor Drive Module MagCoupler Module and MagCoupler RT Module The elements include mechanical loads gear boxes mechanical coupling blocks mechanical electrical interface blocks and various speed torque position sensors Mechanical Loads Several mechanical load models are provided constant torque constant power constant speed general type and externally controlled loads 4 9 1 1 Constant Torque Load The image of a constant torque load 1s Image T a es Attributes Parameters Description Constant Torque Torque constant T onst in N m Moment of Inertia Moment of inertia of the load in kg m7 If the reference direction of a mechanical system enters the dotted terminal the load is along the reference direction and the loading torque to the master machine is Tiong Otherwise the loading torque will be Tyong See Section 2 6 1 for more detailed explanation on the reference direction A constant torque load is expressed as The torque does not depend on the speed direction 4 9 1 2 Constant Power Load 112 The image of a constant power load is Image P a Attributes Parameters Description Maximum Torque Maximum torque Tmax of the load in N m Base Speed Base speed pase Of the load in rpm Moment of Inertia Moment o
244. ollowing shows a 2 dimensional lookup table with floating point inputs 3 4 La 2 3 1 2 2 3 3 4 4 5 1 2 4 1 P Os 3 8 2 9 If the row input is 2 and the column input is 3 the following table shows the four points that enclose the input point and the output value of 3 826 through interpolation Column 2 3 3 3 4 1 1 4 Row 2 2 091 3 826 4 818 22 3 5 C Block A C block allows users to enter C code directly without compiling the code unlike in external DLL blocks where the code needs to be compiled into a DLL using an external compiler The code of the C block will be interpreted and executed at runtime by a built in C interpreter in PSIM The interface of the C block dialog window is shown below Input output C Block Help ports Block f Name SCB1 Po Edit block image Check code syntax 2i include lt Stdlib h gt i include lt String h gt i include lt math h gt include lt Psim h gt PLACE GLOBAL VARIABLES OR USER FUNCTIONS HERE 9 void SimulationStep double t double delt double in double out int pnError char szErrorMsg void reserved UserData int reserved Threadindex void SimulationBegin const char szId int niInputCount int nOutputCount int nParameterCount const char pszParameters Area for 2 int pnError char szErrorMsg custom code void reserved UserData int reserved Threadindex void
245. oltage source Image Attribute Parameter Description Value Value of the constant 7 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 Image 7 3 Ground There are three different ground elements in PSIM library Although they are in different shape they are electrically connected together The different shape of these grounds provide the convenience for user to separate the grounding in different functional sections of the circuits Images Ground Ground 1 Ground 2 1 v th Chapter 7 Sources 221 7 4 7 4 1 7 4 2 222 Voltage and Current Sources DC Source A dc source has a constant amplitude The reference of the grounded dc voltage sources is the ground Images DC DC battery Grounded DC circle Grounded DC T Current Attribute Parameter Description Amplitude Amplitude of the source Series Resistance Series Inductance Source series resistance in Ohm for DC and DC battery voltage sources only Source series Inductance in H for DC and DC battery voltage sources only The series resistance and inductance represent the source impedance Sinusoidal Source A sinusoidal source is defined as eS Va sin 27 f t QO V op rset The specifications can be illustrated as follows Imag
246. omponents 5 4 3 J K Flip Flops Two types of J K flip flops are provided One without the set reset inputs and the other with the set input S and reset input R For the element without the set and reset inputs it is assumed that both set reset inputs are high 1 Images x Do not care 5 4 4 D Flip Flops Two types of D flip flops are provided One without the set reset inputs and the other with the set input S and reset input R For the element without the set and reset inputs it is assumed that both set reset inputs are high 1 Images a 1 is i LI A D flip flop is positive edge triggered and the truth table 1s Chapter 5 Control Circuit Components 167 9 4 5 5 4 6 5 4 7 168 Monostable Multivibrator In a monostable multivibrator the positive or negative edge of the input signal triggers the monostable A pulse with the specified pulse width will be generated at the output The output pulse width can be either fixed or adjusted through another input variable The latter type of monostables is referred to as controlled monostables Its on time pulse width in second is determined by the control input Images Monostable Controlled Monostable H f Aare At g Attribute Parameter Description Pulse Width On time pulse width in sec The input node at the bottom of the controlled monostable block is for the pulse width input
247. ondary tertiary winding N secondary 7 All the resistances and inductances are referred to the first primary winding side Modeling of a Transformer A transformer is modeled as coupled inductors For example a single phase two winding transformer is modeled as two coupled inductors The equivalent circuit can be shown as Secondary In the circuit R and R are the primary and secondary winding resistances L and L are the primary and secondary winding leakage inductances and L is the magnetizing inductance All the values are referred to the primary side Example A single phase two winding transformer has a winding resistance of 0 002 Ohm and leakage inductance of 1 mH at both the primary and the secondary side all the values are referred to the primary The magnetizing inductance is 100 mH and the turns ratio is N N 220 440 The transformer will be specified as R primary 2m R secondary 2m L primary Im L secondary lm Ln magnetizing 100m N primary 220 N secondary 440 4 3 3 Three Phase Transformers Two winding and three winding transformer modules are provided as shown below They all have 3 leg cores 3 phase transformer windings unconnected 3 phase Y Y and Y A connected transformers 3 phase 3 winding transformer windings unconnected 3 phase 3 winding Y Y A and Y A A connected transformers 3 phase 3 winding Y Z1 Y Z2 A Z1
248. onnection nodes are predefined as either inputs or outputs the Embedded Software Block allows the node types to be programmed as needed Also additional information such as the exact instant at which the state of a variable changes can be calculated and passed to and from PSIM The Embedded Software Block is a control circuit element and can be used in the control circuit only For more information on how to use the Embedded Software Block please refer to the document Help Embedded Software Block pdf Chapter 6 Other Components 6 5 IC Models Several PWM IC and driver IC models are provided 6 5 1 PWMIC The following PWM IC models are provided Images UC3823A B UC3825A B UC3842 3843 UC3844 3845 UC3846 UC3854 1 L 16 T 8 8 1 16 o INV VREF o INV VREF o COMP VREF o COMP VREF o ILIM STDN gt o GND GDRV gt o NI VCC bo o NI VCC o VFB VCC o VFB VCC o VREF VIN o PKLM VCC o EA OUTB gt o EA OUTB o IS OUT o IS OUT o CS BOUT gt o CAO CT o o CLK VC fo o CLK vc g Rt ct GND gI Rt ct GND o CS VC o IS SS o RT PGND o RT PGND o NI GND gt o MOUT RSET o4 CT OUTA o4 CT OUTA o INV AOUT o IAC VS o RAMP GND o o RAMP GND o COMP SYNC o VAO ENA ILIM ILIM CT RT zi SsS Ei 3 88 9 a re SONS VERE UC3854A B UC3872 UCC3806 UCC
249. ormat The following shows a sample text data file Time Isa Isc Isb Tem_IM 5 000000000E 006 0 000000000E 000 0 000000000E 000 0 000000000E 000 7 145888260E 048 1 000000000E 005 0 000000000E 000 0 000000000E 000 0 000000000E 000 1 082981714E 046 1 500000000E 005 0 000000000E 000 0 000000000E 000 0 000000000E 000 5 408644357E 046 2 000000000E 005 1 139566166E 001 2 279132474E 001 1 139566166E 001 1 613605209E 017 2 500000000E 005 5 072914178E 001 1 014582858E 000 5 072914178E 001 3 598226665E 015 Functions in each menu are explained in the following sections File Menu The File Menu has the following functions Open Load a data file in ASCII text format with txt extension or SIMVIEW binary format with smv extension Merge Merge another data file with the existing data file for display Re Load Data Re load data from the same text file Save As Save the waveforms to either binary data format or text format When saving to the binary format the current settings are also saved In the FFT display this will save the FFT results to a text file specified by the user Print Print the waveforms Print Setup Set up the printer Print Page Setup Set up the hardcopy printout size Print Preview Preview the printout Exit Quit SIMVIEW Chapter 3 Waveform Processing in SimView 33 3 2 3 3 34 When the data of a file are currently being displayed if new data is available by selecting Re Load Data new data will be loaded and waveform
250. orques of the machine IM1 and IM2 respectively From the point of view of the second machine IM2 however the mechanical equation can be written as do J Ss dt PE Tom These two equations are equally valid but will produce opposite mechanical speed In order to avoid this ambiguity in PSIM the concept reference direction is used in the mechanical system so that the mechanical equation can be uniquely defined In a mechanical system one element is designated as the master unit this element is considered to operate in the master mode and the rest of the elements are in the slave mode Elements that can be master units are Electric machines mechanical to electrical interface blocks and gear boxes The master unit defines the reference direction of the mechanical system The direction is define as the direction from the shaft node of the master unit along the shaft to the rest of the mechanical system Once the reference direction of the mechanical system is defined the speed and torque reference of the mechanical system can be defined For example if we use the right hand method with the thumb pointing in the reference direction of the mechanical system by rotating the right hand the fingers will point to the positive direction of the speed and the torque Moreover each mechanical element has its own reference direction The following diagram shows the reference direction of each mechanical element as indicated by th
251. ote that the phase angle output has been internally adjusted such that a sine function V sin ot will give a phase angle output of 0 Note that the FFT block only works if the input signal contains dc the fundamental component and harmonics of the fundamental components with the frequencies at multiple integer times of the fundamental frequency If the input signal contains another component that is not multiple integer of the fundamental frequency the FFT block will not give the correct result Also the FFT block only measures the fundamental component not any other harmonics For example if the input signal contains 60 Hz fundamental and 180 Hz if the parameter Fundamental Frequency is set to 180 the FFT block output will be incorrect Example In the circuit below the voltage v contains a fundamental component v 100 V at 60 Hz a 5th harmonic voltage vs 25 V at 300 Hz and a 7th harmonic v 25 V at 420 Hz After one cycle the FFT block output reaches the steady state with the amplitude of 100 V and the phase angle of 0 10 00 15 00 20 00 25 00 30 00 34 00 Time ms Maximum Minimum Function Block A maximum minimum function block detects the maximum or minimum of the inputs Image Attributes Parameters Description Number of Inputs Number of inputs Block Function Type Function type of the block It can be either Maximum or Minimum The number of inputs can be changed throu
252. output This block implements constant voltage or constant current discharging control to a battery When the operation mode is set to Voltage Mode 1 the converter regulates the dc bus voltage and the voltage loop generates the reference for the current loop When the operation mode is set to Current Mode 0 the converter regulates the current flowing into the dc bus to the maximum current that the converter can deliver Digital PI controllers are used in the voltage and current loops DC DC Regeneration Control The DC DC Regeneration Control block is defined as below Image Regen Control o gt Vdd Rgn o gt Tes o gt Wm Attributes Parameters Description Regen Power Threshold Threshold of the motor power level Beyond the threshold regeneration is enabled Regen Enable Time Time from which regeneration is enabled Before this time regeneration 1s disabled Sampling Frequency Sampling frequency of the low pass filter for speed feedback in Hz The dc dc regeneration control block has the following inputs and outputs Vdc DC bus voltage feedback Tes Estimated developed torque of the traction motor Wm Mechanical speed of the traction motor in rad sec Rgn Regeneration flag 0 no regeneration 1 regeneration This block generates a regeneration flag based on the dc bus voltage and the traction motor power When the motor power is negative in generation mode and the power amplitude exceeds the thre
253. ow the ambient conditions as follows k a Oae where Tpy Computed PV generator temperature Chapter 4 Power Circuit Components Lah Ambient temperature To Correction temperature T0 30 C k Irradiance gain k 0 03 km W q Time constant T 5 minutes o Temperature coefficient of the current B Temperature coefficient of the voltage Cr Cy CG Technology depending correction factor Irradiance dependent current I0 is given as 1 A FF G Lo Tan 1 FF Csr Constant C4 is given as FFy 1 10 Ta FF Voltage ratio from Vjypp at an irradiance of 200W m2 to Viypp at an irradiance of 1000W m is given as 7 y Zone MEP 6 1000 W m The parameters of the PV generator model must be set as listed in the table below FFy 0 8 0 72 0 9 0 8 2 514E 03 1 252E 03 8 593E 02 8 419E 02 1 O88E 04 1 476E 04 0 95 0 98 0 04 0 02 0 4 0 2 4 11 2 Wind Turbine The image and parameter of the wind turbine are described below Image Wind Turbine Wind Speed o gt Wind Turbine Shaft Pitch Angle Chapter 4 Power Circuit Components 143 Attributes Parameter Description Nominal Output Power The maximum output power of the wind turbine in W at 0 pitch angle This power is considered as the maximum power operating point of the turbine and it should not exceed the rated power of the generator Base Wind Speed The base wind speed that would
254. p channel Metal Oxide Semiconductor Field Effect Transistor MOSFET MOSFET with fixed on resistance Rps on MOSFET with on resistance Rps on as a function of Junction temperature Gate Turn Off switch GTO Bi directional switch Switchmode switch models are ideal Both turn on and turn off transients are neglected A switch has an on resistance of 10UQ When there is no R L C branch connected in parallel with the switch a 10 MQ resistor will be connected across the switch internally This resistance can be viewed as the off state resistance In certain cases this resistance may need to be modified To change the off state resistance to for Chapter 4 Power Circuit Components example 100 MQ connect a 100 MQ in parallel to the switch Since PSIM sees that there is already a resistor in parallel to the switch the 10 MQ resistor will not be added Snubber circuits are not required for switches Linear switches include the following 3 State npn and pnp bipolar junction transistor 3 State n channel and p channel MOSFET 4 2 1 Diode The conduction of a diode or LED is determined by circuit operating conditions PSIM s diode has 2 model levels e Level 1 Model A diode is turned on when the positive bias voltage is greater than the threshold voltage and is turned off when the current drops to zero e Level 2 Model Includes leads parasitic inductance and reverse recovery parameters Image v To Attrib
255. perature is defined It can be either Calculated or Fixed If it is Calculated the core temperature will be calculated based on circuit operating conditions and this temperature will be used for loss calculation If it is Fixed the core temperature will be specified by users This will give users a clear idea the losses at a specific temperature Ambient Temperature The ambient temperature of the inductor in C Convection Type of cooling It can be Forced for forced convection or Natural for natural convection Air Speed The air speed in m sec if forced convection is selected Estimated Core Temp Estimated core temperature in C if the Temperature Flag is set to Fixed Estimated Winding Temp Estimated winding temperature in C if the Temperature Flag is set to Fixed Loss Calculation Flag If the flag is 0 the loss calculation will be performed from the beginning of the simulation If the flag is 1 the loss calculation will be performed only in the last fundamental cycle of the simulation Since loss calculation will slow down simulation calculating the losses only in the last cycle will speed up the simulation Current Flag Display flag of the inductor current The losses Pecore and Pinging 1 watts are represented in the form of currents which flow out of the nodes To measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot
256. pler It is recommended that Simulink use the same time step as PSIM although we have found that even if the Simulink time step is slightly larger than PSIM time step satisfactory results are obtained In this case for Chapter 5 Control Circuit Components example the time step is set to 20 us 10 times larger than the PSIM time step If the Simulink Solver type is instead set to Variable step the simulation results will not be correct The figure below shows this option Control in Simulink Solver Type Variable step Scopes Constant Gain Integrator Sihdicoupler When the Simulink Solver type is set to Variable step in order to obtain correct results a zero order hold must be placed at the input of the SimCoupler model block Moreover the zero order hold sample time must be the same or close to PSIM time step The figure below shows the configuration Control in Simulink Solver Type Variable step ZOH Sample Time 2 us Scope Scopes Constant tain Integrator Zero Order Hold SlMicoupler Therefore Simulink must be set up to have the Solver Type as Fixed step with the time step the same or close to the PSIM time step or if the Solver Type is Variable step a zero order hold must be used with the sample time the same or close to PSIM time step 5 6 3 Passing Parameters from Simulink to PSIM One can set parameter values in Simulink and pass them to PSIM For example to set the indu
257. plitude must be small enough so that the perturbation stays in the linear region On the other hand the excitation source amplitude must be large enough so that the output signal is not affected by numerical errors In general a physical system has low attenuation in the low frequency range and high attenuation in the high frequency range A good selection of the excitation source amplitude would be to have a relatively small amplitude at the low frequency and a relatively large amplitude at the high frequency Sometimes after ac analysis is complete a warning message is displayed as follows Warning The program did not reach the steady state after 60 cycles See File message txt for more details This message occurs when the software fails to detect the steady state at the ac sweep output after 60 cycles To address this problem one may increase damping in the circuit by including parasitic resistances for example or adjust the excitation source amplitude or reduce simulation time step The file message txt gives the information on the frequency at which this occurs and the relative error The relative error will indicate how far the data point is from reaching the steady state Example Open Loop Response of a Buck Converter The circuit on the left is an one quadrant buck converter An excitation source is injected to the modulation signal and the output voltage is measured The result of the ac analysis on the right shows
258. poles teeth Rotor Pole Number Number of rotor poles teeth Inductance Table File The file that stores the 2 dimensional table of the inductance versus the rotor position and the current Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal torque T Master Slave Flag Master slave flag of the machine 1 master 0 slave The inductance table file has the following format m n O1 O2 Or EEN p Ly Lij whe biz Lai Lan saso Lan L L m l gt Lias 9 mn where m is the number of rows and n is the number of columns 0 to O is the row vector for the rotor position in deg and and is the column vector for the phase current in A and L is the inductance value in H at Row i and Column j For example when the rotor position is 85 and the phase current is the inductance is La Because of the half wave symmetry only inductance values from 0 to 180 need to be provided Note that the row vector and column vector must be monotonically increasing The machine equations are the same as these in the linear switched reluctance machine model Chapter 4 Power Circuit Components 99 4 6 11 Motor Control Blocks The following control blocks for different machine types are provided Maximum Torque Per Ampere Control Field Weakening Control 4 6 11 1 Maximum Torque Per Ampere Control 100 There are two Maximum Torque Per Ampere MTPA control blo
259. posite to the reference direction and the loading torque of Load 2 to the machine will be 77 gt Chapter 4 Power Circuit Components 79 4 6 2 Induction Machines Linear and nonlinear models are provided for squirrel cage and wound rotor induction machines The linear model is further divided into general type and symmetrical type This section describes the linear models Four linear models are provided Symmetrical 3 phase squirrel cage induction machine General 3 phase squirrel cage induction machine Symmetrical 3 phase wound rotor induction machine General 3 phase wound rotor induction machine The images and parameters are shown as follows Images ead _ Squirrel cage Squirrel cage Pa eeee with neutral unconnected o o IM as IM as IM aR Y as bs bs bs bs cs ns Wound rotor Wound rotor gt unconnected 8 ast IM IM as cen b bs bs a cst cs ns f ar br cr nr art brt ert OF Attributes Parameters Description R stator Stator winding resistance in Ohm L stator Stator winding leakage inductance in H R rotor Rotor winding resistance referred to the stator side in Ohm L rotor Rotor winding leakage inductance referred to the stator side in H L magnetizing Magnetizing inductance in H Ns Nr Turns Ratio Stator and rotor winding turns ratio for wound rotor machine only No of Poles Number of poles P of the machine an even integer Moment of Inertia Moment of
260. ption Rp primary R secondary 1 Resistance of the primary 1 secondary 2 secondary winding in R secondary 2 Ohm Lp primary leakage L Leakage inductance of the primary 1 secondary 2 secondary secondary leakage L 5 winding in H secondary 2 leakage Ly magnetizing Magnetizing inductance in H seen from the primary side Np primary Ns secondary 1 Number of turns of the primary 1 t secondary 2 secondary winding Ng secondary 2 In the images P refers to primary S refers to secondary and T refers to tertiary All resistances and inductances are referred to the primary or the first primary winding side Three phase transformers are modeled in the same way as single phase transformers For the 3 phase phase shifting transformers let the angle 6 be the phase difference between the secondary line voltage V and the primary line voltage Vp The relationship between the angle and the winding turns are For the Y Z1 transformer N A a 82 sere 0 lt lt 30 ae sin 30 a aaa ee Arth 2sin 30 8 la For the Y Z2 transformer N SE 2 _ sin 30 l h 30 lt 8 lt 0 Ns tN sin 30 8l O aa eeeeee Vag Not Ns 2sin 30 8 ss For the Delta Z1 transformer N j O O eee eee sin 30 lt 8 lt 0 Nap tg sin 60 8 ee es Ns t Ns 2sin 60 8 Vaz For the Delta Z2 transformer N59 sin 60 8 7 o see a 60 lt lt 30 TE sin
261. put which corresponds to out 0 in the code is at the top right The difference between the C block and the external DLL block is that even though the C block is easier to use it does have the disadvantage that the custom code in the C block can not be debugged while in the external DLL block it is possible to set break points and trace step through the code for debugging Simplified C Block A simplified C block is a special case of the C block Unlike the C block that contains a variable function definition section and three functions the simplified C block contains only the C code that is called and ran at every time step corresponding to the code for the SimulationStep function The interface of the simplified C block dialog window is shown below Simplified C Block Parameters Color Input output Simplified C Block Help ports Block Number of Input Output Ports Name SSCB1 E Input 1 Output 1 C Code Following variables are valid t delt Input Output y1 Area for custom code Edit Image Check Code Chapter 6 Other Components The number of input and output ports of the ports is defined in the Number of Input Output Ports section After the number of ports is changed the image of the block in the schematic will change accordingly Variables that can be used in the code include t Time passed from PSIM delt Time step passed from PSIM xl x2 Inputs 1 2 etc yl y2 Outputs 1 2
262. quency Frequency in Hz under which the losses are calculated Poond Q Calibration The calibration factor Keona o of the transistor conduction losses Peond o Factor Poy Q Calibration The calibration factor K of the transistor switching losses Psw Factor Poond p Calibration The calibration factor Keona p of the diode conduction losses Peond D Factor Py p Calibration The calibration factor K p of the diode switching losses Psw D Factor Number of Parallel Number of identical IGBT devices in parallel Devices The parameter Frequency refers to the frequency under which the losses are calculated For example if the device operates at the switching frequency of 10 kHz and the parameter Frequency is also set to 10 kHz the losses will be the values for one switching period However if the parameter Frequency 1s set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter Peona Calibration Factor is the correction factor for the transistor conduction losses For the example if the calculated conduction losses before the correction is Peond O cap then P cond Q7 Keond Q ake cond QO cal Similarly the parameter P Calibration Factor is the correction factor for the transistor switching losses For the example if the calculated switching losses before the correction is Psw o can then P sw Q Ksw Q ae sw cal Parameters Poong p Calibration Factor and P p Calibration Factor work in the same
263. r Circuit Components 107 4 8 108 Double click on the MagCoupler block to bring out the property window click on the browser button next to the Link Table File edit field to locate and select the file Inductor _jmag xml After the file is read the property window will display the IN node VL and the OUT node iL Connect the MagCouple block to the rest of the circuit in the schematic The setup is now complete and the simulation is ready to run MagCoupler RT Module The MagCoupler RT Module provides interface between PSIM and JMAG RT data files JMAG RT is another way of modeling electromagnetic devices The JMAG RT data files are obtained by running the JMAG simulation in advance and the data files are stored in a lookup table form During the PSIM simulation JMAG is not needed and PSIM interfaces directly with the JMAG RT data The biggest advantage of JMAG RT is that since the JMAG RT data files are obtained from the JMAG dynamic simulation the accuracy of the JMAG RT model is comparable to that of a JMAG dynamic model However since JMAG 1s not involved in the PSIM simulation the PSIM simulation is significantly faster The MagCoupler RT Module includes the blocks described in this section and mechanical elements and speed torque position sensors as described in Section 4 9 Four MagCoupler RT blocks are provided 3 phase permanent magnet synchronous machine PMSM 2 phase step machine Linear synchronous mac
264. r Enable disable status bar Calculator Launch the Calculator in Simview The interface of the calculator is shown below calculator Copy Paste 4 3026345e 001 1 5047270e 0101 420282456001 0064745912466815 z Memory pe 4 5047270e 001 1 4107033e 000 Expression 5 959591 92 001 Result One key feature of the calculator is that it provides 9 memory spaces By double clicking on a number in the Chapter 3 Waveform Processing in SimView 37 3 8 3 9 3 10 38 Measure dialog window in Simview the value will be automatically transferred to the calculator and stored in one of the memory spaces starting from the top In this way data can be directly transferred to this calculator for calculation without the need to record them on a piece of paper Option Menu The Option Menu has the following functions Options Various options can be set here Grid Enable or disable the grid display Color Set the curves to be either Color default or Black and White In the Options dialog window when the option Redraw x axis when loading new data is checked the waveform will be redrawn with the new x axis range when new data is loaded If this option is not checked the X axis range will be unchanged Also in the Options dialog window the right mouse action can be set to either Show menu Pan or Zoom Label Menu The Label Menu has the following functions Text Place text on the screen Line Draw a line Dotted Line D
265. rad Y Y CO 5 atan2 x x In the arctangent and arctangent 2 blocks the input node marked with x is the real part and the other input node marked with y is the imaginary part The output of the arctangent and arctangent 2 blocks is the inverse tangent of the ratio between the imaginary part y and the real part x i e 0 re 2 The output of the arctangent block is in degree and the range is from 0 to 360 On the other hand the output of the arctangent 2 block is in radian and the range is from m to 7 The arctangent 2 block behaves in the same way as the function atan2 y x in the C language Fast Fourier Transform Block A Fast Fourier Transform block calculates the fundamental component of the input signal The FFT algorithm is based on the radix 2 decimation in frequency method The number of sampling points within one fundamental period should be 2 where N is an integer The maximum number of sampling points allowed is 1024 The output gives the peak amplitude and the phase angle of the input fundamental component The output voltage in complex form is defined as N h r Image 9 Amplitude gt Phase Angle Chapter 5 Control Circuit Components 9 2 9 Attributes Parameters Description No of Sampling Points No of sampling points V Fundamental Frequency Fundamental frequency fp in Hz The dotted node of the block refers to the output of the amplitude N
266. ransients It is recommended that the time step should be at least one magnitude smaller than the smallest of the above Also an interpolation technique is implemented which will calculate the switching instants more accurately With this technique the error due to the misalignment of switching instants and discrete simulation points is significantly reduced It is possible to simulate with a large time step while still maintaining accurate results Chapter 1 General Information 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 simulation With the SAVE and LOAD functions the circuit voltages currents and other quantities can be saved at the end of a simulation session and loaded back as the initial conditions for the next simulation session This provides the flexibility of running a long simulation in several shorter stages with different time steps and parameters Components values and parameters of the circuit can be changed from one simulation session to the other The circuit topology however must remain the same SimCoder Tab Hardware Target The hardware target can be one of the following None No hardware target in the circuit F2833x TI F2833x Hardware Target F2803x TI F2803x Hardware Target PE Pro F 28335 PE Pro F28335 Hardware Target PE_Expert3 PE Expert3 Hardware Target Memory Map Specif
267. rate as compared to v and the time step is small as compared to the change of v 2 Variable gain controlled sources can be used in circuits which may otherwise have convergence problem with nonlinear sources with multiplication Example The circuits below illustrates the use of current controlled voltage sources In the circuit on the left the voltage source is controlled by the inductor current i With a gain of 1 the waveform of the voltage v is equal to that of i In this way a current quantity can be converted to a voltage quantity Chapter 7 Sources The circuit on the right is equivalent to that on the left except that a different current controlled source is used instead 7 4 10 Nonlinear Voltage Controlled Sources The output of a nonlinear voltage controlled source is either the multiplication division or square root of the inputs They are defined as Nonlinear multiplication Output v k Vip Vip Ol K Vin Vins Vini or i o Vini Vin Nonlinear division Output v k a Nonlinear square root Output v k JV p Or 1 K J Vin Nonlinear power Output v sign v k k V In the nonlinear power source the term sign v is 1 if v is positive and it is 1 if v is negative Note that these nonlinear sources can be used in the power circuit only Images Multiplication Division Square root Power o o oO X Vin1 Vin2 re P o o ti o
268. rated current on the battery side On the other hand when the battery terminal voltage reaches the float voltage it is constant voltage charging The voltage loop generates the reference for the current loop Digital PI controllers are used in the voltage and current loops DC DC Discharging Control The DC DC Discharging Control block is defined as below Image Discharging Control gt Vdc vm o o gt Ibatt Attributes Parameters Description Current Voltage Mode Operation mode of the discharge control 0 current mode 1 voltage mode Converter Rated Power Rated power of the dc dc converter in W Battery side Rated Voltage Converter rated voltage on the battery side in V DC Bus Voltage Reference DC bus voltage reference in V Current PI Gain Gain of the current loop PI controller Current PI Time Constant Time constant of the current loop PI controller in sec Voltage PI Gain Gain of the voltage loop PI controller Voltage PI Time Constant Time constant of the voltage loop PI controller in sec Control Block Output Limit The upper limit of the control block output Vm The lower limit is 0 Sampling Frequency Sampling frequency of the voltage and current PI controller in Hz The dc dc discharging control block has the following inputs and outputs Vdc DC bus voltage feedback Chapter 5 Control Circuit Components 191 5 8 7 192 Ibatt Current flowing into the battery Vm Modulation signal
269. raw 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 Settings Menu The Settings Menu has the following functions Re Load Settings Re load the settings from the in1 file and apply to the current display Save Settings Save the current settings to a file with the same file name but with the in1 extension Save Temporary Settings Save the current settings temporarily The temporary settings are not saved to any files and are discarded when the document is closed Load Temporary Settings Load the temporary settings and apply to the current display Add to Favorites Save the current settings as a favorite When saving a favorite one can choose to save the following settings line color and thickness text font Log dB FFT display settings and x and y axis ranges Manage Favorites Manage the favorites When Simview loads a data file txt or smv file if the corresponding ini file exists it will load the settings in the ini file The functions Load Temporary Settings and Save Temporary Settings are used in situations where one wants
270. rence direction of the mechanical system a positive mechanical speed would give a negative sensor output For example in the mechanical system below Speed Sensor 1 is along the reference direction and Speed Sensor 2 1s opposite to the reference direction of the mechanical system If the actual mechanical speed is positive the output of Speed Sensor 1 will be positive and the output of Speed Sensor 2 will be negative Reference direction of the mechanical system IM r Speed Sensor 1 Speed Sensor 2 The torque sensor measures the torque difference between the dotted side of the sensor and the undotted side To understand the physical meaning of the torque sensor measurement we use the diagram below as an illustration The figure on the left shows a torque sensor connected with a 10 N m mechanical load and the reference direction of the mechanical system is from left to right Based on the reference direction if we use the right hand method by pointing the thumb in the reference direction and rotating the right hand the direction of the fingers will show the direction of the positive speed and torque The physical interpretation of the system is shown on the right Reference direction of the mechanical system Physical interpretation T 10 Wan A Load 10 Torque sensor In this case the direction of the positive speed and torque is in the clockwise direction The dotted side of the sensor is on the lef
271. rge Q gate to source charge Q and gate to drain Miller charge O 4 respectively all in nC test conditions drain to source voltage Vps in V gate to source voltage Vps in V and drain current p in A Cisss Cogs and C Input capacitance Cis output capacitance Coss and reverse transfer capacitance ISS C rss voltage Vps in V and test frequency in MHz respectively all in pF test conditions drain to source voltage Vps in V gate to source Electrical Characteristics Diode Va vs Ip Forward conduction voltage drop Vy vs forward current Ip t and Qr Reverse recovery time in ns and reverse recovery charge Q in uC test conditions forward current Ip in A rate of change of the current di dt in A us and junction temperature T in C Thermal Characteristics RthG c Junction to case thermal resistance in C W Rih c s Case to sink thermal resistance in C W Dimensions and Weight Length mm Length of the device in mm Width mm Width of the device in mm Height mm Height of the device in mm Weight g Weight of the device in g Note that the parameters under Absolute Maximum Ratings Thermal Characteristics and Dimensions and Weight and the rise time and fall time yparameters are not used in the loss calculation and are optional The MOSFET on resistance is a function of the transistor junction temperature The voltage at the node Pogng o or Psw g of the MOSFET im
272. rpm V Torque constant K defined as the ratio between the generated torque and the applied current in N m A Number of poles P Moment of inertia J of the machine in kg m The motor speed at no load with the nominal voltage applied in rpm Chapter 4 Power Circuit Components No Load Current The current under no load operation in A Torque Flag Output flag for internal developed torque 7 Master Slave Flag Master slave flag of the machine 1 master 0 slave The node assignments of the image are Nodes a b and c are the stator winding terminals for Phase A B and C respectively The stator windings are Y connected and Node n is the neutral point The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit Node s Sp and s are the outputs of the built in 6 pulse hall effect position sensors for Phase A B and C respectively The sensor output is a bipolar commutation pulse 1 0 and 1 The sensor output nodes are all control nodes and should be connected to the control circuit For more details on the definition and use of the master slave flag refer to Section 4 6 1 The equations of the 3 phase brushless dc machine are di V R iat M a tE a di at E t Ve R iet L 4 where v vp and v are the phase voltages i i and i are the phase currents R L and M are the stator phas
273. rque of the general type load 1s dependent on the speed direction 4 9 1 5 Externally Controlled Load An externally controlled mechanical load is used to define a load of an arbitrary load profile Image l Attributes Parameters Description Speed Flag Flag for speed dependency Flag 0 The load is frictional and is always against the rotational direction Flag 1 The load is independent of the rotational direction Moment of Inertia Moment of inertia of the load in kg m The value of the mechanical load is defined by the voltage value at the control node 1V corresponds to 1 N m This node is a control circuit node 4 9 2 Gear Box The image is a gear box is shown below Shaft 1 Shaft 2 Image Attribute Gear Ratio The gear ratio a Shaft 1 Master Slave Flag Master slave flag for Shaft 1 Shaft 2 Master Slave Flag Master slave flag for Shaft 2 The shaft with the bigger dot is Shaft 1 If the numbers of teeth of the first gear and the second gear are n and n respectively the gear ratio a is defined as a n Np Let the radius torque and speed of these two gears be r1 r2 T1 T gt 4 and we have T 114 Chapter 4 Power Circuit Components 4 9 3 4 9 4 T gt 11 17 MO a The two shafts of the gear box can be in either master mode or slave mode For more information on the definition and use of the master slave flag refer to Section
274. rresponding to the field intensity H 0 The initial flux density B can be calculated as Bo B A where A is the core cross section area and the initial mmf F is Fo A A differential voltage probe connected between Node M to M will measure the mmf in ampere turn applied to the core The coefficients at good initial guess of Kj Kexp1 K2 and Kexp2 are used to fit the B H curve of an actual magnetic material A sat IS the maximum flux of the B H curve in deep saturation To calculate this flux multiply the corresponding flux density B by the cross section area of the core Coefficient K usually varies between 0 7 and 1 depending on the core material Coefficient Keyp saturation and is in the range between 10 and 200 10 for low permeability ferrite and 200 for metglas mainly affects the rate of the core The coefficients K and Kexp2 are used in very rare occasions such as for ferroresonant regulators They are normally set as follows to keep them from affecting the B H curve K gt 2 Kexp2 gt 20 exp A tutorial on how to define the core coefficients is provided in the doc sub folder in the PSIM directory Also a program is provided to plot the B H curve of the core given a set of coefficients To launch this program in PSIM go to Utilities gt gt B H Curve Chapter 4 Power Circuit Components 4 5 4 5 1 Other Elements Operational Amplifier Two types of operational ampl
275. s and etc Other Contains elements interconnecting power and control circuit such as switch controllers voltage current sensors probes and etc Sources Contains various voltage and current sources Symbols Contains symbols for drawing purpose not for simulation usage Event Control Contains event control elements SimCoder Contains SimCoder blocks for automatic code generation User Defined Contains the PSIM files in the User Defined subfolder of the Powersim directory Page Place a page title block for printing 2 9 Running Simulation There are two options to run PSIM simulation using the Simulate Menu or with Command Line 2 9 1 Simulate Menu The following functions are provided in the Simulate menu for running simulation Simulation Control To set the simulation parameters such as time step total time etc When this is selected the cursor will change to the image of a clock Place this clock on the schematic and double click to display the property window Run Simulation To run the simulation Cancel Simulation To cancel the simulation that is currently in progress Pause Simulation To pause the simulation that is currently in progress Restart Simulation To resume a paused simulation Chapter 2 Circuit Schematic Design 17 Simulate Next Time Step To run the simulation to the next time step and pause Run SIMVIEW To launch the waveform display program SIMVIEW Run MonteCarlo SimulationTo run the Monte Carlo simula
276. s controlled at turn on The turn off is determined by circuit conditions A TRIAC is a device that can conduct current in both directions It behaviors in the same way as two opposite thyristors connected in parallel Images Thyristor TRIAC A p K Gate Gate Attributes Parameters Description Voltage Drop Thyristor conduction voltage drop in V Holding Current Minimum conduction current below which the device stops conducting and returns to Latching Current Initial Position Current Flag the OFF state for thyristor only triggering pulse is removed for thyristor only Flag for the initial switch position for thyristor only Flag for switch current output Minimum ON state current required to keep the device in the ON state after the Note that for the TRIAC device the holding current and latching current are set to zero There are two ways to control a thyristor or TRIAC One is to use a gating block and the other is to use a switch controller The gate node of a thyristor or TRIAC must be connected to either a gating block or a switch controller The following examples illustrate the control of a thyristor switch Examples Control of a Thyristor Switch Gating Block This circuit on the left uses a switching gating block The switching gating pattern and the frequency are pre defined and remain unchanged throughout the simulation The circuit on the right uses an alpha switc
277. s the following functions X Axis Change the settings of the X axis Y Axis Change the settings of the Y axis Choose X Axis Variable By default the first column of the data is selected as the X axis However other columns can also be selected as the X axis through this function The dialog box of the X Y axis settings are shown below Range Grid Division W Auto Grid From 0 Ho of division im _ _ Cancel If the Auto Grid box is checked the number of axis divisions will be automatically determined The data range and grid division however can be manually set The following figure shows a sine waveform is chosen as the X axis versus a cosine waveform in the Y axis R2 150 00 100 00 50 00 0 00 50 00 100 00 150 00 150 00 100 00 50 00 0 00 50 00 100 00 150 00 R1 Chapter 3 Waveform Processing in SimView 3 4 Screen Menu The Screen Menu has the following functions Add Delete Curves Add or delete curves from the selected screen Add Screen Add a new screen Delete Screen Delete the selected screen A screen is selected by clicking the left mouse on top of the screen The property dialog window of curves is shown below select Curves Curves Screen Variables for Display Isa Variables Available lec Teml Add gt lt Remove Edit Box Cancel All the data variables available for display are in the Variables Available box and
278. s will be re drawn With the Merge function data from multiple files can be merged together for display For example if one file contains the curves I1 and I2 and another file contains the curves V1 and V2 all four curves can be merged and displayed on one screen If the second file also contains a curve with the same name I1 it will be modified to I1_ second_file_name automatically where second file name is the name of the second file Edit Menu The Edit Menu has the following functions Undo Go back to the previous X and Y axis settings Copy to Clipboard Copy the waveforms to the clipboard either in metafile format or bitmap format View Data Points View the data points of the waveforms within the displayed range in a separate window In this window one can use the left mouse to highlight data points in rows or columns then right mouse click and choose Copy Selected to copy the data to the clipboard One could also just copy the row that the cursor is on by selecting Copy Row or copy the entire data by selecting Copy All One can then paste the copied data back in another program Note that the Copy to Clipboard function will copy the displayed waveforms on the screen to the clipboard To save the memory and have the waveform image in black amp white first go to Option and de select Color to have a black amp white display then copy the waveform to the clipboard Axis Menu The Axis Menu ha
279. s with two three four five and six branches are provided Images 2 branch 3 branch 4 branch 5 branch 6 branch oe ae T ne series reer ban boon nen be mde Gee bee ae In the images the small circle indicates the input terminal of inductor 1 while the small square triangle sign x sign and sign indicate the input terminal of inductor 2 3 4 5 and 6 Attributes Parameters Description L self Self inductance of the inductor 7 in H L mutual Mutual inductance between Inductor i and j in H Initial Current 1 Initial current in Inductor i Current Flag i Flag for the current printout in Inductor 7 The following shows a coupled inductor with two branches VI Let L and L gt be the self inductances of Branch and 2 and Lj and L gt the mutual inductances the branch voltages and currents have the following relationship Vif bn Lye d1 e Lor Log ai The mutual inductances between two windings are assumed to be always equal 1 e L42 L21 In the SPICE software coupled inductors are defined by the self inductances and the coupling factors For the coupled inductor with two branches the coupling factor K is defined as Chapter 4 Power Circuit Components The mutual inductance is then calculated as Lis K JLi La The coupling factor has a value between 0 and 1 When the coupling factor is 1 it is perfect coupling Note that in PSIM perfect coupling is
280. se shift PWM controller that implements control of a full bridge power stage by phase shifting the switching of one half bridge with respect to the other It allows constant frequency pulse width modulation in conjunction with resonant zero voltage switching to provide high efficiency at high frequencies Images IR21834 IRS21867 TC4423A TC4425A TC4427A 1 14 1 8 1 8 1 8 1 8 o HIN o Vcc VB o NC NC o NC NC o NC NC o LIN VB o HIN HO o INA OUTA o INA OUTA o INA OUTA o VSS HO o LIN Vs o GND VDD c GND VDD o GND VDD o DT VS o COM LO c INB OUTB o INB OUTB o INB OUTB 4 5 4 5 4 5 4 5 o COM o LO TC4424A TC4426A TC4428A 1 8 1 8 1 8 o Vcc P o NC NC o NC NC f o NC NC e 7 o INA OUTA o INA OUTA o INA OUTA o GND VDD o GND VDD o GND VDD o INB OUTB o INB OUTB o INB OUTB 4 5 4 5 4 5 Driver IC Description IR21834 IRS21867 TC4423A TC4424A TC4425A TC4426A TC4427A TC4428A Half bridge driver for high voltage high speed power MOSFET and IGBT with dependent high and low side referenced output channels High and low side driver for voltage high speed power MOSFET and IGBT driver with independent high and low side referenced output channels 3A dual output high speed power MOSFET drivers TC4423A dual inverting
281. shold the regeneration flag is set to 1 to enable regeneration To avoid false triggering due to start up transient a regeneration enable time is defined Regeneration is possible only after this time has passed Chapter 5 Control Circuit Components 6 Other Components This chapter provides descriptions for the compoments in PSIM element library s Other section 6 1 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 switches in the power circuit One switch controller can control multiple switches simultaneously 6 1 1 On Off Switch Controller On off switch controllers are used as the interface between control gating signals and power switches The input which is a logic signal either 0 or 1 from the control circuit is passed to the power circuit as the gating signal 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 Image Example 100 00 50 00 50 00 100 00 100 00 On off Controller 0 00 5 00 10 00 15 00 20 00 25 00 30 00
282. speed in rad sec Base Torque Value Maximum inverter output voltage amplitude phase peak in V Sampling Frequency Sampling frequency of the internal low pass filter in Hz The dynamic torque limit control block is for the control of nonlinear PMSM machines only It has the following inputs and outputs all in per unit value except Ld Lq and Lambda When base values Vb Ib and Wmb are all 1 all input and output quantities are in real values Input Signals Id d axis current feedback Iq q axis current feedback Ld d axis inductance Ld in H Lq q axis inductance Lq in H Lambda Peak stator phase flux linkage in Weber Vdc DC bus voltage feedback Wm Motor mechanical speed Temd Torque reference input Output Signals Te Torque reference output Wm th Calculated threshold speed of the constant torque region FW Flag of field weakening 1 in field weakening 0 not in field weakening This block calculates the threshold speed of the constant torque region When the motor speed is less than this speed the motor operates in the constant torque region Otherwise it operates in the constant power region with field weakening control A second order low pass digital filter with a cut off frequency of fc and a damping ratio of 0 7 1s used to smooth out the change of the calculated threshold speed Voltage Control PMSM The Voltage Control block is for linear PMSM machines only Image Voltage Control Chapter
283. splay flag for the rotor angle in mechanical deg Display flag for the shaft mechanical speed in rad sec Display flag for the developed torque in N m Master slave flag of the machine 1 master 0 slave The parameters of a linear solenoid is shown below Parameter RA Mass ShaftTimeConstant SpringConstant DispLimitMax DispLimitMin OffsetDisp Description Resistance of the solenoid in Ohm Mass of the solenoid in kg Shaft time constant of the solenoid in sec Spring constant of the solenoid used in JMAG RT Maximum limit of the displacement of the solenoid in m Minimum limit of the displacement of the solenoid in m Initial displacement in m Chapter 4 Power Circuit Components turns coil2 Coil 2 turns used in JMAG RT coef mass Mass coefficient used in JMAG RT coef _mass2 Mass 2 coefficient used in JMAG RT Current Flag Display flag for 3 phase FEM coil currents 1 display 0 no display Back emf Flag Display flag for 3 phase FEM coil back emf Position Flag Display flag for the solenoid position in m Velocity Flag Display flag for the solenoid velocity in m sec Force Flag Display flag for the developed force in N mass Master Flag Master slave flag of the solenoid 1 master 0 slave The parameters of a linear synchronous machine is shown below Parameter Description RU Resistance of Phase U in Ohm RV Resistance of Phase V in Ohm RW Resistance of Phase W in O
284. steps If the binary number 000 corresponds to the decimal number 0 and the binary number 111 corresponds to the decimal number 0 875 and V min 0 and Vo max 1 we can plot the waveforms of the input output and the quantization error V V of the two quantization blocks as below The waveforms on the left are from the quantization block without the offset and the waveforms on the right are from the quantization block with the offset Chapter 5 Control Circuit Components 177 178 Quantization block Quantization block with offset vin Vo Binary Binary numbers numbers 111 111 110 110 101 101 100 100 011 011 010 010 001 001 000 000 Vin Vo 0 16 i eee eee eee e eee eee eee ee Se a ee a eee See See ne eee eee ups lft fae dpe A 0 Bye eB Sore Breed 2 ors SE eee ee Sie SS ces ee eee 0 05 0 1 0 0 125 0 25 0 375 0 5 0 625 0 75 0 875 1 0 0 1250 25 0 375 0 5 0 625 0 75 0 875 1 Vin Vin As shown from the waveforms on the left the quantization error of the quantization block is from 0 to 1 LSB least significant bit or 1 2 or 0 125 For the quantization block with offset a value of 0 5 LSB is added to the input before performing the quantization This reduces the quantization error to 0 5 LSB to 0 5 LSB except when the input is close to the maximum value as shown from the waveforms on the right The figure below shows the input output relationship of a general quantiz
285. swept Start Starting value of the parameter End End value of the parameter Increment Increment step value of the parameter Enabled When checked the parameter line will be enabled For example let the resistance of a resistor be Ro To sweep the resistance from 2 Ohm to 10 Ohm with an increment step value of 2 Ohm check the Enabled checkbox and define the following Name Ro Start 2 End 10 Increment 2 Parameter sweep will produce two plots One is the outputs versus time and the other is the outputs at the last simulation point versus the swept parameter For example a circuit has two outputs V1 and V2 and the resistance Ro is swept The total simulation time is 0 1 sec After the simulation there will be two plots in Simview One is V1 and V2 versus time The other is V1 and V2 versus Ro The V1 and V2 values used in the second plot are the values at the last simulation point at 0 1 sec Chapter 6 Other Components 219 220 Chapter 6 Other Components 7 Sources Several types of independent voltage current sources are available in PSIM The notation of a current source direction is the current flows out of the higher potential node through the external circuit and back into the lower potential node of the source Note that current sources can be used in the power circuit only 7 1 Constant The constant element allows users to define a constant It behaviors as a grounded v
286. t B lp Vee V ce ce sat where Vpe 1s the base emitter voltage V is the collector emitter voltage and I is the collector current The properties of a pnp transistor in these regions are Cut off region Veb lt Ve I 0 L 0 Linear region Veb Vg I B ly Vec Vee sat Saturation region Vap Ve Ie lt B Ip Vec Vec sat where V is the emitter base voltage V is the emitter collector voltage and I is the collector current A linear MOSFET device is controlled by the gate to source voltage V It can operate in one of the three regions cut off off state active and ohmic region on state The properties of a n channel MOSFET device in these regions are Cut off region Vo lt Vesth 1g 9 Active region V gs gt Voscth and Vos Vesth lt Vas la 8m V gs Vescthy Ohmic region Vg gt Vgs th and Vos Vesth gt Vasi Ia Vas RDs on where Vs 1s the gate source voltage Vgs 1s the drain source voltage and Iq is the drain current The properties of a p channel MOSFET device in these regions are Cut off region Vgs gt Vesth 1q 9 Active region Vos lt Voscth and Ves Ves thy Vas la 8m V gs Vescthy Ohmic region Vgs lt Vesth and Vos Vgs th lt Vasi Ia Vas RDs on Note that for 3 state npn pnp BJT and n channel p channel MOSFET the base node gate node is a power node and must be connected to a power circuit component such as a resistor or
287. t and the load is in such a way that it tries to slow down the shaft the load torque is in the counter clockwise direction The physical meaning of the torque sensor is that if the dotted side of the sensor is fixed the sensor will measure the torque tension on the undotted side of the sensor and a positive sensor output would mean that the torque is opposite to the direction of the speed reference Therefore for the example above the positive speed reference is in the clockwise direction and the load torque is in the counter clockwise direction This will give a torque sensor reading of 10 N m Similarly if the undotted side of the sensor is fixed the sensor will measure the torque tension on the dotted side of the sensor in the positive direction of the speed reference For example in the system below the torque sensor is flipped with the dotted side on the right If the undotted side is fixed the load torque is applied to the dotted side of the sensor in the opposite direction of the speed reference The torque sensor output will be 10 N m instead Reference direction of the mechanical system Physical interpretation T x 9 N 10 Win A Load 10 Torque sensor To understand how the torque sensor is modeled in the equivalent circuit of the mechanical system we use the Chapter 4 Power Circuit Components 117 4 9 6 following system as an example Load 1 Load 2 Sensor 1 Sensor 2
288. t the output is subtracted by the range Vange until it is within the range When the output is below the lower limit it is added by range Vange until it is within the range When the input is within the limit the output is equal to the input Gradient dv dt Limiter A gradient dv dt limiter limits the rate of change of the input If the rate of change is within the limit the output is equal to the input Image Chapter 5 Control Circuit Components Attribute Parameter Description dv dt Limit Limit of the rate of change dv dt of the input 5 3 4 Trapezoidal and Square Blocks Trapezoidal waveform blocks and square waveform blocks are specific types of lookup tables the output and the input relationship is either a trapezoidal or a square waveform Images Trapezoidal Waveform Square Waveform For the trapezoidal waveform block Attributes Parameters Description Rising Angle theta Rising angle 9 in deg Peak Value Peak value V of the waveform For the square waveform block Attribute Parameter Description Pulse Width deg Pulse width in half cycle in deg The waveforms of these two blocks are shown below Note that the input v is in deg and can be in the range of 360 to 360 Both waveforms are half wave and quarter wave symmetrical Vo Square Waveform 5 3 5 Sampling Hold Block A sampling hold block sa
289. t delay the position of Q4 which should remain at 0 will toggle to 1 at the same time To prevent this a time delay element with the delay period of one time step needs to be inserted between Qo and the input J of the second flip flop 8 1 3 Interface Between Power and Control Circuits In PSIM power circuits are represented in the discrete circuit form and control circuits are represented in function block diagram Power circuit components such as RLC branches switches transformers mutual inductors current sources floating voltage sources and all types of controlled sources are not allowed in the control circuit Similarly control circuit components such as logic gates PI controllers lookup tables and other function blocks are not allowed in the power circuit If there is a direct connection between the power circuit and the input of a control circuit element a voltage sensor will be automatically inserted by the program Similarly if there is a direct connection between the output of a control circuit element and the power circuit a control power interface block will be automatically inserted This is illustrated in the examples below Chapter 8 Error Warning Messages and Other Simulation Issues 231 8 2 232 Comparator Comparator f Transfer Function Transfer Function anster Functio It should be noted that in PSIM the power circuit and the control circuit are solved separately There is one time
290. t for surface mounted PMSM SPM machines When the machine speed is higher than a certain value the machine will not be able to generate the maximum torque Instead it will be limited by the machine power rating Given the current amplitude reference dc bus voltage and the motor speed the field weakening control block will calculate the d axis and q axis current references Id and Iq to operate in the constant power region Attributes for Field Weakening SPM Parameters Description Ld d axis inductanc Vpk krpm Number of Poles Maximum Inverter Current Maximum Inverter Voltage The inductance on d axis in H The ratio of peak voltage versus speed in V krpm Number of poles of the machine Maximum inverter output current amplitude peak in A Maximum inverter output voltage amplitude phase peak in V Chapter 4 Power Circuit Components Base Voltage Value System base voltage value in V Base Current Value System base current value in A Base Mechanical Speed System base mechanical speed in rad sec The block has the following inputs and outputs all in per unit value If base values Vb Ib and Wmb are all set at 1 input and output quantities are in real values Input Signals Is Inverter current amplitude reference Vde DC bus voltage feedback Wm Motor mechanical speed Output Signal Id d axis current reference Iq q axis current reference This block is for the control of li
291. t generated by design suite Show Design File To display the system in design template form Display Parameters To display the parameters of the system HEV Design Suite To run the design templates in the HEV Design Suite Four design templates are provided HEV Powertrain System PHEV plug in hybrid electric vehicle Powertrain System HEV Generator and HEV Traction Motor Each template has its linear and nonlinear version Motor Control Design SuiteTo run the design templates in the Motor Control Design Suite Five design templates are provided PMSM IPM Drive PMSM IPM Drive Nonlinear PMSM SPM Drive PMSM Drive and Induction Motor Drive For more information about how to use Motor Control Design Suite refer to the document Tutorial Motor Control Design Suite pdf Subcircuit Menu Functions are provided in the Subcircuit menu for subcircuit editing and manipulation The following functions are to be performed in the parent circuit outside the subcircuit 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 file name of the subcircuit Display Subcircuit To display the name of a selected subcircuit in the main circuit Name Show Subcircuit To display the port names of the subcircuit in the main circuit Ports Hide Subcircuit To hide the port names of the subcircuit in the main circuit Ports Subcir
292. t shows that the shaft time constant Tsha t 1S equal to the RC time constant of the resistor 1 B and the capacitor J Therefore the shaft time constant can be measured by the following test Connect the machine to an external mechanical source With the stator side in open circuit drive the machine to a certain speed Remove the mechanical source The shaft time constant will be equal to the time that it takes the machine to decelerate to 36 8 of its initial speed More Explanation on the Hall Effect Sensor A hall effect position sensor consists of a set of hall switches and a set of trigger magnets The hall switch is a semiconductor switch e g MOSFET or BJT that opens or closes when the magnetic field is higher or lower than a certain threshold value It is based on the hall effect which generates an emf proportional to the flux density when the switch is carrying a current supplied by an external source It 1s common to detect the emf using a signal conditioning circuit integrated with the hall switch or mounted very closely to it This provides a TTL compatible pulse with sharp edges and high noise immunity for connection to the controller via a screened cable For a three phase brushless dc motor three hall switches are spaced 120 electrical deg apart and are mounted on the stator frame The set of trigger magnets can be a separate set of magnets or it can use the rotor magnets of the brushless motor If the trigger magnets are sep
293. t shows that this is for the diode element in the standard image library psimimage lib e Highlight Diode and click on the Edit button to create the image e If this image is to be used as the default image for this element click on the Set as Default Image After the secondary image is created this image will be available for selection in the PSIM schematic For example if a diode is placed on the schematic double click to display the property dialog of the diode then click on the Color tab Click on the pull down arrow and two images will be displayed One from the standard image library and the other from the custom image library mylib lib If the secondary image is selected all the images of the same element will be automatically changed to the secondary image The selected image will also be set as the default image when a schematic is created or loaded the next time E E Demla see vx ala zeo alelslnl amp aT mo on E Parameters Other Info Color Standard image e Secondary image 26 Chapter 2 Circuit Schematic Design To share the secondary images that one creates with other people one just has to send to them the secondary image library file with the lib2 extension 2 12 2 Adding a New Subcircuit Element into the Library There are two ways to add a custom model to the PSIM library list One is to have the model in the form of a subcircuit and then place the s
294. t side an on off switch controller must be used at the gate node The following shows another example of controlling the BJT switch The circuit on the left shows how a BJT switch is controlled in the real life In this case the gating voltage Vp is applied to the transistor base drive circuit through a transformer and the base current determines the conduction state of the transistor This circuit can be modelled and implemented in PSIM as shown on the right A diode D with a conduction voltage drop of 0 7V is used to model the pn junction between the base and the emitter When the base current exceeds 0 or a certain threshold value in which case the base current will be compared to a dc source the comparator output will be 1 applying the turn on pulse to the transistor through the on off switch controller Chapter 4 Power Circuit Components 53 4 2 6 MOSFET 54 The MOSFET switches consist of an active switch with an anti parallel diode The MOSFET is turned on when the gating signal is a logic high when a voltage of 1V or higher is applied to the gate node and the switch is positively biased drain source voltage is positive It is turned off whenever the gating signal is low or the current drops to zero The p channel MOSFET is turned on when the gating signal is a logic low and it is negatively biased drain source voltage is negative The switches MOSFET RDS on and p MOSFET RDS on have on resistance
295. t the data input could be either an analog or digital signal Example The following circuit selects the maximum value out of two inputs When V is greater than Vp the comparator output will be 1 and V V Otherwise V Vp THD Block The total harmonic distortion THD of an ac waveform that contains both the fundamental and harmonic components is defined as Vi N ie 7 Ve THD a a 1 Vy where V is the fundamental component rms V is the harmonic rms value and V is the overall rms value of the waveform The THD block is modelled as shown below Chapter 5 Control Circuit Components Image THD Circuit Model of the THD Block s THD vit v t A second order band pass filter is used to extract the fundamental component The center frequency and the passing band of the band pass filter need to be specified Attributes Parameters Description Fundamental Frequency Fundamental frequency of the input in Hz Passing Band Passing band of the band pass filter in Hz Example In the single phase thyristor circuit below a THD block is used to 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 alpha 30 deg THD ls Time O
296. talled For more details on how to set up the links please refer to relevant CosiMate documents Design Suite Blocks This section contains blocks that consist of basic power and control elements for specific motor drive system applications The following control blocks are provided Torque Control PMSM Dynamic Torque Limit Control PMSM Voltage Control PMSM DC DC Charging Control DC DC Discharging Control DC DC Regeneration Control These blocks are part of the HEV Design Suite Torque Control PMSM The Torque Control PMSM block is for linear PMSM machines only It is defined as follow Chapter 5 Control Circuit Components Image Torque Control Id Isp Iq Te Testo Attributes Parameters Description Ld d axis inductance d axis inductance of the machine in H Lq q axis inductance q axis inductance of the machine in H Vpk krpm Peak line to line back emf constant of the machine in V krpm mechanical speed Number of Poles Number of poles of the machine Integrator Gain Gain of the torque loop integrator controller Maximum Motor Torque Maximum motor torque in Nm Base Current Value Base current value of the system in A Base Torque Value Base torque value in Nm Sampling Frequency Sampling frequency of the torque loop integrator controller in Hz The torque control block has the following inputs and outputs Id d axis current feedback Iq q axis current feedback Te
297. te a co simulation framework that supports various software such as Matlab Simulink ModelSim Saber from Synopsys Easy5 and Adams from MSC Software Inventor from Autodesk AMESim from LMS GI Power from Gamma Technologies etc Through CosiMate PSIM can perform co simulation with these software For more information on CosiMate please visit www chiastek com Also PSIM links with the software SmartCtrl for control loop design SmartCtrl is designed specifically for power converter applications For more information on SmartCtrl please refer to SmartCtrl User s Guide PSIM and SIMVIEW are registered trademarks of and are copyright by Powersim Inc 2001 2015 Matlab and Simulink are registered trademarks of the MathWorks Inc SimCoder is a trademark of Powersim Inc and is copyright by Powersim Inc 2008 2015 JMAG and JMAG RT are copyright by JSOL Corporation 1997 2015 ModCoupler and SmartCtrl are copyright by Universidad Carlos III de Madrid 2011 2015 ModelSim is a registered trademark of Mentor Graphics Co CosiMate is copyright by ChiasTek Inc 2010 2015 Chapter 1 General Information 1 With these product lineup Powersim provides a complete platform from design to simulation to hardware implementation The overall environment is shown in the figure below Des Siruta Hardware esign Imulation Implementation F2833x amp F2803x PSIM Targets SmartCtrl Thermal Auto Code D
298. ted as comment k1 12 3 Define the value of the variable k1 kl a b c Define k1 in a math expression global k1 12 3 Define k1 as a global variable for use in SimCoder L1 3m power of ten suffix is supported L1 3e 3 Cl 100uF C1 100e 6 The unit F is ignored Note that as compared to Version 9 1 the following format is no longer supported LIMIT varl Vlow Vupper This should be replaced by the If else if statement as comment Now comments must start with double slash is now used as modulo operation varl value for example R1 2 5 Now an equal sign must be used to define a variable Chapter 6 Other Components 213 The definition global is used in SimCoder only for automatic code generation Please refer to the SimCoder User Manual on how it is used For PSIM simulation this definition is ignored That is a parameter definition global K1 1 2 is treated the same as K1 1 2 In addition conditional statements and error warning message functions are supported as shown below if k1 gt 10 i a 10 b j else if k1 lt 20 i a 20 b 2 j else i Error Error The value of k1 is out of the range k1 f k1 j if k1 20 i Warning Warning The value of k1 is equal to 0f k1 j When writing the conditional statements If else if else the standard C syntax applies without the semicolon at the end of each statement though Supported operators and math
299. tern file with five modulation index levels and 14 switching points 5 0 901 0 910253 0 920214 1 199442 1 21 14 7 736627 187 7366 14 7 821098 187 8211 14 7 902047 187 9021 72 10303 252 1030 72 27710 2L 2NA 72 44823 252 4482 80 79825 260 7982 80 72750 260 7275 80 66083 260 6608 99 20176 279 2018 99 27251 2 TI2T2S 99 33917 279 3392 107 8970 287 8970 107 7229 287 7229 107 5518 287 5518 172 2634 352 2634 172 1789 352 1789 172 0979 352 0980 180 360 180 360 180 360 14 10 186691 87 24225 88 75861 91 24139 92 75775 169 8133 180 190 1867 267 2422 268 7586 271 2414 272 7578 349 8133 360 14 10 189426 87 47009 88 97936 91 02065 92 52991 169 8106 180 190 1894 267 4701 268 9793 271 0207 272 5299 349 8106 360 In this example if the modulation index input is 0 8 the controller will select the first gating pattern If the modulation index is 0 915 the controller will select the third pattern Example This example shows a three phase voltage source inverter file vsi3pwm sch The PWM for the converter uses the selected harmonic elimination The gating patterns are described above and are pre stored in File ysi3pwm 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 Chapter 6 Other Components 195 6 2 6 3 6 3 1 196 0 00 5 00 1
300. the 6th stage k 6 and it corresponds to V 0 6 1 1 8 0 625 5 5 5 Circular Buffers A circular buffer is a memory location that can store an array of data Two types of circular buffers are provided in PSIM One with a single output and the other with a vector output Images Circular Buffer single output Circular Buffer vector output Attributes Parameters Description Buffer Length The length of the buffer Sampling Frequency Sampling frequency in Hz A circular buffer stores data in a buffer When the pointer reaches the end of the buffer it will start again from the beginning The circular buffer with single output is a type of first in first out memory storage device and the output is equal to the value being pushed out The output of the circular buffer with vector output is a vector array with the length equal to the buffer length To access each memory location use the memory read block Example If a circular buffer has a buffer length of 4 and a sampling frequency of 10 Hz we have the buffer storage at different time as follows Chapter 5 Control Circuit Components 179 5 5 6 5 5 7 180 Output for single output buffer Convolution Block A convolution block performs the convolution of two input vectors The output is also a vector Image Let the two input vectors be A am Am 1 m 2 a1 B ba by 1 yp by We have the convolutio
301. the diode current iy that is CTR i ig Diode Resistance Diode resistance R4 in Ohm Note that the resistance must be greater than 0 Diode Threshold The forward diode threshold voltage V4 in V Voltage 7 Transistor Vce_sat The transistor saturation voltage Voe sap V Transistor side Capacitance C across the collector and emitter of the transistor in F Capacitance These parameters can either be read directly from the manufacturer datasheet or can be calculated from the datasheet information Take the Motorola optocoupler 4N25 as an example From the datasheet we can read the current transfer ratio and the transistor saturation voltage as CTR 70 0 7 V 0 15 V e sat From the LED Forward Voltage versus Forward Current characteristics on the datasheet one can calculate the diode resistance Ry and the threshold voltage V4 We assume that the diode forward voltage is approximated by a straight line That 1s va Va mt Ra ig With T 25 C we can obtain two readings from the curve ij 10 mA and vy 1 15 V ij 40 mA and vy 1 3 V Based on these two points we can calculate Ry and V4 mas Rg 5 Ohm Vg 1 1 V The optocoupler model does not take into account the delay but it does model the turn on turn off transient through the capacitor C across the collector and emitter of the transistor The capacitance value can be obtained from the fall time tg and the switching time test condition as t pa fall Poe
302. the machine in kg m Shaft time constant T 44 Initial rotor angle 0 in electrical deg The initial rotor angle is the rotor angle at t 0 The zero rotor angle position is defined as the position where Phase A back emf crosses zero from negative to positive under a positive rotation speed Position sensor advance angle 0 in electrical deg advance The advance angle is defined as such that for a brushless dc machine with a 120 trapezoidal back emf waveform if the advance angle is 0 the leading edge of the Phase A hall effect sensor signal will align with the intersection of the rising ramp and the flat top of the back emf trapezoidal waveform Position sensor conduction pulse width in electrical deg Positive conduction pulse can turn on the upper switch and negative pulse can turn on the lower switch in a full bridge inverter The conduction pulse width is 120 electrical deg for 120 conduction mode Output flag for internal developed torque Ty Master slave flag of the machine 1 master 0 slave Attributes based on manufacturer datasheet information Parameters Resistance phase phase Inductance phase phase Speed Constant Torque Constant No of Poles P Moment of Inertia No Load Speed Description Phase to phase or line to line resistance in Ohm Phase to phase or line to line inductance in H Speed constant K defined as the ratio between the speed and the applied voltage in
303. the variables currently being displayed are in the Variables for Display box After a variable is highlighted in the Variables Available box it can be added to the Variables for Display box by clicking on Add gt Similarly a variable can be removed from display by highlighting the variable and clicking on lt Remove In the Edit Box mathematical expressions can be specified The mathematical expressions may contain brackets and is not case sensitive The following math functions are allowed addition subtraction i multiplication division AN to the power of Example 2 3 2 2 2 SQRT square root function SIN sine function COS cosine function TAN tangent function ATAN inverse tangent function EXP exponential base e Example EXP x e LOG logarithmic function base e Example LOG x In x LOGIO logarithmic function base 10 ABS absolute function SIGN sign function Example SIGN 1 2 1 SIGN 1 2 1 AVG moving average function calculates the average of the curve y up to the measured point AVGX periodic average function AVGX y T where y is the curve name and T is the time interval where the average is calculated Calculates the average of the curve y in each time segment with interval of the time segment as 7 For example AVGX V1 0 016667 will calculate the average of the curve V1 at the 60 Hz interval INT integration function Type an expression in the Edit Box and click
304. the x axis is the forward current J The x and y axis can have 134 Chapter 4 Power Circuit Components multiplying factors such as m for 10 u for 10 etc The Conditions page contains the conditions under which the graph is obtained There are two ways to define the graph Enter the graph data points manually if there are only a few data points Use the Graph Wizard to capture the graph directly from the datasheet image if the graph image is available from datasheet To Define the Graph Manually e On the datasheet refer to the Maximum On State Characteristics and enter the values for the x y axis set tings as follows XO l Xmax 1000 YO 0 6 Ymax 2 6 X in log checked e Visually inspect the graph and select a few data points Enter the data points in the data area as follows then click on the Refresh button to display the graph 1 0 7 10 1 05 100 1 8 200 2 2 300 2 4 e Click on the Conditions tab and enter the Junction Temperature as 25 C Alternatively the graph can be defined in this case using the Graph Wizard To Define the Graph Using the Graph Wizard e Click on the Add Curve button Then click on the forward wizard icon to start the Graph Wizard e Display the graph of the datasheet on the screen as follows then press the Print Screen key the key is labeled as Prnt Scr on some keyboards to copy the screen image to the clipboard
305. thermore if a subcircuit is involved in code generation only input or output signal ports can be used Right click on top of the subcircuit block and choose Attributes to display the subcircuit property dialog window There are three tabs Subcircuit Info Subcircuit Variables and Color In the Subcircuit Info Tab In this tab the name of the subcircuit can be edited click on the Change Subcircuit File button to change to a different subcircuit The selected subcircuit file will be loaded instead In the Subcircuit Variables Tab In this tab variables used in the subcircuit can be edited For example a resistor in the circuit has the resistance defined as Rparasitic and for better clarity this resistance is referred to as Parasitic Resistance Also the resistance has a value of ImOhm This variable will be entered as Variable Description Parasitic Resistance Variable Name Rparasitic Variable Value 1m When the checkbox for Parasitic Resistance 1s checked in the main circuit this variable will be displayed as Parasitic Resistance 1m Since subcircuit variable list can be edited the current variable list may be different from the default variable list One can click on the Set as Default Variables button to set the current variable list as the default list or click on the Reload Default Variables button to reload the default list if the default list has been modified Two functions are provided at the bottom of the di
306. tion Run Parameter SweepTo run parameter sweep simulation Generate Netlist File To generate the netlist file from the schematic Generate Netlist File xml To generate the netlist file in xml format from the schematic View Netlist File To view the generated netlist file Show Warning To show the warning messages if any from the simulation Show Fixed Point Range Check ResultTo display the fixed point range check result Arrange SLINK Nodes To rearrange the SLINK nodes This function is for the SimCoupler Module for co simulation with Matlab Simulink Please refer to Section 3 6 for more details Generate Code To generate code from the control schematic This function is for SimCoder for automatic code generation Please refer to SimCoder User Manual for more details Open Generated Code FolderTo open the folder where the generated code are located Runtime Graph To select waveforms to show in the middle of a simulation run To view the simulation results in the middle of the simulation one can either go to Simulate gt gt Runtime Graphs to select the waveforms or use the voltage current scopes under Elements gt gt Other gt gt Probes to view the waveforms The difference between the runtime graphs and the voltage current scopes is that only waveforms that are saved for display in SIMVIEW such as voltage probes current probes current flags etc are available for the runtime graphs In addition a runtime graph display the wa
307. tion for the diode device The losses Peona Q Psw O Peona D Ad Psy p in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot be floating and must be connected to ground Chapter 4 Power Circuit Components Example IGBT Loss Calculation The circuit below shows a sample circuit that uses Powerex s 6 pack IGBT module CM100TU 12H 600V 100A The conduction losses and the switching losses of the transistors and the diodes are added separately and a thermal equivalent circuit is provided to calculate the temperature raise With the Thermal Module users can quickly check the thermal performance of a device under different operating conditions and compare the devices of different manufactures Rthoes R_heatsink 0 4 0 1 T ambient ie _amblen 40 Powerex CM1O0TU 12H 4 10 3 MOSFET Thermal Model 4 10 3 1 MOSFET Device in Database The following information is defined for a MOSFET device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Discrete dual or 6 pack as shown in the figure below Package Images Discrete Dual n channel p channel a P cond QO p P sw Q P cond_D g P sw_D Chapter 4 Power Circuit Components 127 128 In the ima
308. to save the settings temporarily and uses it shortly after For example when comparing one waveform with another one can first save the temporary settings when displaying the first waveform Then display the second waveform and load the temporary settings Favorites are a convenient way of storing particular graph settings to be used later For example assume that Simview shows two screens with the top screen displaying V1 in the red color and with certain x axis and y axis ranges and the bottom screen displaying V2 in the blue color with its own y axis range If this settings is likely to be used again in the future the settings can be saved as a favorite and used later To apply a favorite to the current display go to the Settings menu and choose the favorite from the list Note that when applying the favorite the number of screens currently on display must be the same as the number of screen in the favorite Chapter 3 Waveform Processing in SimView 3 11 Exporting Data FFT results can be saved to a text file Both simulation results txt and FFT results fft are in text format and can be edited using a text editor such as Microsoft NotePad or exported to other software such as Microsoft Excel For example to load a simulate result file chop 1q txt in Microsoft Excel follow these steps e In Microsoft Excel select Open from the File menu Open the file chop 1q txt e In the dialog window Text Import Wizard
309. tput Value Initial value of the output of the block Sampling Frequency Sampling frequency in Hz The difference between the unit delay block and the time delay block is that the unit delay block is a discrete element and it delays the sampled points by one sampling period whereas the time delay block is a continuous element and it delays the whole waveform by the delay time specified 176 Chapter 5 Control Circuit Components 5 5 4 Quantization Blocks Quantization blocks simulate the quantization process of an A D converter Two quantization blocks are provided One with LSB least significant bit quantization error and the other with input offset with 0 5 LSB quantization error Images Quantization Block Quantization Block with offset Attributes Parameters Description No of Bits Number of bits V Vin_min Lower limit of the input value Vj min Vin_max Upper limit of the input value Vin max Vo_min Lower limit of the output value Vy min Vo_max Output value V max that corresponds to the input value Viz max Sampling Frequency Sampling frequency in Hz To understand how the quantization blocks work we will look at a special case where N 3 Vin min 0 and Vinmax 1 The input will be divided into 23 or 8 stages Depending on the input level the output will be one of the 3 bit discrete numbers 000 001 010 011 100 101 110 and 111 The output will have On or 8 levels and 23 1 or 7
310. ttable integrator The input of the integrator is a dc quantity The control input of the integrator is a pulse waveform which resets the integrator output at the end of each cycle The reset flag is set to 0 Wd Wo 15 00 10 00 3 00 0 00 Wetrl 1 50 0 50 0 00 0 00 1 00 2 00 3 00 4 00 Time mz Chapter 5 Control Circuit Components 151 9 1 3 152 Differentiator The transfer function of a differentiator is G s sT A differentiator is calculated as follows Vet Ve CAT t T where At is the simulation time step v t and v t At are the input values at the present and the previous time step Image i Attribute Parameter Description Time Constant Time constant T of the differentiator in sec Since sudden changes of the input will generate spikes at the output it is recommended that a low pass filter be placed at the input of the differentiator Proportional Integral Controller A proportional integral PI controller is defined as below Image Ti Attributes Parameters Description Gain Gain k of the PI controller Time Constant Time constant T of the PI controller The transfer function of a PI controller is defined as 1 sT G s k oT The Bode plot of the amplitude G and the phase angle of the PI controller is shown as below G 20dB dec 0 TT rad sec When a limiter is connected to the PI output
311. uct Transconductance gn Transconductance g of the MOSFET Diode Forward Voltage Forward voltage of the anti parallel diode in V Diode Resistance On resistance of the anti parallel diode in Ohm Attributes for MOSFET 3 state and p MOSFET 3 state Level 2 Model Parameters Description Vbreakdown drain Maximum drain source voltage without causing avalanche breakdown in V source On Resistance On resistance Rps on of the MOSFET in Ohm Gate Threshold Voltage Threshold voltage of the gate to source voltage in V above which the MOSFET V gs th starts to conduct Internal Gate Resistance Internal gate resistance in Ohm Transconductance g Transconductance g of the MOSFET Capacitance Cgs Gate to source intrinsic capacitance in F Capacitance Cgd Gate to drain intrinsic capacitance in F Chapter 4 Power Circuit Components 57 58 Capacitance Cds Output capacitance between drain and source in F Diode Forward Voltage Forward voltage of the anti parallel diode in V Diode Resistance On resistance of the anti parallel diode in Ohm A linear transistor is controlled by the base current I It can operate in one of the three regions cut off off state linear and saturation region on state The properties of a npn transistor in these regions are Cut off region Vbe lt Ve h O I 0 Linear region Vbe Ve L B l Vee gt N obsa Saturation region Vpe Ve I l
312. uency at which the op amp gain is 1 in Hz Output Resistance Ro Output resistance of the op amp in Ohm Maximum Output Maximum current that the op amp output can provide in A Current Voltage Vs Upper voltage source level of the op amp Voltage Vs Lower voltage source levels of the op amp The figure below shows the definition of the dc gain A and the unit gain frequency Chapter 4 Power Circuit Components Open Loop Gain Av dB Unit gain frequency f f Hz 4 5 2 TL431 Shunt Regulator The image of the TL431 shunt regulator is shown as below Image Cathode Reference Anode The TL431 regulator maintains the reference node voltage to be around 2 495V In this model the limited bandwidth of the TL431 is modelled That is the ac frequency response of the TL431 model resembles the following figure from the datasheet 60 Rai IKA 10 mA Test Circuit mith TTN Ta 25 C 50 f CNT Te W N N l TERE TY V Output IKA lt 2 i 7320 GND Ay Small Signal Voltage Amplification dB 10k 100 k 10 M f Frequency Hz 4 5 3 Opto Coupler The image and parameters of a opto coupler are shown below Image id y yic Chapter 4 Power Circuit Components 15 4 5 4 76 Attributes Parameters Description Current Transfer Ratio The current transfer ratio CTR between the transistor current i and
313. uit nodes or control circuit nodes The scopes will display the node to ground voltages at these nodes The current scope on the other hand has no connecting terminals It is associated with any element that has the parameter of the current flag and it is enabled by right clicking on top of the element and selecting the branch current under the Current Scopes as shown below After the branch current is selected a check mark will appear in front of the branch current name Chapter 6 Other Components 199 6 4 6 4 1 200 Cut Copy Paste Disable Enable Attributes If the element has multiple current flags under the Current Scopes menu there will be multiply branch currents one corresponding to each current flag For example for a 3 phase resistor R1 under the Current Scopes menu there will be three branch currents I R1 A I R1 B and I R1 C The letter A B and C refer to Channel A B and C respectively For example if I R1 A I R1 B and I R1 C are all selected in the current scope one can go to the Channel pull down menu in the Channel section and select one of the channels for display If Channel A 1s selected the scope will show the Phase A branch current I R1 Function Blocks Control Power Interface Block A control to power interface block passes a control circuit value to the power circuit It 1s used as a buffer between the control and power circuit The output of the
314. ut Chapter 6 Other Components 217 ucCSB4 Controlled Buck Converter Q 127 RZ Sweet sweep 6 8 2 AC Sweep Multi Sine The AC Sweep multisine block has the same functionality as the AC sweep Its advantage is to simulate multiple frequency of sine wave in only one cycle of the lowest frequency wave Image AC Sweep m sine Attributes Parameters Description Start Frequency Start frequency of the ac sweep in Hz End Frequency End frequency of the ac sweep in Hz No of Points Flag for Points Source Name Source Amplitude Number of Cycles Steady State Time 218 Number of data points Flag to define how the data points is generated Flag 0 Points are distributed linearly in LOG1O scale Flag 1 Points are distributed linearly in linear scale Name of the excitation source Excitation source peak amplitude at the start frequency The number of cycles of the excitation source amplitude to be simulated The time predicted when the circuit has completed transient and reached steady state in second User may make approximated estimation of this value or run a single time simulation to determine it Chapter 6 Other Components 6 9 Parameter Sweep Parameter sweep can be performed on any parameters The image and parameters of the parameter sweep block are shown below Image Faran Sweep Attributes Parameters Description Name Name of the parameter to be
315. utes Parameters R3 and C3 are associated with the response in the long term in hundreds of minutes The parameter R4 is associated with capacitor losses due to self discharge For further information on how to use the model please refer to the tutorial Tutorial Ultracapacitor model pdf Chapter 4 Power Circuit Components 147 148 Chapter 4 Power Circuit Components 5 Control Circuit Components This chapter provides descriptions for the components in PSIM s element library 5 1 Transfer Function Blocks A transfer function block is expressed in polynomial form as Bet rse thar Poes E Gs ke L Apte Praa FAS FAAR Ag Two types of transfer function blocks are provided one with zero initial values the element is called s domain Transfer Function in the PSIM library and the other with initial values as input parameters called s domain Transfer Function initial value in the PSIM library Image His Attributes Parameters Description Order n Order n of the transfer function Gain Gain k of the transfer function Coeff B B Coefficients of the numerator from B to Bo Coeff A 4 Coefficients of the denominator from 4 to 4o Initial Values x x Initial values of the state variables x to x for the element s domain Transfer Function initial value only Let Y s G s U s where Y s is the output and U s is the input we can convert the s domain expression into the d
316. utes of the Level 1 Model Parameters Description Forward Voltage Forward voltage V4 tn in V A diode starts to conduct when the positive bias voltage is greater than V jp Resistance On resistance Rg in Ohm after it starts to conduct Initial Position Flag for the initial diode position If it is 0 the diode is off If it is 1 the diode is on Current Flag Current flag for diode current display Attributes of the Level 2 Model Parameters Description Forward Voltage Forward voltage V4 in V A diode starts to conduct when the positive bias voltage is greater than Vy jp Resistance On resistance Rj in Ohm after it starts to conduct Parasitic Inductance Series parasitic inductance in H Parallel Capacitance Parallel capacitance between the diode anode and cathode in F If the capacitance value is 0 the capacitor is ignored and is removed from simulation Forward Current Forward current fwd under test conditions of diode reverse recovery characteristic in A Peak Reverse Current Peak reverse current rm under test conditions in A Current Slope Current slope d dt under test conditions in A sec Reverse Recovery Time Reverse recovery time trr under test conditions in sec Initial Position Flag for the initial diode position If it is 0 the diode is off If it is 1 the diode is on Current Flag Current flag for diode current waveform display Chapter 4 Power Circuit Components 49 Diode v
317. veform in its entirety from the beginning to the final study time Because of this the runtime graphs are disabled in the free run mode as the final study time is undetermined On the other hand voltage current scopes can be used in either the one time simulation mode or in the free run mode Voltage scopes can be connected to any nodes and will display the node to ground voltage waveforms On the other hand current scopes are available to elements that have current flags such as R L C branches and switches Moreover in the free run mode the majority of the element parameters can be changed during runtime in the middle of the simulation This makes it possible to tune a circuit while inspecting key waveforms using voltage current scopes until desired performance is achieved To illustrate how to run a simulation in the free run mode a buck converter circuit shown below is used as an example The circuit on the left was originally set up for the one time simulation with the total simulation time set to a specific value One time simulation Simulation in the free run mode To set up the simulation in the free run mode Chapter 2 Circuit Schematic Design In Simulation Control check the Free Run checkbox Goto Elements gt gt Other gt gt Scopes and select the 2 channel voltage scope Connect the scope as shown above on the right Double click on the scope and the scope image will appear Start the simulation and
318. will be treated as non existent as far as the simulation is concerned This function is useful if an element or circuit needs to be excluded but not deleted from the circuit Enable To enable a previously disabled element or circuit Rotate To rotate the selected element or a portion of the circuit by 90 clockwise Flip Left Right To flip the selected element horizontally Flip Top Bottom To flip the selected element vertically Find To find a particular element based on type and name Find Next To repeat the previous Find operation Find in Files To fined a particular element in several files Edit Library To edit PSIM image libraries For more details please refer to Section 2 12 Set Print Layout Page Set the layout page for printing Image Editor To launch the image editor For more details please refer to Section 2 13 Escape Quit from any of the above editing modes by choosing Escape View Menu The following additional functions are provided in the View menu for circuit editing Application Look To select the display style of the PSIM windows Status Bar To show hide the status bar Toolbar To show hide the toolbar Element Bar To show hide the element bar Library Browser To launch the Library Browser The Library Browser is another way of accessing the PSIM Element library Project View To launch the Project View The project view organizes and manages the related files The projects organizing structure has been illustrat
319. windings on the stator and permanent magnet on the rotor The difference between this machine and the brushless dc machine is that the machine back emf is sinusoidal The image and parameters of the machine are shown as follows Image P b a Shaft Node C Attributes Parameters Description R stator resistance Lq d axis ind L q axis ind Vpk krpm No of Poles P Moment of Inertia Shaft Time Constant Torque Flag Master slave Flag Stator winding resistance in Ohm Stator d axis inductance in H Stator q axis inductance in H The d q coordinate is defined such that the d axis passes through the center of the magnet and the q axis is in the middle between two magnets The q axis is leading the d axis Peak line to line back emf constant in V krpm mechanical speed The value of Vpk krpm should be available from the machine data sheet If this data is not available it can be obtained through an experiment by operating the machine as a generator at 1000 rpm and measuring the peak line to line voltage Number of poles P Moment of inertia J of the machine in kg m Shaft time constant Taf Output flag for internal developed torque T Master slave flag of the machine 1 master 0 slave The node assignments of the image are Nodes a b and c are the stator winding terminals for Phase a b and c respectively The stator windings are Y connected and Node n is the neutral p
320. x Vin Vin2 ae Attributes For all the sources except the nonlinear power source Parameter Description Gain Gain k of the source For the nonlinear power source Parameters Description Gain Gain k of the source Coefficient k Coefficient k Coefficient k Coefficient k Chapter 7 Sources For the nonlinear division source Input is on the side of the division sign 230 Chapter 7 Sources 8 Error Warning Messages and Other Simulation Issues 8 1 Simulation Issues 8 1 1 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 8 1 2 Propagation Delays in Logic Circuits The logic elements in PSIM are ideal i e there is no propagation delay If a logic circuit uses the propagation delays for its operation a function block in PSIM called the Time Delay block needs to be added to represent the effect of the propagation delay To illustrate this take a two bit counter circuit as an example In the circuit on the left the initial values of both Qo and Q are assumed to be zero At the clock rising edge Qo will change to 1 Withou
321. y current mode control schemes Current mode fixed frequency PWM controller for off line or dc dc converters The UC3846 family of control ICs provides the necessary functions to implement fixed frequency current mode control schemes High power factor preregulator providing active power factor correction UC3854A B products are pin compatible enhanced versions of the UC3854 It provides all the functions necessary for active power factor corrected preregulators 211 UC3872 UCC3806 UCC3817 3818 UCC3895 6 5 2 Driver IC PSIM has implemented the following power switching devices driver models 212 Resonant lamp ballast controller The UC3872 is a resonant lamp ballast controller optimized for driving cold cathode fluorescent neon and other gas discharge lamps Low power dual output current mode PWM controller With the same block diagram and pinout of the popular UC3846 series the UCC3806 line features increased switching frequency capability while reducing the bias current used within the device BiCMOS power factor preregulator with average current mode control The UCC3817 18 family provides all the functions necessary for active power factor corrected preregulators The controller achieves near unity power factor by shaping the ac input line current waveform to correspond to that of the ac input line voltage BiCMOS advanced phase shift PWM controller for full bridge power stage The UCC3895 is a pha
322. y state equivalent circuit is shown below In the figure s is the slip Chapter 4 Power Circuit Components 81 Example A VSI Induction Motor Drive System RA1 s s The figure below shows an open loop induction motor drive system The motor has 6 poles and is fed by a voltage source inverter with sinusoidal PWM The dc bus is fed through a diode bridge The simulation waveforms of the mechanical speed in rpm developed torque T and load torque 7 7 and 3 phase input currents show the start up transient 4 6 3 Induction Machine with Saturation VSI Induction Diode Ea Sh E Bridge l Motor i t Rt 4 FHI I D E aea Eae E Speed Torque Sensor Sensor M yh iy Speed i Speed Deere i oe Tem_Ihi4t Tlaad ae SPWM Two models of induction machines with saturation are provided 3 phase squirrel cage induction machine 3 phase wound rotor induction machine Images LC LARA FE TT aE ARLE 3 phase currents 0 20 0 40 Time Squirrel cage nonlinear ast IM as bs bs cSt CS ast as bs bs cSt CS Wound rotor nonlinear IM a a ar ar br br ptr 82 Chapter 4 Power Circuit Components Attributes Parameters Description R stator Stator winding resistance in Ohm L stator Stator winding leakage inductance in H R rotor Rotor winding resistan
323. y the memory map for compiler For F2833x and F2803x hardware target Options RAM Debug RAM Release Flash Release and Flash RAM Release For PE_Exper3 hardware target PE View9 PE View8 CPU Version Specify the CPU version For F2833x F28335 F28334 and F28332 For F2803x F28035 F28034 F28033 F28032 F28031 and F28030 Default Data This parameter is for fixed point DSPs such as F2803x The default data type options Type are Integer IQO IQ IQ30 If the box for Check Fixed Point Range is checked the SimCoder will check all the variables against the range and display the result DMC Library SimCoder has function blocks of all the functions in TI s DMC library for the following Version DMC versions 4 0 4 1 and 4 2 Comments Comments can be entered and these comments will be inserted at the beginning of the automatically generated code 1 7 Component Parameter Specification and Format The parameter dialog window of each component in PSIM has three tabs Parameters Other Info and Color as shown below Resistor R1 Parameters Other Info Color Parameters Other Info Color Parameters Other Info Color Resistor Display Name Ri lv Model Level Level 1 o a Resistance 120 wie Current Flag 0 zi Resistor Help Resistor Display Name nu o Power Rating yaw E Manufacturer Company aBC E Part No 01 2343556 E The parameters in the Parameters tab are use

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