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1. Timebase Scale Channel A Channel B Trigger af i ZA abusiDiv scale 200 mvs H Scale 0m aN EE ae Name scop Ofset 0 4 H offser 04 HF E Once ees Ay Color Color MT Color N Levelfo 4 H Justification let Save Help _ DE AC Gnd DC AC Gnad F Auto scale j gt t ma eloa Ble olelelolo mi aelekea aheja 1min 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 changed in the similar way Branch currents can also be displayed in the free run mode To display the inductor current for example right click on top of the inductor and a menu will appear Choose Current Scopes and the branch current name An image of the current scope similar to the voltage scope image but without connection terminals will appear Double click on the scope to expand and view the inductor waveform Below is how the window would look like with both the voltage scope and t
2. Image os EK FS 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 AT I Tae l Attributes For Regular Integrator Parameters Description Time Constant Initial Output Value Time constant T of the integrator in sec Initial value of the output For External Resettable Integrator Parameters Description Time Constant Initial Output Value Time constant T of the integrator in sec Initial value of the output Reset Flag Reset flag 0 edge reset 1 level reset Chapter 3 Control Circuit Components For Internal Resettable Integrator Parameters Description Time Constant Time constant 7 of the integrator in sec Initial Output Value Initial value of the output Lower Output Limit Lower limit of the output Upper Output Limit Upper limit of the output The transfer function of an integrator is mets G s oT The Bode plot of the amplitude G and the phase angle of the integrator is shown as below IG A 0 rad sec 20dB dec p 0 gt O 90 The output of the external resettable integrator can be reset by a
3. X axis IF Y axis Vd Suffix I Invert graph xo j0 Xmax 0 X I XinLog yo jo Ymax 0 X I YinLog Enter values in the following format 1 y1 x2 y2 x3 y3 Refresh ON STATE CHARACTERISTICS A 2 6 l a T 2 22 E w i amp Q 4 Z ai e 18 z gt e fo IEE 2 14 W z 1 0 Z Z 3 I a 06 100 101 102 103 Xaris IF Y axis Vd Junction Temperature Tj oC Gt Redraw OK Cancel Click on the forward wizard icon amp amp to move on to the next step 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 corner Note that the graph origin does not have to be the lower left corner and it can be any one of the four corners To locate the origin of the corner more accurately right mouse click to zoom in and press the Esc escape key to exit the zoom After this a blue rectangle will appear around the border of the graph and the dialog window will appear as follows Chapter 2 Power Circuit Components 39 On state voltage drop Vd vs IF lave APS Add Curve Delete Curve Click on the Graph Wizard to proceed to the next step Or if you wish to re do this step pice on Back X axis IF Y axis Yd Suffix I Invert graph xo j
4. Images Voltage controlled Current controlled Current controlled Variable gain flowing through voltage controlled o a f y Vink E Vim Variable gain Voltage controlled Current controlled Me oe voltage controlled o y Vini x E Ving Attribute Parameter Description Gain Gain of the source For voltage controlled sources the controlling voltage is from the positive node to the negative node For current controlled sources with an arrow pointing from one node to another the control nodes are connected across a RLC branch and the direction of the controlling current is indicated by the arrow For current controlled sources with a wire connecting the two nodes the 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 Kas k Vin2 Vint ig F k Vin2 Vink Chapter 4 Other Components 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
5. Onan 180 a in deg The rotor angle is defined such that when the stator and the rotor teeth are completely aligned 0 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 falling slope from Lmax to Lmin and the interval of the rising falling slope is 9 6 we can express the inductance L as a function of the rotor angle 0 from 0 to 180 as follows 0 L Laos for 0 lt 0 lt or Oe Onax Onax L Lpa k 0 2 for e sosto Omax Pinas L L nin for D 0 5 lt O lt Opet Omin Oax Omax Oax L L mint k 0 2 0 Omin for gt 57 2 Duet Omin S OS 28 74 Omin Onax L Linon for gt 20 Omin lt O lt 180 The developed torque of the machine per phase is sina Fem 2 L d0 Based on the inductance expression we have the developed torque in each stage as oa i k 2 rising stage Tom 9 flat top stage Tom 1 k 2 falling stage Loy 0 flat bottom stage 2 8 10 Nonlinear Switched Reluctance Machine In the previous switched reluctance model the inductance is only a function of the rotor position and it remains constant during the flat top and flat bottom states In this 3 phase model the inductance can be a nonlinear function of not only the rotor position but also the current The relationship between the in
6. Attributes Parameters Description Inductance Factor Ay Inductance factor Ap 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 poe F L The mmf in the form of a voltage source applies across the capacitor the capacitance is Az and the resistor R Let the current flowing through this branch be i and the rms value be J the relationship between the losses due to the leakage flux and the resistance R is Pross r R Air Gap The image and attributes of an air gap element are as follows Image mi M2 Chapter 2 Power Circuit Components 27 The input parameters of the air gap can be defined in two ways One is to define the air gap length and the cross section area and the other is to define the inductance factor Az They are as follows Attributes For the element Air Gap Parameters Description Air Gap Length The length of the air gap los inm Cross Section Area Cross section of the air gap Ae in m Resistance for Losses Resistance R in ohm that
7. Current Flag i Current flag for Switch i Attributes for the CSI3 bridge Parameters Description Forward conduction voltage drop of the switch in V Voltage Drop Forward on resistance of the switch in Ohm Resistance Init Position i Initial position for Switch i Current Flag i Current flag for Switch i 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 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 PWM Cii Jang i Io Oe SQ The thyristor circuit on the left uses an alpha controller For a three phase circuit the zero crossing of the Chapter 2 Power Circuit Components 21 2 3 22 voltage V corresponds to the moment when the delay angle alpha is equal to zero This signal is used to provide synchronization to the controller The circuit on the right uses a PWM lookup table controlle
8. 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 Chapter 3 Control Circuit Components 111 3 3 6 3 3 7 112 order hold block is a discrete element and the sampling moments are fixed and of equal distance For a discrete system the zero order hold block should be used Example In this example a sinusoidal input is sampled The control signal is a square wave voltage source with an amplitude of 1 al 0 00 5 00 10 00 1500 Time ms Round Off Block The image of a round off block is shown below Image ea INT Attributes Parameters Description No of Digits No of digits N after the decimal point Truncation Flag Truncation flag 1 truncation 0 round off Let the input of the round off block be V The input is first scaled based on the following expression V N in new Vi 10 If the truncation flag is 1 the output will be equal to V truncated and then divided by 10 Otherwise the n new output will be equal to V rounded off to the nearest integer and then divided by 10 in new Examples If V 34 5678 N 0 truncation flag 0 then we have
9. Cut off region Vgs lt Vestn Ig 0 Active region Vgg gt Vgs th and Vgs Vgs th lt Vasi 1a 8m V gs V gs th Ohmic region Vos gt V gs th and Vos V gs th gt Vas Iq Vas Rason where Vs is the gate source voltage V4 is 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 Vestn Ig 0 Active region Vos lt Vgs th and Ves Vesth gt Vass la Zm V gs Vgs th Ohmic region Vgs lt Vgs th and Vos Vgs th lt Vas Ia Vas Rascon 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 a source It can not be connected to a gating block or a switch controller Examples Circuits Using the Linear BJT Switch Examples below illustrate the use of linear switches The circuit on the left is a linear voltage regulator circuit and the transistor operates in the linear mode The circuit on the right is a simple test circuit vin 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
10. 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 2 changes at a much slower rate as compared to vin 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 The circuit on the right is equivalent to that on the left except that a different current controlled source is used instead 4 2 12 Nonlinear Voltage Controlled Sources The output of a nonlinear voltage controlled source is either the multiplication division or square root of the inputs They are defined as Nonlinear multiplication Output v k Vini Ving OF ip K Vint Vina sos Vint Ges Vinl Nonlinear division Output v k ori k Vin2 Vin2 Nonlinear square roo
11. which is defined as K The developed torque of the machine is Tem z Ea i Ep ip Eo ie Ory The mechanical equations are dOn e T dt em Jg B On Tioad d P de 2 Om where B is the friction coefficient Tjoaq is the load torque and P is the number of poles The coefficient B is calculated from the moment of inertia J and the mechanical time constant Tech as below Chapter 2 Power Circuit Components J mech B T The mechanical time constant T mech therefore reflects the effect of the friction and windage of the machine Note that when the mechanical time constant is set to 0 the friction term is B q is ignored To better understand the definition of the mechanical time constant we can represent the mechanical equation with the following equivalent circuit Tioad OF Tech This circuit shows that the mechanical time constant Tmech 1S equal to the RC time constant of the resistor 1 B and the capacitor J Therefore the mechanical 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 mechanical 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
12. 3 The Library Browser provides a convenient way of navigating through the library To launch the Library Browser go to View gt Library Browser Also the most recent elements are listed in the pull down button gt on the toolbar and can be selected In addition one can select elements from the Element Toolbar 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 To select an existing element on the schematic click on the element A rectangle will appear around the element To select a block of a circuit keep the left button of a mouse pressed and drag the mouse until the rectangle covers the selected area Before the element is placed right click to rotate the element After an element is selected select Edit gt Rotate to rotate the element To connect a wire between two nodes select Edit 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 If two or more nodes are connected to the same label they are connected It is equivalent as though they were connected by wire Using labels will reduce the cross wiring and improve the schemat
13. 3 output in 0 out 0 out 1 in 1 out 2 input output The node sequence is from the top to the bottom In the 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 C code is the node at the top left and the first output which corresponds to out 0 in the C 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 The 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 RunSimUser function The interface of the simplified C block dialog window is shown below Chapter 4 Other Components 161 4 8 7 162 Simplified C Block Parameters Color Input output p orts Simplified C Block Help Block umber of Input Output Ports Name SSCB1 f Input 1 Output 1 C Code Following variables are valid t delt l x Output y1 yi x1
14. Chapter 3 Control Circuit Components 117 3 4 6 3 4 7 118 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 ipg Preset Value pa Clock Output Up Down u7 D R 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 The truth table of the counter is Up Down Preset Enable Reset Clock Action x 0 0 x No count 1 0 0 i Count up 0 0 0 f Count down x 1 0 x Preset x x 1 x Reset x Do not care Chapter 3 Control Circuit Components 3 4 8 A D and D A Converters A D and D A converters perform analog to digital and digital to analog conversion Both 8 bit and 10 bit converters are provided Images ADC 8 bit ADC 10 bit DAC 8 bit DAC 10 bit V Vi
15. LOG logarithmic function base e Example LOG x In x LOG10 logarithmic function base 10 ABS absolute function SIGN sign function Example SIGN 1 2 1 SIGN 1 2 1 AVG moving average function AVGX periodic average function AVGX T where y is the curve name and T is the time interval where the average is calculated INT integration function The moving average function AVG y calculates the average of the curve y up to the measured point The periodic average function AVGX T p calculates the average of the curve y in each time segment with interval of the time segment as T For example AVGX V1 0 016667 will calculate the average of the curve V1 at the 60 Hz interval Type an expression in the Edit Box and click on the Add gt button Highlight the expression on the right click on the lt Remove button and the expression will be moved into the Edit Box for further editing Also in the property dialog window in the Curves tab the curve properties such as color line thickness and marker symbol can be defined In the Screen tab the screen properties such as foreground background colors grid color and font size type can be defined Measure Menu The Measure Menu has the following functions Measure Enter the measure mode 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 minim
16. yn 1 T u n 1 3 5 2 2 Differentiator The transfer function of a discrete differentiator is z 1 where T is the sampling period The input output relationship can be expressed in difference equation as y n E u n u n 1 Image oa ID Bs Attribute Parameter Description Sampling Frequency Sampling frequency in Hz 3 5 2 3 Digital Filters Two types of digital filters are provided general digital filter and finite impulse response FIR filter For both types the filter coefficients can either be entered directly through the element property window or be specified through a text file Images General Digital Filter FIR Filter ey Hiz pe oa FIR Attributes For elements that read the coefficients directly Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the numerator from bo to by Coeff do ay Coefficients of the denominator from dp to ay Sampling Frequency Sampling frequency in Hz For elements that read the coefficients from a text file Parameters Description File for Coefficients Name of the file storing the filter coefficients Sampling Frequency Sampling frequency in Hz The transfer function of the general digital filter is expressed in polynomial form as Chapter 3 Control Circuit Components 123 124 bo tby 2 tut by p27 byez I
17. Chapter 2 Power Circuit Components Attributes Parameters Description Diode Threshold Diode threshold voltage V4 in V The diode starts to conduct when the positive Voltage bias voltage is greater than Vy p Diode Resistance Initial Position Current Flag Diode on resistance R4 in Ohm after it starts to conduct Flag for the initial diode position If the flag is 0 the diode is off If it is 1 the diode is on Current flag of the diode The i v characteristics of the diode and LED is shown below i v characteristics ik Slope 1 Rq 0 Vv Va th Zener A zener diode is modeled by a circuit as shown below Images Zener K K Circuit Model vd Vg A A Attributes Parameters Description Breakdown Voltage Breakdown voltage Vg 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 is positively biased it behaviors as a regular diode When it is reverse biased it will block the conduction as long as the cathode anode voltage Vx is less than the breakdown voltage Vg When V4 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 ca
18. c 4 6 2 toL WESE Jae DC CSB CSI3 DC o A EST eph DC o Cc Ct 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 7 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 i Chapter 2 Power Circuit Components Attributes for VSI3 bridge with MOSFET switches Parameters Description On resistance of the MOSFET transistor in Ohm On Resistance Diode Threshold Voltage Threshold voltage drop of the diode in V Diode Resistance On resistance of the diode in Ohm Init Position_i Initial position for Switch i Current Flag i Current flag for Switch i Attributes for VSI3 bridge with IGBT switches Parameters Description Saturation voltage Vce_sat of the IGBT transistor in Ohm Saturation Voltage Transistor Resistance On resistance of the IGBT transistor in Ohm Diode Threshold Voltage Threshold voltage drop of the anti parallel diode in V Diode Resistance On resistance of the anti parallel diode in Ohm Init Position i Initial position for Switch i
19. 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 de component The cut off frequency determines the transient response of the filter Except the voltage and current probes the readings of all the meters are meaningful only when the readings reach the steady state 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 vol
20. drain to source voltage Vpg in V and Ves Vesan drain current Jp in A Rise time and fall time ty test conditions drain to source voltage Vps in V drain current Jp in A and gate resistance Rg in ohm Total gate charge Qo gate to source charge Qos and gate to drain Miller charge Qoq respectively all in nC test conditions drain to source voltage Vps in V gate to source voltage Vps in V and drain current Jp in A Input capacitance C output capacitance Coss and reverse transfer capacitance C respectively all in pF test conditions drain to source rss voltage Vps in V gate to source voltage Vps in V and test frequency in MHz Chapter 2 Power Circuit Components 2 7 7 Electrical Characteristics Diode Va vs Ip tr and Q Thermal Characteristics Rthg c Rihe s Dimensions and Weight Length mm Width mm Height mm Weight g Forward conduction voltage drop V4 vs forward current Ip Reverse recovery time in ns and reverse recovery charge Q in uC test conditions forward current Ip in A rate of change of the current di dt in A us and junction temperature 7 in C Junction to case thermal resistance in C W Case to sink thermal resistance in C W Length of the device in mm Width of the device in mm Height of the device in mm Weight of the device in g Note that the parameters under Absolute Maximum Ratings Thermal Characteristic
21. optional Click this button to edit and customize the image of the DLL block Click this button to display the content of the Input Data File optional If the Input Data File is modified click this button to reload the data file optional The node with a dot is for the first input in 0 The sequence of the input output nodes is from the top to the bottom By default users define the number of inputs and outputs But the number of inputs and outputs the node names as well as the number of parameters and the parameter names can all be defined inside the DLL routine Chapter 4 Other Components 163 4 8 8 164 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 p
22. xl oe p gt ad custom code Edit Image Check Code In the Number of Input Output Ports section the number of input and output ports of the ports is defined After the number of ports is changed the image of the block in the schematic will change accordingly Variables that can be used in the code include t Time passed from PSIM delt Time step passed from PSIM X1 XQ Inputs 1 2 etc yl y2 Outputs 1 2 etc Unlike the C block the simplified C block can be used for automatic code generation 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
23. zz L L L cos 20 zz L cos 26 2 3 i 3 2 L L 2 L cos 20 L cos 20 L L L 00s 20 2 2 3 2 3 Lcos 20 L acos 20 L sin 20 Lycos 20 zm Lacos 20 zm Le sin 20 22 2m 2m 22 aL sin 20 22 z L ycos 20 zm Lacos 20 Ly Lar O Liar Lay 0 0 OL qr ea where 0 is the rotor angle The developed torque can be expressed as P d r 2 20 The mechanical equations are y On op or dt tem load d P a 2 Permanent Magnet Synchronous Machine A 3 phase permanent magnet synchronous machine has 3 phase windings on the stator and permanent magnet on the rotor The difference between this machine and the brushless dc machine is that the machine back emf is sinusoidal The image and parameters of the machine are shown as follows Image ao PMSM EN ee a Shaft Node Chapter 2 Power Circuit Components Attributes Parameters Description R stator resistance Stator winding resistance in Ohm Lq d axis ind Stator d axis inductance in H Lg q axis ind Stator q axis inductance in H The d q coordinate is defined such that the d axis passes through the center of the magnet and the q axis is in the middle between two magnets The q axis is leading the d axis Vpk krpm Peak line to line back emf constant in V krpm mechanical speed The value of Vpk krpm should be available from the
24. 165 physical model 94 96 pitch angle 97 port bi directional 175 176 input signal 108 175 output signal 175 subcircuit 177 178 power coefficient 97 98 power function block 107 print step 165 202 203 probe 146 ac sweep 167 ac sweep loop 166 current 79 91 146 175 181 voltage 146 181 propagation delay 113 201 proportional integral controller 102 168 Pulse 118 Q quantization block 1 126 R reference direction of mechanical system 55 56 57 85 88 90 91 renewable energy 1 94 resistor 4 7 8 27 28 29 137 144 146 150 169 176 186 187 203 resolver 91 92 93 rheostat 8 root mean square function block 107 round off block 112 rubber band 184 runtime graph 7 180 181 184 S sampling hold block 111 scope current 148 149 150 165 174 181 182 voltage 148 165 181 sensor current 146 hall effect 62 63 64 65 66 93 position 54 63 64 65 66 76 81 85 91 92 93 speed 89 90 91 133 torque 89 90 91 voltage 146 154 201 shunt regulator 32 sign function block 5 108 196 SimCoder 1 2 137 165 176 180 185 SimCoupler Module 1 3 132 133 180 187 simulation control 165 180 181 solar cell 94 95 solar module 94 95 96 source 138 constant 138 current controlled current 144 current controlled voltage 78 144 145 de 13 15 138 math function 143 nonlinear voltage controlled 145 146 piecewise linear 138 random 143 sawtooth 141 sinusoidal 139 square wave 112
25. 3 2 2 106 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 J of Input 1 2 Input 1 Input 1 Input 2 Input 2 Input 2 Input 3 Attribute Parameter Description Gain_i Gain k for the iy input For the three input summer the input with a dot is the first input If the inputs are scalar the output of a summer with n inputs is defined as V kV th V k V oO If the input is a vector the output of a two input summer will also be a vector which is defined as Vi ay ay an V gt b b gt oo by Vy Vi V2 ay b agtby an tba The output of a one input summer however will still be a scalar which is equal to the summation of the input vector elements that is Vj a az ap Multiplier and Divider The output of a multipliers or divider is equal to the multiplication or division of two inputs Images Multiplier Divider o D oy lt pe Numerator A z M T 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 Vi ay ap an V gt b b gt see by The ou
26. 360 In this example if the modulation index input is 0 8 the controller will select the first gating pattern If the modulation index is 0 915 the controller will select the third pattern Example This example shows a three phase voltage source inverter file vsi3pwm sch The PWM for the converter uses the selected harmonic elimination The gating patterns are described above and are pre stored in File vsi3pwm tbl The gating pattern is selected based on the modulation index The waveforms of the line to line voltage and the three phase load currents are shown below o i i KRLia KRLIb KRLIC 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ms Chapter 4 Other Components 153 4 8 4 8 1 Function Blocks Control Power Interface Block A control power interface block passes a control circuit value to the power circuit It is used as a buffer between the control and power circuit The output of the interface block is treated as a constant voltage source when the power circuit is solved With this block some of the functions that can only be generated in the control circuit can be passed to the power circuit Image Example A Constant Power Load Model In a constant power dc load the voltage V current Z and power P have the relationship as P V Given the voltage and the power the current can
27. 4 Other Components 159 4 8 5 160 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 following shows a 2 dimensional lookup table with floating point inputs 3 4 1 1 2 2 3 3 1 2 2 3 3 4 4 5 l 2 4 1 2 3 5 8 3 8 2 9 If the row input is 2 and the column input is 3 the following table shows the four points that enclose the input point and the output value of 3 826 through interpolation Column 2 3 3 3 4 1 1 2 4 Row 2 2 091 3 826 4 818 2 2 3 5 C Block The C block allows users to enter C code directly without compiling the code unlike in the case of external DLL blocks where users need to compile the code into a DLL using a compiler The code of the C block will be interpreted and executed at runtime by a built in C interpreter in PSIM This block makes it very easy to support custom C codes and to define and modify the functionality of the block The interface of the C block dialog window is shown below In the Number of Input Output Ports section the number of input and output ports of the ports is defined After the number of ports is changed the image of the block in the schematic will change accordingly In the Function Type section there are four choices Variable Function Definitions For includes statements and global variable defi
28. 76 2 9 1 MagCoupler DL Block 76 2 9 2 MagCoupler Block 77 MagCoupler RT Module 81 Mechanical Elements and Sensors 85 2 11 1 Mechanical Elements and Sensors 85 2 11 1 1 Constant Torque Load 85 2 11 1 2 Constant Power Load 85 2 11 1 3 Constant Speed Load 86 2 11 1 4 General Type Load 86 2 11 1 5 Externally Controlled Load 87 2 11 2 Gear Box 87 2 11 3 Mechanical Coupling Block 88 2 11 4 Mechanical Electrical Interface Block 88 2 11 5 Speed Torque Sensors 89 2 11 6 Position Sensors 91 2 11 6 1 Absolute Encoder 91 2 11 6 2 Incremental Encoder 92 2 11 6 3 Resolver 92 2 11 6 4 Hall Effect Sensor 93 Renewable Energy Models 94 2 12 1 Solar Modules 94 2 12 2 Wind Turbine 97 3 Control Circuit Components 3 1 3 2 3 3 3 4 3 5 Transfer Function Blocks 99 3 1 1 Proportional Controller 100 3 1 2 Integrator 100 3 1 3 Differentiator 102 3 1 4 Proportional Integral Controller 102 3 1 5 Single Pole Controller 103 3 1 6 Modified PI Controller 103 3 1 7 Type 3 Controller 104 3 1 8 Built in Filter Blocks 105 Computational Function Blocks 106 3 2 1 Summer 106 3 2 2 Multiplier and Divider 106 3 2 3 Square Root Block 107 3 2 4 Exponential Power Logarithmic Function Blocks 107 3 2 5 Root Mean Square Block 107 3 2 6 Absolute and Sign Function Blocks 108 3 2 7 Trigonometric Functions 108 3 2 8 Fast Fourier Transform Block 108 3 2 9 Maximum Minimum Function Block 109 Other Function Blocks 110 3 3 1 Comparator
29. 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 Chapter 1 General Information 1 3 1 4 1 5 1 6 as logic gates and flip flops and nonlinear components such as multipliers and dividers are used in the control circuit Sensors are used to measure power circuit quantities and pass them to the control circuit Gating signals are then generated from the control circuit and sent back to the power circuit through switch controllers to control switches Software Hardware Requirement PSIM runs in Microsoft Windows XP Vista on personal computers The minimum RAM memory requirement is 128 MB Installing the Program A quick installation guide is provided in the flier PSIM Quick Guide and on the CD ROM Some of the files in the PSIM directory are shown in the table below Files Description PSIM exe PSIM circuit schematic editor SIMVIEW exe Waveform display program SIMVIEW PcdEditor exe Device database editor SetSimPath exe Program to set up the SimCoupler Module File extensions used in PSIM are psimsch PSIM schematic file lib PSIM library files fra PSIM ac analysis output file text dev Device database file txt Simulation output file in text format smv Simulation output fi
30. Current Scopes menu there will be multiply branch currents one corresponding to each current flag For example for a 3 phase resistor R1 under the Current Scopes menu there will be three branch currents IRI A IR1 B IR1 C The letter A B and C refer to Channel A B and C respectively For example if I R1 A I R1 B and I R1 C are all selected in the current scope one can go to the Channel pull down menu in the Channel section and select one of the channels for display If Channel A is selected the scope will show the Phase A branch current I R1 Initial Values The initial node voltages of the power circuit and control circuit can be defined using this block Image Attribute Parameter Description Initial Value Initial value of the node voltage Chapter 4 Other Components 4 7 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 4 7 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
31. 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 Edit Library 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 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 Chapter 6 Circuit Schematic Design 187 6 9 1 188 Edit Image Library Library file path C psim8 0 1 mylib lib New Element New Element Menu name Mylib 5 i Menu 1 Up My Resistor Dam Submenu 1 m Menu 2 ed es Add Separator Add Submenu Edit Edit Image Save Element as New Element DLL Subcircuit Netlist name y Delete Element Netlist name Save Image Library Update Menu Help Close The following functions are provided in the library editor Up Down gt lt Add Separator Add Submenu Edit Edit Image New Element Save Element as To move an element up in the menu To move an element down in the menu To move an element one level lower in the menu To m
32. Images abc to af ab to a ac to a a to abc a al oa al o o a alte wal are b o c be dbe c C bebe b be In the images the letter al refers to a and the letter be refers to B The transformation equations are From abc to a From ab to a From ac to a 3 0 Val 2 Va Pon From a to abc 1 0 z l 3 Vo Vp 3 2 2 i vg ve EE J2 For the ab to a and ac to a transformation it is assumed that v vp ve 0 Chapter 4 Other Components 4 8 2 3 af dq Transformation The a dq function blocks perform the transformation between the a coordinate to the dq coordinate Images a to dq oak e q Te oal d dq to ap od al oy q he To In the images the letter al refers to a and the letter be refers to B The transformation equations are From a to dq From dq to a 4 8 2 4 Cartesian Polar Transformation cos0 sin Va sin cos v cos sino Va sin cos v The Cartesian polar function blocks perform the transformation between the Cartesian coordinate and the polar coordinate Images Cartesian to polar OE re y ape Polar to Cartesian oy E In the images the letter r refers to the amplitude and the letter a refers to the phase angle 0 The angle is in r
33. JMAG To specify this file click on the browse button at the right of the edit field 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 Displacement threshold It is used in JMAG MomentofInertia Moment of inertia of the machine in kg m MechTimeConstant Mechanical 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
34. L i the ratio of vs i at each point The saturation characteristics are defined by a series of data points as i1 L1 i2 L2 i3 L3 etc Note that the defined saturation characteristics must be such that the flux linkage is monotonically increasing That is Ly i lt Ly iy lt L3 iz 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 Chapter 2 Power Circuit Components 2 1 4 Nonlinear Elements The following elements with nonlinear voltage current relationship are provided Resistance type v fi Resistance type with additional input x v f i x Conductance type i f v Conductance type with additional input x i ftv x The additional input x must be a voltage signal Images Nonlinear element Nonlinear element with additional input Input es i nput x co a z z D Attributes For resistance type elements Parameters Description Expression fli or fix Expression of v in terms of i and x v fi or v f i x Expression df di The derivative of the voltage v versus current i i e df i di Initial Value i The initial value of the current i Lowe
35. N 1 N agta z ay_1 Z ay Z H z If dg 1 the output y and input u can be expressed in difference equation form as y n by u n b u n 1 by u n N ai y n 1 ay y n 2 ay y n N If the denominator coefficients ap a q are not zero this type of filter is called infinite impulse response IIR filter The transfer function of the FIR filter is expressed in polynomial form as H z byt biez tby 2 by 2 If dg 1 the output y and input u can be expressed in difference equation form as y n by u n b u n 1 by u n N The coefficient file for block Digital Filter file and FIR Filter file has the following format For FIR Filter file N bo by For Digital Filter file the format can be either one of the following N or N bo bo ao by b ay by by an ag ay 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 fe fn 1 5 0 2 B A butter 2 fc which will give B 0 0201 0 0402 0 0201 b b bz A 1 1 561 0 6414 ap a ap Chapter 3 Control Circuit Components 3 5 3 The transfer function is _ 0 0201 0 0402 z 0 0201 z A z 1 1 561 z 0 6414 z The input output difference equatio
36. N m 0 Npase Speed rpm When the mechanical speed is less than the base speed pace the load torque is T gi T nan When the mechanical speed is above the base speed the load torque is P T E on where P Tnax Obase ANd Wpase 21 Npase 60 The mechanical speed is in rad sec 2 11 1 3 Constant Speed Load The image of a constant speed load is Image lim A Attributes Parameters Description Constant Speed rpm Speed constant in rpm Moment of Inertia Moment of inertia of the load in kg m A constant speed mechanical load defines the speed of a mechanical system and the speed will remain constant as defined by the speed constant 2 11 1 4 General Type Load The image of a general type mechanical load is as follows Image Attributes Parameters Description Te Constant torque term k coefficient Coefficient for the linear term 86 Chapter 2 Power Circuit Components ky coefficient Coefficient for the quadratic term k coefficient Coefficient for the cubic term Moment of Inertia Moment of inertia of the load in kg m A general type load is expressed as T z Sign i T k y OA k 1 On k Jnl where is the mechanical speed in rad sec Note that the torque of the general type load is dependent on the speed direction 2 11 1 5 Externally Controlled Load An externally co
37. Node Attributes Parameters Description Resistance Stator phase resistance R in Ohm Inductance Lmin Minimum phase inductance Lin in H Inductance Lpax Maximum phase inductance Lmax in H Theta_min Duration of the interval O where the inductance is at the minimum in deg Theta_max Duration of the interval 0 where the inductance is at the maximum in deg Stator Pole 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 Tem Master Slave Flag Master slave flag of the machine 1 master 0 slave For more details on the definition and use of the master slave flag refer to Section 2 8 1 The node assignments are Nodes a a b b and c c are the stator winding terminals for Phase a b and c respectively The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit The equation of the switched reluctance machine for one phase is f d L i i R ee v i P7 where v is the phase voltage i is the phase current R is the phase resistance and L is the phase inductance The phase inductance L is a function of the rotor angle 0 in electrical deg as shown in the following figure The inductance profile is half wave symmetrical That is it repeats itself after 180 Chapter 2 Power Circuit Components 73
38. Password To disable the protection of a schematic file that is password protected Customize Toolbars To create customized toolbars Customize Keyboard To customize keyboard Functions can be assigned to the keyboard for easier circuit editing 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 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 is for licenses that have the Annual Software Maintenance only Chapter 6 Circuit Schematic Design 183 184 The following settings are defined under Settings Under the General tab On Editing 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
39. Power Current Im Solar module terminal current when the output power is at the maximum inA In the image for the solar module physical model 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 Wim and the node with the letter T refers to the ambient temperature input in C The node on the top is for the 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 Similarly in the image for the solar module functional model the nodes with the and signs are the positive and negative terminals The node on the top is for the theoretical maximum power given the operating conditions A solar module consists of N solar cells in series and the equivalent circuit of the physical model of one solar cell is shown below Ry l vd WN The equations that describe a solar cell are i ipia i and EE EET ae lph T 4sc0 So i T ref Wa ig Io Go 1 1 _1 3 AK T T n bo E ET Va 2 Ron v 7 N i R T T k S where q is the electron charge q 1 6 x 10 19 C k is the Boltzmann constant k 1 3806505 x 10 23 S is the light intensity input T is the ambient temperature input v is the voltage across the entire solar module and i is the current flowing out
40. Quantization Block with offset os Ls oo a Ls Attributes Parameters Description No of Bits Number of bits N Vin_min Lower limit of the input value V min Vin_max Upper limit of the input value Vin max Vo_min Lower limit of the output value Vy min Vo_max Output value V max that corresponds to the input value Vin 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 9 and V 1 The input will be divided into 23 or 8 stages Depending on the input level the output will be one in max of the 3 bit discrete numbers 000 001 010 011 100 101 110 and 111 The output will have 23 or 8 levels and 23 1 or 7 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 Vo 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 126 Chapter 3 Control Circuit Components Quantization block 0 875 0 75 0 625 0 5 0 375 0 25 Vin 0 125 0 25 0 375 0 5 0 625 0 75 0 875 1 Quantization block with offset Binary numbers 111 110 101 100 011 010 00
41. The elements are divided into four groups Power for power circuit element Control for control elements Other for switch controllers sensors probes interface elements and elements that are common to both power and control and Sources for voltage and current sources 6 1 Creating a Circuit The following functions are provided for circuit creation 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 element to be selected Another is to use the Library Browser as shown below Chapter 6 Circuit Schematic Design 171 172 Place Select Element Rotate Wire Label Assign Move Move Schematic Library Browser E xf Find Find B Drive Module El Elements E Power RLC Branches Switches Transformers Magnetic Elements Other Motor Drive Module MagCoupler Module MagCupler RT Module Mechanical Loads and Sensors Thermal Module El Control Filters Computational Blocks Other Function Blocks Logic Elements Digital Control Module SimCoupler Module Other Sources Symbols Squirrel cage Ind Machine Squirrel cage Ind Machine neutral Squirrel cage Ind Machine linear Squirrel cage Ind Machine nonlinear Wound rotor Ind Machine Wound rotor Ind Machine linear Wound rotor Ind Machine nonlinear DC Machine 3 ON 3S
42. 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 r to r The arctangent 2 block behaves in the same way as the function atan2 y x in the C language 3 2 8 Fast Fourier Transform Block A Fast Fourier Transform block calculates the fundamental component of the input signal The FFT algorithm is based on the radix 2 decimation in frequency method The number of sampling points within one fundamental period should be 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 gt 1 2 Vy 0 ZIN n Image o Amplitude os FFT Phase Angle 108 Chapter 3 Control Circuit Components 3 2 9 Attributes Parameters Description No of Sampling Points No of sampling points N Fundamental Frequency Fundamental frequency f in Hz The dotted node of the block refers to the output of the amplitude Note that the phase angle output has been internally adjusted such that a sine function V sin t 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
43. Y Y Y D D D ae 6 winding unconnected A F 5 a A F 5 a A P S a e E EA je b ie c c E c E E Winding 2 c N n N Y D D 2 winding unconnected Winding 1 E Winding 3 At 5 at primary A a At G B b A o B b cae Winding 4 Ct er c C c C 1 E C gt Winding 5 3 winding unconnected 4 winding unconnected E Winding 6 A P 5 a m ae a A a ce br B pi Cho ct B b Co C c AA 4 c co AA o a BB T BR bb aat _bb Cct cc ie aa bb cc CC PZ T cc Chapter 2 Power Circuit Components 25 Attributes Parameters Description R primary Resistance of the primary secondary tertiary winding in Ohm R secondary R tertiary Lp pri leakage Leakage inductance of the primary secondary tertiary winding in H L sec leakage L ter leakage Lm magnetizing Magnetizing inductance in H seen from the primary side Np primary No of turns of the primary secondary tertiary winding N secondary N tertiary In the images P refers to primary S refers to secondary and 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 2 5 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
44. a New Subcircuit Element into the Library 189 6 9 3 Adding a New DLL Element into the Library 191 vi Waveform Processing 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 File Menu 193 Edit Menu 194 Axis Menu 194 Screen Menu 195 Measure Menu 196 Analysis Menu 197 View Menu 198 Option Menu 198 Label Menu 199 7 10 Exporting Data 199 Error Warning Messages and Other Simulation Issues 8 1 Simulation Issues 201 8 1 1 Time Step Selection 201 8 1 2 Propagation Delays in Logic Circuits 201 8 1 3 Interface Between Power and Control Circuits 201 8 1 4 FFT Analysis 202 8 2 Error Warning Messages 202 8 3 Debugging 203 Index 205 1 General Information 1 1 Introduction PSIM is a simulation software specifically designed for power electronics and motor drives With fast simulation and friendly user interface PSIM provides a powerful simulation environment for power electronics analog and digital control magnetics and motor drive system studies PSIM includes the basic package as well as the following add on options Motor Drive Module Digital Control Module SimCoupler Module Thermal Module MagCoupler Module MagCoupler RT Module SimCoder Module Renewable Energy Package The Motor Drive Module has built in machine models and mechanical load models for motor drive system studies The Digital Control Module provides discrete elements such as zero order hold z domain transfer function blocks quantization blocks digi
45. a text file specified by the user Print Print the waveforms Chapter 7 Waveform Processing 193 7 2 7 3 194 Print Setup Set up the printer Print Page Setup Set up the hardcopy printout size Print Preview Preview the printout Exit Quit SIMVIEW When the data of a file are currently being displayed if new data is available by selecting Re Load Data new data will be loaded and waveforms will be re drawn By using the Merge function data from multiple files can be merged together for display For example if one file contains the curves I1 and I2 and another file contains the curves V1 and V2 all four curves can be merged and displayed on one screen If the second file also contains a curve with the same name I1 it will be modified to I1_ 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
46. 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 On Text Font Default text font Set the default font for the text placed in the schematic Default graph font Set the text font for the runtime graphs On Simulation 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 the 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 is long and if there are m
47. and DIAC Thyristor and TRIAC Self commutated switches specifically Gate Turn Off switch npn bipolar junction transistor BJT pnp bipolar junction transistor Insulated Gate Bipolar Transistor IGBT n channel Metal Oxide Semiconductor Field Effect Transistor MOSFET and p channel MOSFET Bi directional switch Switch models are ideal That is 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 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 npn and pnp bipolar junction transistor n channel and p channel MOSFET Diode LED Zener Diode and DIAC Diode and LED A light emitting diode LED emits light when it conducts The conduction of a diode or LED is determined by circuit operating conditions 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 Images Diode LED Ze
48. are the basic building blocks of magnetic equivalent circuits and they provide a very powerful and convenient way of modeling any types of magnetic devices 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 Field Intensity H A Turns m Oerstad 1 A Turns m Oerstad Magnetomotive Force mmf F A Turns Gilbert 1 A Turns Gilbert Permeability space 4o Ant 1077 1 An 1077 2 5 1 Winding A winding element provides the interface between the electric circuit and the magnetic equivalent circuit Image M E M2 26 Chapter 2 Power Circuit Components 2 5 2 2 5 3 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 Leakage Flux Path This element models the flow path of the leakage flux Image M gt 0 M
49. be calculated as J P V This can be implemented using the circuit as shown below The load voltage is measured through a voltage sensor and is fed to a divider The output of the divider gives the current value Since the voltage could be zero or a low value at the initial stage a limiter is used to limit the current amplitude This value is converted into the load current quantity through a voltage controlled current source LOAD y f I ojo ka Crp O ty We T l O i OT v Example The following circuit illustrates how a control circuit signal can be passed to the power circuit As seen from the power circuit the CTOP block behaviors as a grounded voltage source Control Circuit l Power Circuit 4 8 2 Transformation Blocks 154 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 Chapter 4 Other Components 4 8 2 1 abc dqo Transformation The abc dqo function blocks perform the transformation between the abc coordinate and the dqo coordinate Images abc to dqo dqo to abc sa dpe ead afe 11b q oad bb be edt Gbe 0 cle la la The angle 0 at the botto
50. change is within the limit the output is equal to the input Image Chapter 3 Control Circuit Components Attribute Parameter Description dv dt Limit Limit of the rate of change dv dt of the input 3 3 4 Trapezoidal and Square Blocks Trapezoidal waveform blocks and square waveform blocks are specific types of lookup tables the output and the input relationship is either a trapezoidal or a square waveform Images Trapezoidal Waveform Square Waveform gt Aoin a L For the trapezoidal waveform block Attributes Parameters Description Rising Angle theta Rising angle 0 in deg Peak Value Peak value V of the waveform For the square waveform block Attribute Parameter Description Pulse Width deg Pulse width 6 in half cycle in deg The waveforms of these two blocks are shown below Note that the input v is in deg and can be in the range of 360 to 360 Both waveforms are half wave and quarter wave symmetrical Vo A Trapezoidal Waveform Vo A Square Waveform Vok 14 g 0 Vin 0 0 a eat 180 360 Vok i SPS 0 3 3 5 Sampling Hold Block A sampling hold block samples the input when the control signal changes from low to high from 0 to 1 and holds this value until the next point is sampled Image Input EA Lo i Control
51. describes the mechanical system is dO J J dt a Tom l wa where is the shaft mechanical speed In PSIM this equation is modelled by an equivalent circuit as shown below Om speed node 88 Chapter 2 Power Circuit Components In this circuit the two current sources have the values of Tp and T q and the capacitors have the values of J and J 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 Jit V Om and i Tom Tioad 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 the electrical side represents the shaft mech
52. 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 Eon f where Eon 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 Eog f where off 1S the transistor turn off energy losses The energy losses E 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 Chapter 2 Power Circuit Components 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 Qg Ploss Og Q Voc tow where Q is the total gate charge Vg is the gate source voltage and f 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
53. elements include mechanical loads gear boxes mechanical coupling blocks mechanical electrical interface blocks and various speed torque position sensors 2 11 1 Mechanical Loads Several mechanical load models are provided constant torque constant power constant speed general type and externally controlled loads 2 11 1 1 Constant Torque Load The image of a constant torque load is Image J Attributes Parameters Description Constant Torque Moment of Inertia i Torque constant Toonst 1n N m Moment of inertia of the load in kg m If the reference direction of a mechanical system enters the dotted terminal the load is along the reference direction and the loading torque to the master machine is Tponst Otherwise the loading torque will be Zyonst See Section 2 6 1 for more detailed explanation on the reference direction A constant torque load is expressed as Cat const The torque does not depend on the speed direction 2 11 1 2 Constant Power Load The image of a constant power load is Image Attributes Parameters Description Maximum Torque Base Speed Moment of Inertia Maximum torque Tnax of the load in N m Base speed pase of the load in rpm Moment of inertia of the load in kg m The torque speed curve of a constant power load is shown below Chapter 2 Power Circuit Components 85 Tmax Torque
54. example the resistance of a resistor can be specified as R1 and the value of R1 is defined in a parameter file Image File The parameter file is a text file created by the user The format is shown below lt name gt lt value gt Add comment here global lt name gt lt value gt Definition global is used in SimCoder only lt name gt lt value gt Add comment here LIMIT lt name gt lt lower limit gt lt upper limit gt Comment Comment The field lt value gt can be either a numerical number e g R1 12 3 or a mathematical expression e g R3 R1 R2 2 The name and the value can be separated by either an equation sign e g R1 12 3 or a space e g R1 12 3 Text from the character or to the end of the line is treated as comments e g R3 is the load resistance 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 Kp 1 2 is treated the same as Kp 1 2 For example a parameter file may look like the following R1 12 3 R1 is defined as 12 3 R2 23 40hm Equation sign can be replaced by space Comment starts with either or R3 R1 R2 2 Math expression is allowed L1 3m power of ten suffix is allowed L1 0 003 C1 100uF LIMIT R3 5 25 R3 is limited betw
55. feature will prevent users from holding up licenses unintentionally On Automatic Code Generation 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 On PSIM Help File 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 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 file uses a DLL file and this DLL file is placed in a directory other than the schematic directory or the PSIM directory this directory can be included in PSIM by using the Set Path function 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 P
56. flag for 3 phase FEM coil currents 1 display 0 no display Back emf Flag Display flag for 3 phase FEM coil back emf Chapter 2 Power Circuit Components Rotor Angle Flag Speed Flag Torque Flag shaft Master Flag 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 coef_inertial coef_inertia2 Current Flag Back emf Flag Rotor Angle Flag Speed Flag Torque Flag shaft Master Flag 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 Momentoflnertia Moment of inertia of the machine in kg m MechTimeConstant Mechanical time constant of the machine in sec OffsetAngle Initial rotor angle in mechanical deg turns_coil2 Coil 2 turns used in JMAG RT 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 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
57. function is for SimCoder for automatic code generation Please refer to SimCoder User Manual for more details Runtime Graph To select waveforms to show in the middle of a simulation run Chapter 6 Circuit Schematic Design To view the simulation results in the middle of the simulation one can either go to Simulate gt Runtime Graphs to select the waveforms or use the voltage current scopes under Elements gt Other gt Probes to view the waveforms The difference between the runtime graphs and the voltage current scopes is that only waveforms that are saved for display in SIMVIEW such as voltage probes current probes current flags etc are available for the runtime graphs In addition a runtime graph display the waveform in its entirety from the beginning to the final study time Because of this the runtime graphs are disabled in the free run mode as the final study time is undetermined On the other hand voltage current scopes can be used in either the one time simulation mode or in the free run mode Voltage scopes can be connected to any nodes and will display the node to ground voltage waveforms On the other hand current scopes are available to elements that have current flags such as R L C branches and switches Moreover in the free run mode the majority of the element parameters can be changed during runtime in the middle of the simulation This makes it possible to tune a circuit while inspecting key waveforms usi
58. in Hz Chapter 3 Control Circuit Components 107 3 2 6 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 oy x be 4 Sign 3 2 7 Trigonometric Functions The following trigonometric functions are provided two sine sin blocks two cosine cos blocks arcsine sin arccosine cos tangent tan arctangent tg and arctangent 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 orci cr 1 input in deg input in rad input in deg input in rad Y Y ye tg pe atan2 oS oS 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 ig 2
59. in the Ep and Ey 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 Egy f Veo Vee datasheet where Eis the transistor turn off energy losses The loss calculation for the anti parallel diode or free wheeling diode is the same as described in the section for the diode device The losses Peon gt Psw OQ Peona D and Psw p in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot be floating and must be connected to ground 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 Chapter 2 Power Circuit Components Rth_cs R_heatsink T_ambient 40 Powerex CM100TU 12H Chapter 2 Power Circuit Components 49 2 7 6 MOSFET Device in the Database The following information is defined for a
60. is conducting periodically with an on duty cycle of D the conduction losses are calculated as Conduction Losses V4 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 is calculated as Pow off Em f VR VR datasheet or Pow of 14 On VR f where E is the reverse recovery energy losses Q is the reverse recovery charge f is 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 characteristics of the datasheet defined as Reverse blocking voltage VR V in the test conditions The reverse recovery charge Q is defined as Q 1 2 y trr fe Whenever E is given in the device database the losses will be calculated based on If E is 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 Poona and Ps 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 Poona 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 be
61. loop AC Sweep ED 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 LOG10 scale Flag 1 Points are distributed linearly in linear scale Source Name Name of the excitation source Start Amplitude Excitation source amplitude at the start frequency End Amplitude Excitation source amplitude at the end frequency Freq for extra Points Frequencies of additional data points If the frequency domain characteristics change rapidly at a certain frequency range one can add extra points in this region to obtain better data resolution The principle of the ac analysis is that a small ac excitation signal is injected into the system as the perturbation and the signal at the same frequency is extracted at the output To obtain accurate ac analysis results the Chapter 5 Analysis Specification excitation source amplitude must be set properly The amplitude must be small enough so that the perturbation stays in the linear region On the other hand the excitation source amplitude must be large enough so that the output signal is not affected by numerical errors In general a physical system has low attenuation in the low frequency range and high attenuation in the high frequency range A good selecti
62. mH La 1 1 mH Chapter 2 Power Circuit Components and Lj L21 0 9 mH The specification of this element will be Ly self Im Ly mutual 0 9m Ly self 1 1m 2 4 Transformers 2 4 1 Ideal Transformer An ideal transformer has no losses and no leakage flux E 5 aE The winding with the larger dot is the primary and the other winding is the secondary Images Attributes Parameters Description Np primary No of turns of the primary winding Ns secondary No of turns of the secondary winding Since the turns ratio is equal to the ratio of the rated voltages the number of turns can be replaced by the rated voltage at each side 2 4 2 Single Phase Transformers 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 3E os 2 DE Esi Esi s e a E EF F t 3 E pl 2 E s2 ni H s2 p ii Al Mie fe Ie Es D s 4 P z o 2 windinge ewe A E Hoge E In the images p refers to primary s refers to secondary and refers to tertiary The winding with the largest dot is the primary winding or first primary winding For the multiple winding transformers the sequence of the Prey ean eel E s2 Chapter 2 Power Circuit Components 23 24 windings is from the top to the bottom For the transformer
63. 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 v5 25 V at 300 Hz and a 7th harmonic v7 25 V at 420 Hz After one cycle the FFT block output reaches the steady state with the amplitude of 100 V and the phase angle of 0 o 00 00 10 00 16 00 20 00 26 00 30 00 34 00 Time m5 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 through the drop down menu Chapter 3 Control Circuit Components 109 3 3 3 3 1 3 3 2 3 3 3 110 Other Function Blocks Comparator The output of a comparator is high when the positive input is higher than the negative input When the posit
64. of the positive terminal of the solar module 95 96 Some of the parameters of the physical model can be obtained from manufacturer datasheets and the rest of the parameters can be obtained by trial and error A utility tool Solar Module physical model under the Utilities menu is provided to help obtaining the parameters from manufacturer datasheet The interface of the tool is shown below Solar Module physical model ME Manufacturer Datasheet Number of Celis Ns Maximum Power Pmax Voltage at Pmax Current at Pmax Open Orcut Voltage Voc Short Circult Current Isc o w 1 M A 1 A 36 0C or ox oC or 0X Temperature Coeff of Vor Temperature Coeff of Ise Standard Test Conditions Light Intensity 0 1000 Wimm Temperature Tref 25 oC Gv a slope at Voc 0 68 VA f available Model Parameters defined Band Energy Eg 2 12 eV Ideality Factor A 12 Shunt Resistance Rsh 1009 Ohm Coefficient Ks Q Mode Parameters calculated Calculate Parameters Series Resistance Rs 0 008 Chm Short Orcut Current Isc0 3 80 A Saturation Current isd 2 16e8 A Temperature Coefident Ct 0 00247 AK Power Pant alabei amum Power Point calculat z _ Cakuiate IV Curve Operatng Conditions DA M Save Cakulate I V Curve Ught Intensity 1000 Wimm Vmax 17 04 M Load Copy PSIM parameters Ambient Tergeraiure Ta 25 o
65. positive edge triggered and the truth table is S R J K Clock Q Qn 0 1 x x x 1 0 1 0 x x x 0 1 0 0 x x x 0 0 l 1 0 0 T no change 1 1 0 1 tT 0 1 1 1 1 0 T 1 0 1 1 1 1 T Toggle x Do not care Chapter 3 Control Circuit Components 3 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 Image AD flip flop is positive edge triggered and the truth table is D Clock Fe CO KF CO YN R 1 0 0 1 1 Se OOO lO O K K x gt gt xK x x Do not care 3 4 5 Monostable Multivibrator In a monostable multivibrator the positive or negative edge of the input signal triggers the monostable A pulse with the specified pulse width will be generated at the output The output pulse width can be either fixed or adjusted through another input variable The latter type of monostables is referred to as controlled monostables Its on time pulse width in second is determined by the control input Images Monostable Controlled Monostable QO f Dra t Ope oak ore T 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
66. represents the losses due to the air gap fringing effect Current Flag Display flag of the current that flows through the resistor R For the element Air Gap AL Parameters Description Inductance Factor A Inductance factor Az defined as the inductance per turn squared Resistance for Losses Resistance R in ohm that represents the losses due to the air gap fringing effect Current Flag Display flag of the current that flows through the resistor R The resistance R represents the losses due to the air gap fringing effect Assuming that the mmf magnetomotive force applied across the air gap is F the electric equivalent circuit of the air gap is as follows fede F L The mmf in the form of a voltage source applies across the capacitor the capacitance has the value of the inductance factor Az and the resistor R For the element Air Gap the inductance factor can be calculated from the air gap length and the cross section area as Ho sA lg A where U 47 107 The losses on the resistor represents the losses due to the fringing effect which can be expressed as P loss T R rms where J is the rms value of the current 7 flowing through the resistor Chapter 2 Power Circuit Components 2 5 4 Linear Core This element represents a linear lossless core Image Moy fom Attributes Parameters Description Inductance F
67. switch gating block can be connected to the gate node of a switch ONLY It can not be connected to any other elements Image a Chapter 2 Power Circuit Components 17 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 switching point For example if a switch is turned on and off once in one cycle the number of switching points will be 2 For 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 where G1 G2 Gn are the switching points Example Assume that a switch operates at 2000 Hz and has the following gating pattern in one period 35 92 175 187 345 357 0 180 360 deg The specification of the Gating Block element for this switch will be Frequency 2000 No
68. 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 Ws 100 00 50 00 50 00 100 00 100 00 50 00 foes Ne On off Controller 50 00 100 00 L L i 0 00 5 00 10 00 15 00 20 00 25 00 30 00 Time ims 4 7 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 Image gt Enable Disable Synchronization Signal alpha Attributes Parameters Description Frequency Operating frequency of the controlled switch switch module in Hz Pulse Width On time pulse width of the switch gating in deg Chapter 4 Other Components 151 The input for the delay angle alpha is in
69. 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 Chapter 7 Waveform Processing 7 9 7 10 7 11 Label Menu The Label Menu has the following functions Text Place text on the screen Line Draw a line Dotted Line Draw a dotted line Arrow Draw a line with arrow To draw a line first select Line from the Label menu Then click the left mouse at the position where the line begins and drag the mouse while keeping the left button pressed Dotted lines and lines with arrows are drawn in the same way If one is in the Zoom or Measure mode and wishes to edit a text or a label one should first escape from the Zoom Measure mode by selecting Escape in the View menu Settings Menu The Settings Menu has the following functions Re Load Settings Re load the settings from the ini file and apply to the current display Save Settings Save the current settings to a file with the same file name but with the ini extension Save Temporary Settings Save the current settings temporarily The temporary settings are not saved to any files and are discarded
70. the magnetizing current The magnetizing current and inductance L are 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 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 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 aed BDCM hes ney ae e i alt aad td N Sa SpSe Shaft Node Y P 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 M stator mutual ind 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 t
71. the speed sensor and torque sensor and the output signals are control signals 2 11 6 1 Absolute Encoder An absolute encoder is a position sensor that provides the shaft position within a 360 range mechanical degree Chapter 2 Power Circuit Components 91 Image n Je Count Position Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Bits of Resolution Number of Bits of resolution N The encoder output resolution is determined by the number of bits N The encoder has two outputs one is the number of counts the range is from 0 to 2N 1 and the other is the position in mechanical deg the range is from 0 to 360 An example of a PMSM drive system using the absolute encoder is given in the sample file Absolute Encoder PMSM Drive sch 2 11 6 2 Incremental Encoder An incremental encoder is a position sensor that produces quadrature outputs which indicate the speed angle and direction of the shaft Image 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 examp
72. the values at the last simulation point at 0 1 sec Chapter 5 Analysis Specification 169 170 Chapter 5 Analysis Specification 6 Circuit Schematic Design PSIM s schematic program provides interactive and user friendly interface for circuit schematic entry and editing The following figure shows a boost power factor correction circuit in the PSIM environment PSIM D PSIM7 0_trial_powersim ex lo x Subci lements Options Utilities Window Help 18 xi eles zeo elelo mnp ml al z VC3854 Controlled PFC Converter In tia mann int Ont aot aa er T F c amp co mw 4 a J Tae Sa Soh a x I 4 a F AW oe mag Bu fu D a 1 2k 2 9k 3 8k b a he I Rez 20k ion Ver 10092 F 10 AAA ce cep Tsaope n tH ve38s4 sape i E op 16 gan ett Cr 22a m 3 as M ie A n re i s ae f Prieta sink aeea 10 g sh cerr nerz cee2 cve a a OL ame Ua EMNE my a x Timebase r Channel A r Channel B Trigger Ea Fasai adin hasum fab hassal J H KOR Hema ma elole elelelelo mii a H seah v soaelit0 V One A _Save Color osef osef F Z Once Name SCOP 2 Colo MMI Color MIN Level 0 e 100 M In PSIM all the elements are stored under the Elements menu
73. 0 FY File Edit view Window L C In this case the inductance and capacitance values will be defined through the interface and need to appear in the property window of the new LC filter element Therefore the parameter value for the inductance needs to be defined as a variable in this case L and the value for the capacitance as C Then from Subcircuit gt Edit Default Variable List add the variables Z and C as the default variables This step is necessary as the new element obtains the parameter information from the default variable list The default variable list window should appears as follows Subcircuit Default ariable List q x Variable Label Variable Name Variable Value L Inductance 1m t Capacitance es 100u Add Modify Remove Here Variable Label is the text that describes the parameter Variable Name is the variable that is used as the parameter value in the subcircuit and Variable Value is the default value of the parameter For example for the inductance L the Variable Label is Inductance the Variable Name is L and the Variable Value is 1m After the file is created place it in the lib sub folder in the PSIM directory Adding the New Element to the PSIM Library To add the subcircuit element into the PSIM library follow these steps Go to Edit gt Edit Library gt Edit Library Files and choose the custom image library for the new element Click on
74. 0 gt oO 90 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 T 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 l sT 1 i at ery aay where T and 2mf L Chapter 3 Control Circuit Components 103 The Bode plot of the amplitude G and the phase angle of the PI controller is shown as below G re 20dB dec 0 l rad sec Ie VES 3 1 7 Type 3 Controller A Type 3 controller consists of two zeros and two poles Image Attributes Parameters 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 Spl of the first pole in Hz Frequency fp2 Frequency Jo 2 Of the second pole in Hz The transfer function of a Type 3 controller is defined as G ae 1 sT 1 sT ae ars 1 sT7 1 5T 9 1 1 1 1 T T and T Inafaa Z mfa P nfo 22 Deh The Bode plot of the amplitude G and the phase angle of the Type 3 controller is shown as below where T IGI A 20dB dec 20dB dec 0 gt
75. 1 000 i 0 0 1250 25 0 375 0 5 0 625 0 75 0 875 1 Vin Binary numbers 111 110 101 100 011 010 001 000 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 23 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 quantization block with offset Vo max 2S Binary numbers I et F f FF fs Actual output limit 1 ar SE V Vo min Vin min V yi 7 Vin max The number of bits determines the quantization resolution The input range Vin max Vin min 18 divided into 2N stages with the width of each stage as Chapter 3 Control Circuit Components 127 3 5 5 128 AV Vin mas Vintin in N 2 except for the 1st 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 1st and last stage is AV If the input falls in the Ay stage the output will be calculated as V oO Vo mint R 1 AV where k is from 1 to 2 and the output step is calculate
76. 100K 080K DEK 40K 020K 000K 0 00 Armature current sac lawaesguamenlcuuss hceges Ces Dosh e ete 1 0 40 Time 3 080 Induction Machine Linear and nonlinear models are provided for squirrel cage and wound rotor induction machines The linear model is further divided into general type and symmetrical type This section describes the linear models Four linear models are provided Symmetrical 3 phase squirrel cage induction machine General 3 phase squirrel cage induction machine Symmetrical 3 phase wound rotor induction machine General 3 phase wound rotor induction machine The images and parameters are shown as follows Images TCE Squirrel cage Squirrel cage Squirrel cage with neutral unconnected o o J M as IM as IM as Y as bs bs bs bs cs cs cst cs ns Wound rotor Wound rotor unconnected A IM as as DAN Fare as bst bs gt bs cst cs cs ns ar br cr nr ar aTh rior oe Attributes Parameters Description R stator L stator R rotor L rotor Stator winding resistance in Ohm Stator winding leakage inductance in H Rotor winding resistance in Ohm Rotor winding leakage inductance in H Chapter 2 Power Circuit Components Lm magnetizing Magnetizing inductance in H Ns Nr Turns Ratio Stator and rotor winding turns ratio for wound rotor machine only No of Poles Nu
77. 110 3 3 2 Limiters 110 3 3 3 Gradient dv dt Limiter 110 3 3 4 Trapezoidal and Square Blocks 111 3 3 5 Sampling Hold Block 111 3 3 6 Round Off Block 112 3 3 7 Time Delay Blocks 112 3 3 8 Multiplexer 113 3 3 9 THD Block 114 Logic Components 115 3 4 1 Logic Gates 115 3 4 2 Set Reset Flip Flop 115 3 4 3 J K Flip Flops 116 3 4 4 D Flip Flops 117 3 4 5 Monostable Multivibrator 117 3 4 6 Pulse Width Counter 118 3 4 7 Up Down Counter 118 3 4 8 A D and D A Converters 119 Digital Control Module 120 3 6 3 5 1 Zero Order Hold 120 3 5 2 z Domain Transfer Function Block 121 3 5 2 1 Integrator 122 3 5 2 2 Differentiator 123 3 5 2 3 Digital Filters 123 3 5 3 Unit Delay 125 3 5 4 Quantization Blocks 126 3 5 5 Circular Buffers 128 3 5 6 Convolution Block 129 3 5 7 Memory Read Block 129 3 5 8 Data Array 130 3 5 9 Stack 130 3 5 10 Multi Rate Sampling System 131 SimCoupler Module 132 3 6 1 Set up in PSIM and Simulink 132 3 6 2 Solver Type and Time Step Selection in Simulink 133 Other Components 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 Parameter File 137 Sources 138 4 2 1 Time 138 4 2 2 Constant 138 4 2 3 DC Source 138 4 2 4 Sinusoidal Source 139 4 2 5 Square Wave Source 139 4 2 6 Triangular Sawtooth Sources 140 4 2 7 Step Sources 141 4 2 8 Piecewise Linear Source 142 4 2 9 Random Source 143 4 2 10 Math Function Source 143 4 2 11 Voltage Current Controlled Sources 144 4 2 12 Nonlinear Voltag
78. 50 00 100 00 150 00 KR1 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 Available Variables for Display Isa Isb Isc Tem_IM Add gt lt Remove Edit Box g Ezy Cancel All the data variables available for display are in the Variables Available box and the variables currently being displayed are in the Variables for Display box After a variable is highlighted in the Variables Available box it can be added to the Variables for Display box by clicking on Add gt Similarly a variable can be removed from display by highlighting the variable and clicking on lt Remove In the Edit Box an mathematical expression can be specified A mathematical expression can contain brackets and is not case sensitive The following math functions are allowed addition subtraction multiplication division ie to the power of Example 2 3 2 2 2 SQRT square root function Chapter 7 Waveform Processing 195 7 5 196 SIN sine function COS cosine function TAN tangent function ATAN inverse tangent function EXP exponential base e Example EXP x e
79. A POWERSIM PSIM User s Guide Powersim Inc PSIM User s Guide Version 9 0 Release 3 May 2010 Copyright 2001 2010 Powersim Inc All rights reserved No part of this manual may be photocopied or reproduced in any form or by any means without the written permission of Powersim Inc Disclaimer Powersim Inc Powersim makes no representation or warranty with respect to the adequacy or accuracy of this documentation or the software which it describes In no event will Powersim or its direct or indirect suppliers be liable for any damages whatsoever including but not limited to direct indirect incidental or consequential damages of any character including without limitation loss of business profits data business information or any and all other commercial damages or losses or for any damages in excess of the list price for the licence to the software and documentation Powersim Inc email info powersimtech com http www powersimtech com Contents 1 General Information 1 1 Introduction 1 1 2 Circuit Structure 2 1 3 Software Hardware Requirement 3 1 4 Installing the Program 3 1 5 Simulating a Circuit 3 1 6 Component Parameter Specification and Format 3 2 Power Circuit Components 2 1 Resistor Inductor Capacitor Branches 7 2 1 1 Resistors Inductors and Capacitors 7 2 1 2 Rheostat 8 2 1 3 Saturable Inductor 8 2 1 4 Nonlinear Elements 9 2 2 Switches 10 2 2 1 Diode LED Zener
80. ATE CURRENT lfm AMPERES MAXIMUM ON STATE POWER DISSIPATION W M4 40t4 BSxttin OJH W 4 MAXIMUM PEAK SURGE NON REPETITIVE CURRENT lps AMPERES 1000 MAXIMUM ALLOWABI NON REPETITIV 6 400 200 CYCLES AT REVERSE REI CHARACTE 101 Then press the Print Screen key the key is labeled as Prt Scr on some keyboards to copy the screen image to the clipboard Click on the forward wizard icon t0 paste the screen image into the graph window in the database editor Position the graph image properly in the graph window by dragging the left mouse so that the complete graph is displayed within the window If the graph image is either too large or too small go back to the previous step by clicking on the backward wizard icon l Then resize the image of the graph in the Adobe Acrobat and copy the screen image to the clipboard again The graph dialog window should look something like follows Chapter 2 Power Circuit Components on state voltage drop Vd vs IF GEJ APA Add Curve Delete Curve et Position the graph image properly in the graph window by dragging the left mouse so that the complete graph is displayed within the window Click on the Graph Wizard to proceed to the next step
81. 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 Chapter 6 Circuit Schematic Design 173 6 4 174 Drawing Text Wire Label Attributes Add Remove Current Scope Show Hide Runtime Variables Disable Enable Rotate Flip Left Right Flip Top Bottom Find Find Next Edit Library Escape View Menu 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 To draw images on the schematic for display purposes The following images are provided line ellipse rectangle half circles and bitmap images When the bitmap image option is selected left click the mouse and drag the mouse to define the area that will contain the bitmap image Then select the bitmap file To place text on the screen choose Text Enter the text in the dialog box and click the left button of the mouse to place it To enter the wiring mode The cursor will change to the shape of a pen To place a label on the schematic When two nodes are connected to two labels of the same name they are considered physically connecte
82. Autoscale Save Help DC AC Gnd Fees 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 ground 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 onc
83. C tmx 3 55 a Close 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 On the other hand the functional model of the solar module represents the solar module based on the i v characteristics Using the four parameters i e open circuit voltage short circuit current and voltage and current at the maximum power point the model creates the i v characteristics of the solar module All these four parameters can be obtained from manufacturer datasheets The figure below shows the current and power of a solar module versus the voltage 6 00 _ 5 00 Current 4 00 3 00 Maximum Power Point 2 00 1 00 Power 300 00 al 4 250 00 Power 200 00 150 00 100 00 50 00 0 0 i 0 0 20 00 40 00 60 00 80 00 Voltage As shown in the figure as the voltage increases the solar module output power increases At one point the output power will reach the maximum Many control schemes have been proposed to track the maximum power point so called Maximum Power Point Tracking or MPPT under different operating conditions Several MPPT examples have been included in the PSIM example set Chapter 2 Power Circuit Components 2 12 2 Wind Turbine The image and parameter of the wind turbi
84. C branches Gain of proportional blocks Time constant of integrators Gain and time constant of proportional integral controllers Gain cut off frequency and damping ratio of 2nd order low pass and high pass filters Gain center frequency and passing and stopping band of 2nd order band pass and band stop filters 168 Chapter 5 Analysis Specification The image and parameters of the parameter sweep block are shown below Image Param sweep Attributes Parameters Description Start Value Starting value of the parameter End Value End value of the parameter Increment Step Increment step Parameter to be Swept Parameter to be swept For example let the resistance of a resistor be Ro To sweep the resistance from 2 Ohm to 10 Ohm with a step of 2 Ohm the specification will be Start Value 2 End Value 10 Increment Step 2 Parameter to be Swept Ro The image and parameters of the parameter sweep element are shown below 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
85. Diode and DIAC 10 2 2 2 Thyristorand TRIAC 12 2 2 3 GTO and Transistors 13 2 2 4 Bi Directional Switches 15 2 2 5 Linear Switches 16 2 2 6 Switch Gating Block 17 2 2 7 Single Phase Switch Modules 19 2 2 8 Three Phase Switch Modules 19 2 3 Coupled Inductors 22 2 4 Transformers 23 2 4 1 Ideal Transformer 23 2 4 2 Single Phase Transformers 23 2 4 3 Three Phase Transformers 25 2 5 Magnetic Elements 26 2 5 1 Winding 26 2 5 2 Leakage Flux Path 27 2 5 3 Air Gap 27 2 5 4 Linear Core 29 2 5 5 Saturable Core 29 2 6 Other Elements 30 2 6 1 Operational Amplifier 30 2 6 1 1 Ideal Operational Amplifier 30 2 7 2 8 2 9 2 10 2 11 2 12 2 6 1 2 Non Ideal Operational Amplifier 31 2 6 2 TL431 Shunt Regulator 32 2 6 3 Optocoupler 33 2 6 4 dv dt Block 34 Thermal Module 35 2 7 1 Device Database Editor 35 2 7 2 Diode Device in the Database 42 2 7 3 Diode Loss Calculation 43 2 7 4 IGBT Device in the Database 45 2 7 5 IGBT Loss Calculation 47 2 7 6 MOSFET Device in the Database 50 2 7 7 MOSFET Loss Calculation 51 Motor Drive Module 54 2 8 1 Reference Direction of Mechanical Systems 54 2 8 2 DC Machine 56 2 8 3 Induction Machine 58 2 8 4 Induction Machine with Saturation 61 2 8 5 Brushless DC Machine 62 2 8 6 Synchronous Machine with External Excitation 66 2 8 7 Permanent Magnet Synchronous Machine 68 2 8 8 Permanent Magnet Synchronous Machine with Saturation 70 2 8 9 Switched Reluctance Machine 73 MagCoupler Module
86. LE m Edit Command Elements PARAMS WEEP 1 channel Scope 1 ph 3 w Transform 1 ph 4 w Transform 1 ph 5 w Transform 1 ph 5 w Transform 1 ph 6 w Transform 1 ph 7 w Transform 1 ph 8 w Transform 1 ph Diode ece Pri gt Cancel Commands Specify the Toolbar Name as new Draw the AND gate icon in the icon editing area Or if the icon is already available in the predefined icon images select the icon and copy it to the icon editing area Under the Edit Command section with the option Elements selected highlight AND Gate Then click on the Add Button The icon will appear in the toolbar icon area Click on OK to close the window and go back to the Custom Toolbars window Check new in the Custom Toolbars dialog window and the new toolbar will appear Uncheck the box will hide the toolbar Customizing Keyboard To define the key r for getting a resistor from the library for example do the following Choose View gt Custom Keyboard The Custom Toolbars dialog window will appear Choose New Toolbar and the following window will appear Commands _PARAMSWEEP 1 channel Scope 1 channel Scope 1 ph 3 w Transforme 1 ph 3 w Transforme 1 ph 4 w Transforme 1 ph 4 w Transforme 1 ph 5 w Transforme 1 ph 5 w Transforme Customize Keyboard E Add Shortcut Key Elements Press new shortcut key Assign q Current Shortc
87. M A Kf Q C O i V yema lt Fa A fon a D ANAMA oy W kWh Var 2 jj E W kWh Var ve lt P a gt VA C Cc V Voltage Current Scopes While voltage current probes and meters save the simulation results for post waveform processing voltage current scopes allow users to view simulation waveforms at runtime in the middle of the simulation Three scopes are provided l channel voltage scope 2 channel voltage scope 4 channel voltage scope and current scope Below are the images of the voltage and current scopes and their expanded view Chapter 4 Other Components 1 channel 2 channel and 4 channel voltage scopes Current scope P a ay J L A B A B C D Interface for 2 ch l Interface for current scope and MEH aCe TON 4 ENADE SCOPE 1 channel and 4 channel voltage scopes Oscilloscope SCOPE2 x Oscilloscope SCOPE1 E Timebase Scale Channel A Channel B Trigger Timebase Scale Channels Trigger i0 ms Div ScaleSW DWv Scale 5v Div 4 Sh Te HOms Div Scale 5V Div Chamel Ch A x E Name SCOPE2 Offsetf0 J Ottset 0 E E once Name SCOPE1 Offset 0 afa I Bh once Color Color M Color MMM Levell0 H Color Color Level 0 Save Help DC AC Gnd DC AC Gnd i
88. MOSFET device in the database 50 General Information Manufacturer Part Number Package Absolute Maximum Ratings Device manufacture Manufacturer s part number It can be discrete dual or 6 pack as shown in the figure below Discrete Dual 6 Pack n channel P F P cond Q Pw O gt Peond D P sw_D e p channel BE In the images beside the MOSFET and diode terminal nodes there are four extra nodes from the top to the bottom or from the left to the right on the top for the 6 pack package They are the node for transistor conductor losses Peona the node with a circle for transistor switching losses P 9 for diode conductor losses Poong p the node with a square and for diode switching losses P p respectively The style of the package for example TO 220 TO 262 TO 247 etc can be specified in the Style field VDs max V Maximum drain to source voltage Tp max A Maximum continuous drain current Tj max C Maximum junction temperature Electrical Characteristics Transistor Rpsvon ohm Static drain to source on resistance test conditions gate to source voltage VGs in V and drain current Ip in A Vesithy V Gate threshold voltage Vgs test condition drain current Jp in A gs S Forward transconductance gg In the linear region of the device we have t ns and tr ns Qg Qgs and Qea C iss C OSs and Css I 8n a test conditions
89. New Library to create a new image library or select an existing library and click on Edit Selected Library In the Library Editor click on the button New Element Subcircuit Enter the information to the Chapter 6 Circuit Schematic Design dialog window as shown below Subcircuit Element Name LC Filter Description ILC Filter Schematic File 2 psim8 0 1 lib LC_Filter sch ba Hide menu T Help File LC_Filter html be Test Help Page Cancel The explanation of each field is as follows Name Name of the new element as it appears in the PSIM library Description Description of the new element Schematic File 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 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 Click on the buttons Save Image Library and Update Menu The new element will appear in the library and will be ready to use 6 9 3 Adding a New DLL Element into the Library Similar to t
90. 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 Chapter 4 Other Components Images l input 3 input 6 input 1 os Ls 1 lo o 1 DLL a Ey a DLL L Pe ee ee 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 sequence of the input output nodes 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 1 1 input 2 output 2 3 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 Number of input nodes optional Nodes Number of Output Number of output nodes optional Nodes IN Nodes List of input nodes optional OUT Nodes List of output nodes optional Parameter 1 Parameter 2 Edit Image button Display File button Read File button Parameter to be passed from PSIM into DLL optional Parameter to be passed from PSIM into DLL
91. Ot CT Attributes Parameters Description R stator Stator winding resistance in Ohm L stator Stator winding leakage inductance in H R rotor Rotor winding resistance in Ohm L rotor Rotor winding leakage inductance in H Ns Nr Turns Ratio Stator and rotor winding turns ratio for wound rotor machine only No of Poles Number of poles P of the machine an even integer Moment of Inertia Moment of inertia J of the machine in kg m Torque Flag Output flag for internal torque Tom Master Slave Flag Master slave flag of the machine 1 master 0 slave Im VS Lm lm1 Lm1 Characteristics of the magnetizing current Z versus the magnetizing inductance Lint Um2Lm2 where Zis in A and L is 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 2 8 1 The operation of a 3 phase induction machine with saturation is described by the following equations d d abe i R l aai L PN EN il i Cial Fi e where Chapter 2 Power Circuit Components 61 2 8 5 62 1 1 cos cos 0 22 cos 0 2m eae My 5 Pel FMs cos o cos0 cos 0 2 ee E 3 L cos 0 22 cos 0 zm cos8 cos8 cos 0 zm cos 0 2m 1 i A irgi My cos 0 27 cos cos 0 27 f poal HMer 1 5 lige cos 0 zm cos 0 F 22 cos 0 5 H In this case the inductance M is no longer constant but a function of
92. PE Pro F28335 PE Pro F28335 Hardware Target PE_Experts PE Expert3 Hardware Target General_Hardware General Hardware Target For PE Expert3 hardware set the PE View version as either PE View8 or PE View9 through the drop down box For more information please refer to SimCoder User s Manual In the SimCoder tab of the dialog window comments can be entered and these comments will be inserted at the beginning of the automatically generated code Note that this is for SimCoder only In the Color tab of the dialog window the color of the Simulation Control element can be changed 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 Chapter 5 Analysis Specification 165 5 2 166 In PSIM the simulation time step is fixed throughout the simulation In order to ensure accurate simulation results the time step must be chosen properly The factors that limit the time step in a circuit include the switching period widths of pulses or waveforms and intervals of transients It is recommended th
93. Prong Q The calibration factor K of the transistor switching losses Psw o The calibration factor Keong _p of the diode conduction losses Poona p The calibration factor K p of the diode switching losses P p Number of identical devices in parallel The parameter Frequency refers to the frequency under which the losses are calculated For example if the Chapter 2 Power Circuit Components 51 52 device operates at the switching frequency of 10 kHz and the parameter Frequency is also set to 10 kHz the losses will be the values for one switching period However if the parameter Frequency is set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter P g Calibration Factor is the correction factor for the transistor conduction losses For the cond _ example if the calculated conduction losses before the correction is Pegnd Q cap then P cond Q7 Keond_O ER cond Q cal Similarly the parameter P o Calibration Factor is the correction factor for the transistor switching losses For the example if the calculated switching losses before the correction is P then sw_QO cab Pew o Ks o Psw Q cal Parameters Peona 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 in
94. RT 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 Chapter 2 Power Circuit Components 81 82 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 4 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 NetlistElement 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 Li
95. SIM 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 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 Chapter 6 Circuit Schematic Design 185 Choose View gt Custom Toolbars The Custom Toolbars dialog window will appear Choose New Toolbar and the following window will appear Toolbar Name C Toolbar icon area Predefined Image Command icon images Update Button Load Button lt lt gt Add Button Add Separator Insert Button Insert Separator Delete Button Delete Separator p Edit Image nauman Mmm mm Ses i i t i Icon editing area FI
96. 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 Chapter 3 Control Circuit Components 133 134 implemented in PSIM and the control implemented in Simulink In both circuits the PSIM simulation time step is 2 us Complete circuit in PSIM Power circuit in PSIM Time step 2us There are different ways of setting up Simulink to perform co simulation The recommend approach is to set the Solve Type to Fixed step and define the Fixed step size to be the same or close to PSIM s time step The figure below shows this option Control in Simulink Solver Type Fixed step Time step 20 us Constant Gain Scope Integrator SiMcoupler It is recommended that Simulink use the same time step as PSIM although we have found that even if the Simulink time step is slightl
97. 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 Subcircuit menu to display the port names as defined inside the subcircuit Connect the wires to the connection points accordingly Other Features of the Subcircuit This section describes other features of the subcircuit through the example shown below C psim6_demo main sch Inside the subcircuit One Quadrant DC DC Circuit File L N J File Parameter File Help In ney SF CA P o ot Name Fl LE1 Subcircuit iN F iV File E psim6_dem E c S int T J i ino o File sub sch Z File main sch 6 5 4 1 Passing Variables from the Main Circuit to Subcircuit 178 In this example the main circuit main sch uses a subcircuit sub sch In the subcircuit the inductance value is defined as L and the capacitance is defined as C The default values of L and C can be set by selecting Subcircuit Set Default Variable List In this case L is set to 5mH and C is set to 100uF When the subcircuit is loaded into the main circuit the first time this default variable list will appe
98. Subcircuit To display the port names of the subcircuit in the main circuit Ports Hide Subcircuit To hide the port names of the subcircuit in the main circuit Ports Subcircuit List To list the file names of the main circuit and the subcircuits The following functions are to be performed inside the subcircuit Set Size To set the size of the subcircuit Place Bi directional To place a bi directional connection port in the subcircuit Port Place Input Signal To place an input signal connection port in the subcircuit Port Place Output Signal To place an output signal connection port in the subcircuit Port 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 directi
99. Transfer Function Block A z domain transfer function block is expressed in polynomial form as bocz tbe by_ 1 zt by A z N N 1 ay Z a Z t tay Zt dy If dg 1 the expression Y z H z U z can be expressed in difference equation as y n by u n by u n 1 by u n N a y n 1 ay y n 2 Fay y n NJ Image oa Hiz Attributes Parameters Description Order N Order N of the transfer function Coeff bo by Coefficients of the numerator from bg to by Coeff ag ay Coefficients of the denominator from ag to ay Sampling Frequency Sampling frequency in Hz Example The following is a second order transfer function 3 H z 400 e 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 3 Coeff ag ay 1 1200 400 3 Sampling Frequency 3000 Chapter 3 Control Circuit Components 121 3 5 2 1 Integrator 122 There are three types of integrators regular integrator external resettable integrator and internal resettable integrator Images Regular Integrator External Resettable Integrator Internal Resettable Integrator idles os Aae T Attribute Parameters Description Algorithm Flag Flag for integration algorithm 0 trapezoidal rule 1 backward Euler 2 forward Euler Initial Output Valu
100. a 25 C 50 Output KA lt Z 15 kQ S 232 Q 40 lt 9 uF 3 g a ls 20 8 25 kQ o e 5 GND 10 Ay Small Signal Voltage Amplification dB 0 1k 10k 100 k 1M 10M f Frequency Hz 2 6 3 Optocoupler The image and parameters of a optocoupler are shown below Image id y yic Attributes Parameters Description Current Transfer Ratio The current transfer ratio CTR between the transistor current i and the diode current iy that is CTR iig Diode Resistance Diode resistance Ry in Ohm Note that the resistance must be greater than 0 Diode Threshold The forward diode threshold voltage V4 4 in V Voltage E Transistor Vce_sat The transistor saturation voltage Voe sap in V Transistor side Capacitance C p ACTOSS 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 Veo sat 0 15 V From the LED Forward Voltage versus Forward Current characteristics on the datasheet one can calculate the diode resistance R and the threshold v
101. above Propagation Delays in Logic Circuits The logic elements in PSIM are ideal i e there is no propagation delay If a logic circuit uses the propagation delays for its operation a function block in PSIM called the Time Delay block needs to be added to represent the effect of the propagation delay To illustrate this take a two bit counter circuit as an example Qo Qo Qi Q 45 i Pat J Q a DUU J Q Pos kK 2 K ck a E s clock 4 clock G de ce 1V In the circuit on the left the initial values of both Qg and Q4 are assumed to be zero At the clock rising edge Qo will change to 1 Without delay the position of Q which should remain at 0 will toggle to 1 at the same time To prevent this a time delay element with the delay period of one time step needs to be inserted between Qg and the input J of the second flip flop Interface Between Power and Control Circuits In PSIM power circuits are represented in the discrete circuit form and control circuits 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 po
102. ach field is as follows Name Name of the new inductor element as it appears in the PSIM library Description Description of the new inductor element File Path The location of the DLL file inductor _model dll that models the new inductor element The DLL file must be placed in the lib sub folder in the PSIM directory Input Nodes Number of input terminals of the new element 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 In the next dialog window set the new element size as Width 5 and Height 2 Then create an image for this element or accept the default image Click on the buttons Save Image Library and Update Menu The new element will appear in the library and will be ready to use The information regarding the number of parameters and the parameter description for the new inductor element is obtained from the DLL file automatically In this case the new element will have one parameter as Inductance Chapter 6 Circuit Schematic Design 7 Waveform Processing SIMVIEW
103. actor Ay Inductance factor A of the core defined as the inductance per turn squared If the length of the core is L jengin and the cross section area is A the inductance factor A is expressed as Ly Hy Ae A 7 length where 44 is the relative permeability of the core material 2 5 5 Saturable Core This element models a magnetic core with saturation and hysteresis Image Cl Attributes Parameters Description Inductance Factor Ay Resistance for Losses Coefficient phi_sat Coefficient K1 Coefficient Kexp1 Coefficient K2 Coefficient Kexp2 Initial Flux phi_o Current Flag Inductance factor A of the core defined as the inductance per turn squared Resistance R in Ohm that represents the core losses Coefficient for the core B H curve in Weber Coefficient K for the core B H curve Coefficient K for the core B H curve Coefficient K for the core B H curve Coefficient Koxp for the core B H curve Initial flux of the core in Weber Display flag of the electric current that flows through the resistor R If the rms value of the current is J the core losses can be calculated as Poore loss Lims R 2 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 Node C is a control output node which sho
104. ad The transformation equations are From Cartesian to polar From polar to Cartesian 4 8 3 Math Function Blocks Chapter 4 Other Components 0 atan 2 x r cosO y r sin0 157 4 8 4 158 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 l input 2 input 3 input 5 input 10 input z m oS m o i m i m e m AA ie oS t oS oy o og og oy eas an a Attributes Parameters Description Expression Expression of the output versus inputs where n is the number of inputs X1 X9 5Xy Expression df dx Expression of the derivative of the function f versus the iy input The derivative dfidx 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 iy input For example for the 3 input math function block the allowed variables are T t x1 x7 and x3 For the 1 input math function block the variable x which refers to the only input is also allowed Lookup Tables There are three types of lookup tables one dimensional lookup table 2 dimensional lookup table with integer inputs and 2 dimensional lookup table with floating point inputs All three types of lookup tables can be used in
105. alues and times can be entered either separately or in pair Images Voltage Current 3 ih Attributes For the sources that define the values and times separately Parameters Description Frequency Frequency of the waveform in Hz No of Points n No of points Values V1 Vn Values at each point Time T1 Tn Time at each point in sec For the sources that define the values and times in pair Parameters Description Frequency Frequency of the waveform in Hz Times Values 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 142 Chapter 4 Other Components 4 2 9 marked in the figure 0 0 1 0 2 0 3 Time sec The specification for the piecewise linear voltage source will be Frequency 0 No of Points n 4 Values V1 Vn Dy We 3 3 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 t1 v1 0 1 0 1 1 0 2 3 0 3 3 Random Source The amplitude of a random voltage source VRAND or current source IRAND is determined random
106. alysis 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 Tjength 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 1 ms and At 10 us the frequency incremental step will be Af 1 Tyength 1 kHz The maximum frequency will be finax 1 2 At 50 kHz ax Error Warning Messages The error and warning messages are listed in the following E 1 Input format errors occurred in the simulation It may be caused by one of the following Incorrect Incomplete specifications Wrong input for integers and character strings Make sure that the PSIM library is not modified and the PSIM simulator is up to date In the circuit file character strings should be included between two apostrophes like test Also make sure an integer is specified for an integer variable The specification of a real number like 3 instead of 3 for an integer will trigger the error message E 2 Error message The node of an element is floating Chapter 8 Error Warning Messages and Other Simulati
107. am It provides a quick way of estimating the losses of semiconductor devices diodes IGBT and MOSFET The core of the Thermal Module is the device database A device database editor is provided to allow users to add new devices to the database and to manage the database easily The devices in the database can then be used in the simulation for the loss calculation The following illustrates the process of how a device in the database is used in the simulation and how the losses are calculated The behavior model of the device is used in the simulation The behavior model takes into account the static characteristics of the device such as conduction voltage drop on state resistance etc but not the dynamic characteristics such as turn on and turn off transients Based on the voltage current and junction temperature values from the simulation PSIM accesses the device database and calculates the conduction losses or switching losses The static characteristics of the device are updated for the next simulation 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 the experimental setup The following sections describe how a device is added to the database and how it is used
108. ample 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 Chapter 5 Analysis Specification 167 50 00 40 00 30 00 20 00 10 00 0 00 10 00 80 00 90 00 100 00 110 00 120 00 130 00 140 00 0 10 O20 0 40 A0 300 2 00 4 006 0100 00 20 00 Frequency KHz E Example Loop Transfer Function of a Switchmode Power Supply The loop transfer function of a switchmode power supply controlled by a PWM IC can also be determined in a similar way The figure below shows a buck converter controlled by TI UC3842 The excitation source can be inserted in the feedback path before the op amp output ucs842 Controlled Buck Converter e Uc3842 Isense Lok 5 3 Parameter Sweep Parameter sweep can be performed for the following parameters Resistance inductance and capacitance of RL
109. ample 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 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 Simulate Next Time Step To run the simulation to the next time step and pause Run SIMVIEW To launch the waveform display program SIMVIEW Generate Netlist File To generate the netlist file from the schematic View Netlist File To view the generated netlist file Show Warning To show the warning messages if any from the simulation 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
110. an error message In simulation the maximum drain to source current that a MOSFET device is allowed to conduct is Io max te VGG Vasan If the current exceeds J max one should either increase the gate source voltage level or select another MOSFET 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 Peon Q Psw 0 Peona D and Psw p in watts are represented in the form of currents which flow out of these nodes Therefore to measure and display the losses an ammeter should be connected between the nodes and the ground When they are not used these nodes cannot be floating and must be connected to ground Chapter 2 Power Circuit Components 53 2 8 2 8 1 54 Motor Drive Module The Motor Drive Module is an add on module to the basic PSIM program It provides machine models and mechanical load models for motor drive system studies The Motor Drive Module includes electric machines as described in this section and mechanical elements and speed torque position sensors as described in Section 2 11 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 Ih IM2 IM IM The system consists of two induction machin
111. anical speed A current source flowing out of this node represents a mechanical load and a capacitor connected to this node represents the load moment of inertia IM Mechanical load model El i Jlead Tload Example A custom machine model with a constant torque load Similarly one can build a custom machine model and connect it to the mechanical load in PSIM The figure below shows such a circuit The custom machine model must use the capacitor analogy to model the mechanical equation The node representing the mechanical speed is then made available and is connected to the electrical side of the mechanical electrical interface block Custom machine model in subcircuit form 51 Wm T mo Mechanical speed 2 11 5 Speed Torque Sensors A speed sensor or torque sensor is used to measure the mechanical speed or torque Images Speed Sensor Torque Sensor c o o oO o o Chapter 2 Power Circuit Components 89 90 Attribute Parameter Description Gain Gain of the sensor The output of the speed sensor is in rpm The output of the speed torque sensor depends on how the sensor is connected in a mechanical system For the speed sensor if the sensor is along the reference direction of the mechanical system refer to Section 2 8 1 for more details on the definition and use of the reference direction a positive mechanical speed wou
112. any output curves a very large memory may be required which 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 Under the Advanced tab On Software Updates 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 On Time Out Chapter 6 Circuit Schematic Design Idle time When this option is checked PSIM will be timed out after the program is idle for the specified 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
113. ar in the tab Subcircuit Variables in Subcircuit Edit Subcircuit from the main circuit main sch New variables can be Chapter 6 Circuit Schematic Design added here and variable values can be changed In this case L is changed to 2mH and C is kept the same as the default value Note that the variables and the values are saved to the netlist file and used in simulation The default variable list inside the subcircuit is not saved to the netlist and is not used for simulation This feature allows the parameters of a subcircuit to be defined at the main circuit level In the case where the same subcircuit is used several times in one main circuit different parameters can be assigned to the same variable For example if the subcircuit sub sch is used two times in above example in one subcircuit L can be defined as 3mH and in another subcircuit L can be defined as 1mH Note that this example also illustrates the feature that parameters can be defined as a variable for example Vin for the input de voltage source or a mathematical expression for example R1 R2 for the load resistance The variables Vin R1 and R2 are defined in the parameter file para main txt See Section 4 1 for more details 6 5 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 wind
114. array and circular buffer The index offset defines the offset from the starting memory location Chapter 3 Control Circuit Components 129 3 5 8 3 5 9 130 Example Let a vector be A 2 4 6 8 If index offset is 0 the memory read block output will be 2 If the index offset is 2 the output will be 6 Data Array This is a one dimensional array The output is a vector The data are either entered directly 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 L 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 following format N a an where N is the length of the array and a ay are the array values Example To define an array A 2 4 6 8 we will have Array Length 4 Values 2 4 6 8 If the array is to be read from a file the file will be 4 DOSEN oes N Stack A stack is a first in last out register Image V push 1 Lo Ve pop j Attribute Parameter Description Stack Depth The stack depth Chapter 3 Control Circuit Components The rising edge triggers the push or pop ac
115. as Chapter 2 Power Circuit Components 59 60 J dO T T i dt em L where the developed torque T is defined as ee rely eater For a symmetrical squirrel cage induction machine the steady state equivalent circuit is shown below In the figure s is the slip R L R L AENA Lm Z R 1 s s Example A VSI Induction Motor Drive System The figure below shows an open loop induction motor drive system The motor has 6 poles and is fed by a voltage source inverter with sinusoidal PWM The dc bus is fed through a diode bridge The simulation waveforms of the mechanical speed in rpm developed torque T n and load torque 775 4 and 3 phase input currents show the start up transient VSI Diode ire Oe E oo Bridge f otor or pee i 2 a T 4 ey nes np a bal th p Speed Torque KaR Sensor Sensor en 0 00 0 10 0 20 0 30 0 40 Time 2 Chapter 2 Power Circuit Components 2 8 4 Induction Machine with Saturation Two models of induction machines with saturation are provided 3 phase squirrel cage induction machine 3 phase wound rotor induction machine Images Squirrel cage nonlinear Wound rotor nonlinear ast of IM aes IM as aSr bs bs bs bs est est cs a ar ahr
116. at 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 exact switching instants With this technique the error due to the misalignment of switching instants and discrete simulation points is significantly reduced It is possible to simulate with a large time step while still maintaining accurate results The allowable maximum time step is automatically calculated in PSIM It is compared with the time step set by the user and the smaller value of the two will be used in the simulation AC Analysis The frequency response of a circuit or a control loop can be obtained with the ac analysis A key feature of the ac analysis in PSIM is that a circuit can be in its original switchmode form and no average model is required Nevertheless with the average model the time it takes to perform the ac analysis will be shorter The following are the steps to set up the ac analysis Identify a sinusoidal voltage source as the excitation source for the ac sweep Place ac sweep probes at the desired output location To measure the loop response of a closed control loop use the node to node probe Place the AC Sweep block on the schematic and define the parameters of the ac sweep Run the simulation Below are the images of the ac sweep probes and the AC Sweep block Images AC Sweep Probe AC Sweep Probe
117. axis and q axis inductances Lq and L and the magnetizing inductances Lgm and Lgm 18 as follows La T L Lam Lym Lyt lig where L is the stator leakage inductance Since L is normally very small Lg 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 Chapter 2 Power Circuit Components 71 72 a cos 0 cos 0 27 cos 0 N N o a sin 0 sin 0 7 sin 0 2 j 3 In J On atan2 14 m The current vector angle is in deg and is from 180 to 180 When the Transformation Flag is 1 cos 0 cos 0 27 cos 0 zz lg 1 3 3 So i I 3 aO sin 0 27 sin 0 23 The current vector angle is in deg and is from 0 to 360 The Lam and Ly lookup tables have the following format m n Vets Vrd Vim Vis VoD is Ven Li Liz wes Li Ly Ly 9 betes Lan Lm 1 Lm 2 gt m n 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 Z q and the column vector is 7 When the flag is 1 the row vector is the angle and the column vector is the amplitude Z If the input i
118. both power circuit and control circuit Images 1 dimensional 2 dimensional Index j EEEN S Index i o H Attribute Parameter Description File Name Name of the file storing the lookup table For the 2 dimensional lookup table block the node at the left is for the row index input and the node at the top is for the column index input The one dimensional lookup table has one input and one output Two data arrays corresponding to the input and the output are stored in the lookup table in a file The format of the table is as follows Vn VC Vin 2 Vo 2 V n Va Chapter 4 Other Components 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 V1 or V n The 2 dimensional lookup table with integer input has two inputs The output data is stored in a 2 dimensional matrix The two input correspond to the row and column indices of the matrix For example if the row index is 3 and the column index is 4 the output will be A 3 4 where A is the data matrix The data for the lookup table are stored in a file and have the following format m n A 1 1 A 1 2 A 1 n A 2 1 A 2 2 A 2 n A m 1 A m 2 A m n where m and n are the number of rows and columns res
119. ched reluctance machine model Chapter 2 Power Circuit Components 75 2 9 2 9 1 76 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 2 11 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 JMAG 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 vol
120. copy of an existing device in the same database file highlight the device in the list and choose Device gt Save Device As To make a copy of an existing device and save it in a different database file first highlight the device in the list then highlight the file name in the File Name list and choose Device gt Save Device As Adding a Device to the Database To illustrate how to add a device to a database file below is the step by step procedure to add the Powerex discrete diode CS240650 600V 50A into the device database file diode_new dev Launch PcdEditor exe Go to File gt New Device File and create a file called diode_new dev This file will be placed in the device sub folder under the PSIM program folder by default With the file name diode_new highlighted in the File Name list Choose Device gt New Diode A diode will be added to the database file with Manufacturer as New and Part Number as New Obtain the datasheet of Powerex diode CS240650 from the web site www pwrx com Show the PDF file of the datasheet on the screen By referring to the information from the datasheet in the database editor enter the following information for this device Manufacturer Powerex Part Number CS240650 Package Discrete and under Absolute Maximum Ratings Virm max V 600 IF max A 50 Tj max C 150 Chapter 2 Power Circuit Components Define the forward voltage characteristics Vy vs Ip un
121. culation A diode device in the database can be selected and used in the simulation for loss calculation A diode in the Thermal Module library has the following parameters Attributes Parameters Description Device The specific device selected from the device database Frequency Frequency in Hz under which the losses are calculated Poong Calibration The calibration factor K 5 q of the conduction losses Poon Factor P y 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 is set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter P q 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_cal gt Peona Keond i Peond 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 P then w_cal Pew Kew 7 P sw_cal When several identical diodes are in parallel on
122. d When an element is selected choose Attributes to bring out the property dialog window 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 To show or hide the parameters of elements that can be changed at runtime in the middle of the simulation After this is selected the text of the parameter will appear 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 To disable an element or part of a circuit When the element or the circuit is disabled it will be grayed out and will be treated as non existent as far as the simulation is concerned This function is useful if an element or circuit needs to be excluded but not deleted from the circuit To enable a previously disabled element or circuit To rotate the selected element or a portion of the circuit by 90 clockwise To flip the selected element horizontally To flip the selected element vertically To find a particular element based on type and name To repeat the previous Find operation To edit PSIM image libraries More details are given in Section 6 9 Quit from any of the above editin
123. d collector emitter or drain source voltage is negative A GTO switch is a symmetrical device with both forward blocking and reverse blocking capabilities An IGBT or MOSFET switch consist of an active switch with an anti parallel diode Note that a limitation of the BJT switch model in PSIM in contrary to the device behavior in the real life is that a BJT switch in PSIM will block reverse voltage in this sense it behaves like a GTO Also it is controlled by a voltage signal at the gate node not a current Images GTO BJT BJT MOSFET MOSFET IGBT npn pnp n channel p channel y J A T he Attributes for GTO 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 Attributes for npn and pnp BJT 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 Chapter 2 Power Circuit Components 13 Current Flag Switch current flag 0 no display 1 display Attributes for n channel and p channel MOSFET Parameters Description On Resistance Diode Threshold Voltage Diode Resistance Initial Position Current Flag The on resistance Rds_on of the MOSFET in Ohm Anti parallel diode threshol
124. d as AV V omas V omy o N 2 Note that the value V max corresponds to the output value when the input is at Vin max But because of the quantization the output can be represented in only N levels from 0 to 2N 1 As a result the actual limit of the output is not Vy max but Vo max AVo as Shown in the figure above Example For a quantization block with the offset let N 3 Vin min 0 Vinmax 1 Vo min 9 and Vo min 1 We have AV AV 1 8 If Vi 0 25 it is in the 3rd stage k 3 and it corresponds to V 0 3 1 1 8 0 25 If Vi 0 6 it is in the 6th stage k 6 and it corresponds to V 0 6 1 1 8 0 625 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 e
125. d click on Edit selected library The dialog window for editing secondary image library will appear Click on the Add button From the PSIM library tree navigate to Power 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 text shows that this is for the diode element in the standard image library psimimage lib Highlight Diode and click on the Edit button to create the image 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 A osas seee x l eR aello mm alm g ax Parameters Other Info Color Standard image Secondary image i To share the secondary images that one creates with other people one jus
126. d dc offset and phase delay of 0 and with one node grounded It is defined as below Image Sawtooth wave Attributes Parameters Description Vpeak Peak amplitude Frequency Frequency in Hz 4 2 7 Step Sources A step voltage current source changes from one level to another at a given time Two types of step sources are provided one that changes from 0 to a certain level refer to as Step in the library and the other that changes from one level to another level referred to as Step 2 evel in the library Images Voltage Current oO s t Attributes For the Step type source Parameters Description Vstep Value Ve after the step change Tstep Time T rep at which the step change occurs Chapter 4 Other Components 141 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 Tyjep at which the step change occurs T_transition Transition time Tyansition OM Vstep1 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 step 4 2 8 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 v
127. d 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 0 no display 1 display Attributes for IGBT Parameters Description Saturation Voltage Transistor Resistance Diode Threshold Voltage Diode Resistance Initial Position Current Flag Saturation voltage Vce_sat of the IGBT in V Transistor on resistance in Ohm Anti parallel diode 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 0 no display 1 display A switch can be controlled by either a gating block or a switch controller They must be connected to the gate base node of the switch The following examples illustrate the control of a MOSFET switch Examples Control of a MOSFET Switch The circuit on the left uses a gating block and the one on the right uses an on off switch controller The gating signal is determined by the comparator output Example Control of a npn Bipolar Junction Transistor The circuit on the left uses a gating block and the one on the right uses an on off switch controller Chapter 2 Power Circuit Components The following shows another example of controlling the BJT sw
128. damental and harmonic components is defined as where V is the fundamental component rms V is the harmonic rms value and V THD V M A Vi c Vy 7 Vy ms S the overall rms value of the waveform The THD block is modelled as shown below Image THD 1 THD Vino THD o Circuit Model of the THD Block 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 114 Chapter 3 Control Circuit Components Attributes Parameters Description Fundamental Frequency Fundamental frequency of the input in Hz Passing Band Passing band of the band pass filter in Hz Example In the single phase thyristor circuit below a THD block is used to 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 Ws 150 00 mI alpha 30 deg i THD s THD ig 0 00 0 02 0 04 0 06 0 08 010 0 12 Time 5 One of the THD block output is the input current fundamental component i By comparing the phase difference between the input voltage v and t
129. 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 has the following functions X Axis Change the settings of the X axis Y Axis Change the settings of the Y axis Choose X Axis Variable By default the first column of the data is selected as the X axis However other columns can also be selected as the X axis through this function The dialog box of the X Y axis settings are shown below X Axis Scale Range Grid Division Linear IV Auto Grid From 0 No of division Log To 0 01 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 By default the first column of the data which is usually Time is used as the X axis However any other column of the data can be used as the X axis For example the following figure shows a sine waveform as the X Chapter 7 Waveform Processing 7 4 axis versus a cosine waveform in the Y axis KR2 150 00 100 00 0 00 50 00 100 00 150 00 150 00 100 00 50 00 0 00
130. de as shown below Chapter 2 Power Circuit Components 47 48 yeje junction temperature P cond Q P sw_O P cond _ D P sw_D his Diode junction temperature The calculated junction temperatures T and T p are used when the database curves are used for loss calculation If the calculated junction temperature is between the junction 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 Vee sazy Te where V sqz 18 the transistor collector emitter saturation voltage and 7 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 Voe sai le D Switching Losses The transistor turn on losses is calculated as j X x Transistor Turn on Losses Eon f Veg Vec datasheet where is the transistor turn on energy losses f is the frequency as defined in the input parameter Frequency Voc is the actual de bus voltage and Voc datasheet 18 the de bus voltage
131. 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 Vsync Time ms 4 7 3 PWM Lookup Table Controller There are four input signals in a PWM lookup table controller the modulation index the delay angle the synchronization signal and the gating enable disable signal The gating pattern is selected based on the modulation index The synchronization signal provides the synchronization to the gating pattern The gating pattern is updated when the synchronization signal changes from low to high The delay angle defines the relative angle between the gating pattern and the synchronization signal For example if the delay angle is 10 deg the gating pattern will be leading the synchronization signal by 10 deg Image gt Enable Disable Delay Mod Sync Angle Index Signal 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 eve
132. der Electrical Characteristics by clicking on the Edit button on top of the V4 vs Ip graph area The following dialog window will appear The dialog window has two pages Graph and Conditions The Graph page contains thee x and y axis settings as well as the data points and the graph In this case the y axis is the conduction voltage drop Vg and the x axis is the forward current Ip The x and y axis can have multiplying factors such as m for 10 u for 10 etc The Conditions page contains the conditions under which the graph is obtained On state voltage drop Vd vs IF geg Graph I Add Cuve 020 Tuve All Z X Y axis wizard icons j multiplying factor Help area _ en IF Y axis Vd Suffix Invert graph xo fo Xmax fo x T XinLog XandY WwW Yo fo __ Yes jo sd x F Yinloa axis se ttings 3 J romat TREY TIRE VeRO FI ARER 0 0 2 0 4 Graph area a ee 0 6 0 8 o 1 0 75 0 5 0 25 0 IF X axis IF Y axis Vd 0 49032 0 076744 Junction Temperature Tj oC Redraw OK Cancel There are two ways to define the graph One is to enter the graph data points manually Another is to use the Graph Wizard to capture the graph directly from the datasheet image Defining the graph manually is preferred if there is only one data point or there are just a few data points However if the graph image
133. direction of the mechanical system by rotating the right hand the fingers will point to the positive direction of the speed and the torque Moreover each mechanical element has its own reference direction The following diagram shows the reference direction of each mechanical element as indicated by the arrow Chapter 2 Power Circuit Components Machines Mechanical Loads Encoders Speed Sensor Torque Sensor Gear Box Mechanical Electrical Interface Block o P Hk IOs 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 IM 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
134. ductance and the rotor position and current is defined through a 2 dimensional lookup table The image and parameters are shown as follows 74 Chapter 2 Power Circuit Components Image Shaft Node Nonlinear Attributes Parameters Description Resistance Stator phase resistance R in Ohm Stator Pole Number Number of stator 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 Tom Master Slave Flag Master slave flag of the machine 1 master 0 slave The inductance table file has the following format m n 01 O2 5 8m Ty Dh In Lm Lmz Saas Linn 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 J and J is the column vector for the phase current in A and Lij is the inductance value in H at Row i and Column j For example when the rotor position is 0 and the phase current is the inductance is Ly 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 swit
135. e for a 60 Hz fundamental frequency the data length in display must be integer multiples of 1 60 sec Chapter 7 Waveform Processing 197 7 7 7 8 198 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 Bar Enable disable status bar Calculator Launch the Calculator in Simview The interface of the calculator is shown below Calculator Copy Paste 4 3028345e 001 1 5047270e 001 4 3028345e 001 0064745912486815 lt Memory aee 1 5047270e 001 A 1 4107033e 000 Expression 5 859581 9e 001 aoo M C iy 8 g y x 2 sin asin 4 5 6 R sqrt cos acos 1 2 3 e xy tan atan 0 Exp pi 17x log10 In 21 lt Result One key feature of the calculator is that it provides 9 memory spaces By double clicking on a number in the 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
136. e Controlled Sources 145 Voltage Current Sensors 146 Probes and Meters 146 Voltage Current Scopes 148 Initial Value 150 Switch Controllers 151 4 7 1 On Off Switch Controller 151 4 7 2 Alpha Controller 151 4 7 3 PWM Lookup Table Controller 152 Function Blocks 154 4 8 1 Control Power Interface Block 154 4 8 2 Transformation Blocks 154 4 8 2 1 abc dqo Transformation 155 4 8 2 2 abc a B Transformation 156 4 8 2 3 a to dq Transformation 157 4 8 2 4 Cartesian Polar Transformation 157 4 8 3 Math Function Blocks 157 4 8 4 Lookup Tables 158 4 8 5 CBlock 160 4 8 6 Simplified C Block 161 4 8 7 External DLL Blocks 162 4 8 8 Embedded Software Block 164 Analysis Specification 5 1 5 2 5 3 Simulation Control 165 AC Analysis 166 Parameter Sweep 168 Circuit Schematic Design 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 Creating a Circuit 171 File Menu 173 Edit Menu 173 View Menu 174 Subcircuit Menu 175 6 5 1 Creating Subcircuit In the Main Circuit 176 6 5 2 Creating Subcircuit Inside the Subcircuit 177 6 5 3 Connecting Subcircuit In the Main Circuit 178 6 5 4 Other Features of the Subcircuit 178 6 5 4 1 Passing Variables from the Main Circuit to Subcircuit 178 6 5 4 2 Customizing the Subcircuit Image 179 6 5 4 3 Including Subcircuits in the PSIM Element List 180 Simulate Menu 180 Options Menu 183 Utilities Menu 187 Managing the PSIM Library 187 6 9 1 Creating a Secondary Image 188 6 9 2 Adding
137. e 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 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 ziar Mar eam T y n y n 1 5 u n u n 1 With backward Euler A EE HOST y n y n 1 T u n With forward Euler 1 Oa ier Chapter 3 Control Circuit Components y n
138. e checkbox is checked the one shot triggering is selected The one shot triggering will trigger only once and it is useful for example in situations where a transient needs to be captured The trigger level sets the level at which the triggering occurs For example if Channel A is selected with the rising edge triggering and the trigger level of OV whenever the Channel A input crosses over 0 from negative to positive triggering will occur and the waveform display will start from that instant 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 circuit nodes or control circuit nodes The scopes will display the node to ground voltages at these nodes The current scope on the other hand has no connecting terminals It is associated with any element that has the parameter of the current flag and it is enabled by right clicking on top of the element and selecting the branch current under the Current Scopes as shown below After the branch current is selected a check mark will appear in front of the branch current name Chapter 4 Other Components 149 4 6 150 Cut Copy Disable Enable Attributes Runtime variables gt Current Scopes a R3 A If the element has multiple current flags under the
139. e definition and use of the master slave flag refer to Section 2 8 1 The operation of a dc machine is described by the following equations di ve E ti Ret Ea dir t A Ry A Le Ey k Om Ton heb em AO r r dt em L where v vg ig and iyare the armature and field winding voltage and current respectively is the back emf is the mechanical speed in rad sec Ton is the internal developed torque and 77 is the load torque The back emf and the internal torque can also be expressed as E Lar ip Om Ton Lar ipia em where Laris the mutual inductance between the armature and the field windings It can be calculated based on the rated operating conditions as 2 ORIER af I f On Note that the dc machine model assumes magnetic linearity Saturation is not considered Example A DC Motor with a Constant Torque Load The circuit below shows a shunt excited dc motor with a constant torque load Tz Since the load is along the reference direction of the mechanical system the loading torque to the machine is Tz Also the speed sensor is along the reference direction It will give a positive output for a positive speed The simulation waveforms of the armature current and the speed are shown on the right Chapter 2 Power Circuit Components 57 2 8 3 58 Speed Sensor Constant Torque 7 o Load 250 00 200 00 y 180 00 100 00 H 50 00 0 00 n
140. e 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 Chapter 2 Power Circuit Components 43 44 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 7 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 T is lower than the lowest T 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 V4 Ip where Vy is the diode voltage drop and Ip is the diode forward current When the diode
141. e switching losses Pw 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 Tp max A Maximum dc current Tj max C Maximum junction temperature Electrical Characteristics Vq vs Ip Forward conduction voltage drop V4 vs forward current Ip ty VS Ip Reverse recovery time vs current Ip 42 Chapter 2 Power Circuit Components 2 7 3 Lr vs Ip Peak reverse recovery current vs current Ip Qr 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 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 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 V4 changes depending on the forward current J The new voltage drop is used in the subsequent simulation Diode Loss Cal
142. ectrical Characteristics Part Number Voltage Current a Vdvs IF Edt wvsiF Edt Invs F Edt QrvsiF Edt EnvsiF Edit P 150EBU04 400 150 IEF CM1000HA 24H 1200 1000 Ik CM100TU 12H 600 100 I CMBDODU 24F 1200 600 PHCN240610 600 100 N b C5240650 e00 50 Thermal Characteristics Dimensions and Weight IEF FCD7N60 600 Rthic 0 5 Rihies 0 4 Length mm 535 Width mm 36 5 Device IKF HGTG20N6044D 600 40 allin oCAW Height mm 31 Weight gh 0 EF IRF1010 2 60 75 list EF IRF14045 40 162 lig IRF3B05S 55 75 EF IRF7380 80 36 EF IRF744 450 8 8 IEF IRFP460 500 20 P ISLSR306062 600 30 IEF ixGHaONGOc2 600 40 P MURS160 600 1 KF SEMX151GDO66HDs 600 150 IEF SKM100GB125DN 1200 80 I SKM2006B125D 1200 160 I ckManneAL nan enn ann x cal gt Ready To create a new device file choose File gt New Device File To load a device files into the editor choose File gt Open Device File To unload a device file from the editor choose File gt Close Device File Three types of devices can be added to a device files diode IGBT and MOSFET However since dual IGBT diode modules have a different set of parameters as compared to the regular IGBT devices they are treated as a separate type referred to as the IGBT DIODE type The sections that follow describe in more details each type of devices To create a new device go to the Device menu and choose either New Diode New IGBT New IGBT Diode or New MOSFET To make a
143. ed as _ 60 V krpm P 3em P 1000 where P is the number of poles The stator self and mutual inductances are rotor position dependent and are defined as Laa L Lo L cos 20 Chapter 2 Power Circuit Components 69 2 8 8 70 Lpp Leth tL cos 20 zz Lae Let Lot Ly cos 20 zz Las Lo L Lae Lea 5 5 t ac ca 2 L L 2n 24 2 7 22 a 5 7 cos 20 3 2 cos 20 3 L Lie Ley ea cos 20 where L is the stator leakage inductance The d axis and q axis inductances are associated with the above inductances as follows The developed torque can be expressed as Tom aly li i i sin 20 22 sin 20 The mechanical equations are dOn T J dt em sin 20 _ sin 20 2 sin 20 24 2n 3 _B d P dt r 3 sin 20 sin 20 5 sin 20 sin 20 7 OnT Tlosa Om where B is a coefficient Tjoqq 18 the load torque and P is the no of poles The coefficient B is calculated from the moment of inertia J and the mechanical time constant Tech aS below B T Permanent Magnet Synchronous Machine with Saturation J mech 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 Lam ean be expressed as a nonlinear function of the d axis and q axis currents in the lookup table form The image and parameters of t
144. een 5 and 25 When PSIM saves the schematic that contains the parameter file element 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 the 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 Chapter 4 Other Components 137 4 2 4 2 1 4 2 2 4 2 3 138 Sources Several types of independent voltage current sources are available in PSIM The notation of a current source direction is the current flows out of the higher potential node through the external circuit and back into the lower potential node of the source Note that current sources can be used in the power circuit only Time The Time element is a special case of the piecewise linear voltage source It is treated as a grounded voltage source and the value is equal to the simulation time in sec Image Constant The constant element allows users to define a constant It behaviors as a grounded voltage source Image Attribute Parameter Description Value Val
145. ef ref i if Dope DOP D0 D0 Ho gt am a Ho re H E H V Ho V w TRA ah A D He K DAA H D A f Lo pe ig E Clock 4 Lo Fa g pak re HDF a1 og JL He o D9 HD9 Let N be the number of bits The output of the A D converter is calculated as V Fin Vref re For example if Ve 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 y ref V EEEN Vin 2 For example if V 5 V Vin 10100011 binary 163 N 8 bits then V 163 256 5 3 1836 Chapter 3 Control Circuit Components 119 3 5 Digital Control Module The Digital Control Module is an add on module to the basic PSIM program It provides discrete elements such as zero order hold z domain transfer function blocks digital filters etc for digital control system simulation In contrary to a s domain circuit which is continuous a z domain circuit is discrete and the calculation is only performed at the discrete sampling points There is no calculation between two sampling points 3 5 1 Zero Order Hold A zero order hold samples the input at the point of sampling The output remains unchanged between two sampling points Image 1 ZOH fe Attribute Parameter Description Sampling Frequency Sampling frequency of the zero order hold in Hz Like all other discrete elements the zero order hold
146. ematic file In this example we assume that the file is saved to C PSIM pmsm_psim sch In Simulink Start Matlab Launch Simulink Open an existing file or create a new file After the rest of the system is created go to the menu S function SimCoupler in the Simulink Library Browser select the SimCoupler block and place it on the schematic In the PMSM example file double click on the SimCoupler block and click on the Browser button to locate and select the PSIM schematic file C PSIM pmsm_psim sch Then click on Apply The number of input and output ports of 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 l1ms 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 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
147. er nodes and should be connected to the power Chapter 2 Power Circuit Components 63 64 circuit Node s Sp and s are the outputs of the built in 6 pulse hall effect position sensors for Phase A B and C respectively The sensor output is a bipolar commutation pulse 1 0 and 1 The sensor output nodes are all control nodes and should be connected to the control circuit For more details on the definition and use of the master slave flag refer to Section 2 8 1 The equations of the 3 phase brushless dc machine are x v Rei L M E di v Roig ELM e T Ep di Ved R i L M F E where v vp and v are the phase voltages i i and i are the phase currents R L and M are the stator phase resistance self inductance and mutual inductance and E Ep and E are the back emf of Phase A B and C respectively The back emf voltages are a function of the rotor mechanical speed and the rotor electrical angle 0 that is En ke a Onm E ke On E ke 0 m The coefficients ke a ke p and ke are dependent on the rotor angle 0 In this model an ideal trapezoidal waveform profile is assumed as shown below for Phase A Also shown is the Phase A hall effect sensor signal S a V krpm 1 2 1000 27 60 Given the values of Vpk krpm and Vrms krpm the angle a is determined automatically in the program where Kpg is the peak trapezoidal value in V rad sec
148. ers tab of the Simulation Control dialog window the following parameters are defined for the transient simulation 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 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 Hardware Target This is for SimCoder only for specifying hardware target for automatic code generation The hardware target can be one of the following None No hardware target TI F28335 TI F28335 Hardware Target
149. es 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 eml em2 dOn J J T T T where J and J are the moment of inertia and 7 and Tpm2 are the developed torques of the machine IM1 and IM2 respectively From the point of view of the second machine IM2 however the mechanical equation can be written as dOn it r f em eml 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
150. et 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 dialog 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 int and in on the left and two bi directional ports o and o on the right Subcircuit Inside the subcircuit im inf ot 100u ins oR File chop sch File chop_sub sch 6 5 1 Creating Subcircuit In the Main Circuit 176 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 Chapter 6 Circuit Schematic Desi
151. 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 Chapter 2 Power Circuit Components 31 Images Op Amp level 1 Op Amp ground level 1 V ot 1 v 1 e Vo Vo Vi et V4 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 Frequency 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 Open Loop Gain Av Ao dB Unit gain frequency 0 4 z f Hz 2 6 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 32 Chapter 2 Power Circuit Components 60 Ika 10 mA Test Circuit T
152. g modes by choosing Escape The following additional functions are provided in the View menu for circuit editing Status Bar Toolbar Element Bar Recently Used Element List Library Browser Zoom In To show hide the status bar To show hide the toolbar To show hide the element bar To display the drop down list box that will list the elements recently fetched from the library To launch the Library Browser The Library Browser is another way of accessing the PSIM Element library To zoom in the schematic Chapter 6 Circuit Schematic Design 6 5 Zoom Out To zoom out the schematic Fit to Page To adjust the zooming so that the entire schematic fits the screen Zoom In Selected To zoom in to the selected area 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 Refresh To refresh the screen display Subcircuit Menu Functions are provided in the Subcircuit menu for subcircuit editing and manipulation The following functions are to be performed in the main 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
153. gn 6 5 2 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 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 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 xl Subcircuit port assignments Port Name POO 2s cos 9 S DO The diamonds on the four sides represent the c
154. hall switches and a set of trigger magnets The hall switch is a semiconductor switch e g MOSFET or BJT that opens or closes when the magnetic field is higher or lower than a certain threshold value It is based on the hall effect which generates an emf proportional to the flux density when the switch is carrying a current supplied by an external source It is common to detect the emf using a signal conditioning circuit integrated with the hall switch or mounted very closely to it This provides a TTL compatible pulse with sharp edges and high noise immunity for connection to the controller via a screened cable For a three phase brushless dc motor three hall switches are spaced 120 electrical deg apart and are mounted on the stator frame The set of trigger magnets can be a separate set of magnets or it can use the rotor magnets of the brushless motor If the trigger magnets are separate they should have the matched pole spacing with respect to the rotor magnets and should be mounted on the shaft in close proximity to the hall switches If the trigger magnets use the rotor magnets of the machine the hall switches must be mounted close enough to the rotor magnets where they can be energized by the leakage flux at the appropriate rotor positions Example Defining Brushless DC Motor Parameters from Manufacturer Datasheets This example illustrates how to define brushless dc motor parameters from manufacturer datasheets Below is the informati
155. 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 Vv v 10 00 4 ZOH 5 00 0 00 5 00 10 00 415 00 20 00 Note that in above circuit a continuous domain integrator is also connected to the input sine source This makes it a mixed continuous discrete circuit and a simulation time step selected for the continuous circuit will be used With this time step the familiar staircase like waveform can be observed at the zero order hold output Without the integrator the circuit becomes a discrete circuit Since only the calculation at the discrete sampling points is needed the simulation time step will be equal to the sampling period and only the results at the sampling points are available The waveforms as shown below appear continuous In fact the waveforms are discrete and the connection between two sampling points makes it look like continuous 120 Chapter 3 Control Circuit Components Vi wv Yas ZOH _ 5 00 o oo 5 00 10 00 15 00 20 00 3 5 2 z Domain
156. hat of a subcircuit element there are three main steps to add a new element modeled in a DLL into the PSIM library Create the model in the DLL file Add this element to the PSIM library Create an on line help file for this new element 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 Inductance and two connecting nodes The file is 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 Go to Edit gt Edit Library gt Edit Library Files and choose the library for the new element Click on New Library to create a new image library or select an existing library and click on Edit Selected Library In the Library Editor click on the button New DLL File Enter the information to the dialog window Chapter 6 Circuit Schematic Design 191 192 as shown below DLL File Element Name Inductor DLL OK Description Inductor modeled in DLL Cancel File Path psim8 0 1 lib inductor_model dll Ry Input nodes Output nodes Doo Hide menu I Help File finductorhtm EH Test Help Page The explanation of e
157. he current i one can calculate the input displacement power factor This together with the THD value can be used to calculate the input power factor 3 4 Logic Components 3 4 1 Logic Gates Basic logic gates are AND OR XORGATE exclusive OR NOT NAND and NOR gates Images AND OR NOT XOR 3 input AND 3 input OR NAND NOR 3 4 2 Set Reset Flip Flop There are two types of set reset flip flops One is edge triggered and the other is level triggered Image w Ol Chapter 3 Control Circuit Components 115 3 4 3 116 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 S R Q Qn 0 0 no change 0 T 0 1 t 0 1 0 T T not used A level triggered flip flop on the other hand changes the states based on the input level The truth table of a level triggered set reset flip flop is S R Q Qn 0 0 no change 0 1 0 1 1 0 1 0 1 1 not used 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 A J K flip flop is
158. he current scope Other branch currents such as capacitor current load current diode current or MOSFET switch current can be displayed in the similar way EE PSIM C psim_test softkey PSIM7 1 2_softkey examples dc dc Scope buck i_loop sch Wow Dota S Jej Gi Fie Edt view Subdrouit Elements Simulate Options Utilities Window Help x Average Current Mode Control Ax ala Aee alels o elum ale 3 t Current scope HAA o M Timebase Scale Cheeses Timebase Scale Channels Trigger iou H Saiao 4 Channel Ch fa L Name C Ottset 0 affa 1 wf once Color Color teva H Save _Hep DE __AC Gnd IT Auto scale al 20us Div H Scale 200 a Scale 200 i 9 8 H on ol Wr Name SCOP1 Offset 0 4 4 Offset 0 4 JF Once ZE FESS BT min elole ele el Color Color M Color MM Level 0 4 4 Save Help DC AC Gna DE AC Gnd I Auto scale Voltage scope Chapter 6 Circuit Schematic Design 6 7 Running Simulation with the Command Line Option Simulation can also be launched with the command line option by running the program PsimCmd exe For example to simulate the circuit chop sch which is stored in the folder c p
159. he default value Vpk krpm Peak line to line back emf constant in V krpm mechanical speed Chapter 2 Power Circuit Components Vrms krpm No of Poles P Moment of Inertia Mech Time Constant theta_0 deg theta_advance deg Conduction Pulse Width Torque Flag Master Slave Flag RMS line to line back emf constant in V krpm mechanical speed The values of Vpk krpm and Vrms krpm should be available from the machine data sheet If these values are not available they can be obtained through experiments by operating the machine as a generator at 1000 rpm and measuring the peak and rms values of the line to line voltage Number of poles P Moment of inertia J of the machine in kg m Mechanical time constant Tech 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 Oadyance in electrical deg The advance angle is defined as such that for a brushless de 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 co
160. he machine are shown as follows Chapter 2 Power Circuit Components Image an PMSM ai b ae Shaft Node baa Attributes Parameters Description R stator resistance Stator winding resistance in Ohm L stator leakage ind Stator d axis inductance in H 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 Mech Time Constant Mechanical time constant T mech in sec It is associated with the friction coefficient Bas B J tech L Lookup Table File File name of the lookup table for Lgm Ly Lookup Table File File name of the lookup table for Lom dq Flag Flag for the lookup table When the flag is 0 Lgm and Lgmare function of J and 7 g When the flag is 1 Lgm and Lgm are function of the current magnitude 7 and the angle Transformation Flag Flag for the transformation convention see details below Torque Flag Output flag for internal developed torque Tom Master Slave Flag Master slave flag of the machine 1 master 0 slave For more details on the definition and use of the master slave flag refer to Section 2 8 1 The relationship between the d
161. he setup is now complete and the simulation is ready to run Chapter 2 Power Circuit Components 2 10 MagCoupler RT Module The MagCoupler RT Module provides interface between PSIM and JMAG RT data files JMAG RT is another way of modeling electromagnetic devices The JMAG RT data files are obtained by running the JMAG simulation in advance and 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 is 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 2 11 Four MagCoupler RT blocks are provided 3 phase permanent magnet synchronous machine PMSM 2 phase step machine Linear synchronous machine Linear solenoid Each block has the dedicated image as shown below Images Step Machine A Ct A C M H M Phi Synchronous Machine RT Step Machine AT Linear Synchronous Machine Linear Solenoid A B C A A 3 e gt o M CIT M 5 M a Linear Synchronous Machine RT Linear Solenoid
162. hen P cond Q7 Kcond Q P cond Q cal Similarly the parameter Psw Calibration Factor is the correction factor for the transistor switching losses For the example if the calculated switching losses before the correction is P then sw_QO cab Pow o7 Ksw O Pw Q cal Parameters Poona p Calibration Factor and P p Calibration Factor work in the same way except that they 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 ong p Psw D Preond_o and Psw gare the total losses of all the parallel devices combined The voltage at the conduction losses node Poong g or the switching losses node P g represents the calculated junction temperature T of the transistor and the voltage at the conduction losses node Poong p or the switching losses node P p represents the calculated junction temperature T p of the anti parallel dio
163. ic layout The text of a label can be moved To select the text left click on the label then press the Tab key To assign the parameters of an element double click on the element A dialog box will appear Specify the values and hit the lt Return gt key or click on OK To move an element or a circuit block select the element circuit block and drag the mouse while keeping the left button pressed To move the whole schematic right click and drag the mouse Chapter 6 Circuit Schematic Design 6 2 6 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 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 schematic 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 usef
164. ile help 164 185 189 191 192 netlist 179 180 package 173 parameter 4 137 179 filter band pass 105 114 band stop 105 168 digital 123 high pass 105 147 168 low pass 102 105 133 147 second order 105 flag Index 205 load 165 master slave 57 59 61 63 67 69 71 73 75 87 88 save 165 flip flop D117 J K 116 S R 115 format ASCII text 193 binary 184 193 free run 165 181 functional model 94 95 96 G gate AND 115 logic 3 115 201 NAND 115 NOR 115 NOT 115 OR 115 XOR 115 gating block 12 14 17 18 19 gear box 54 85 87 88 H hardware target general 165 PE Expert3 165 PE Pro F28335 165 TI F28335 165 l image secondary 188 inductor 7 78 191 203 coupled 22 24 saturable 8 initial value 9 99 100 101 150 integrator s domain external resettable 100 internal resettable 100 z domain external resettable 122 internal resettable 122 interface between power and control circuits 154 interface block 89 control power 154 201 mechanical electrical 54 85 88 J JMAG 1 76 206 Index JMAG RT 1 81 82 L label 172 174 190 199 leakage flux 23 26 27 65 LED 10 library adding new DLL element 191 adding new subcircuit element 189 edit 174 187 188 189 190 191 library browser 133 171 174 light intensity 94 limiter gradient dv dt 110 lower 110 lower upper 110 range 110 upper 110 LOG 5 107 196 LOG10 5 107 166 196 logic gate 115 lookup table 2 D 158 lo
165. ile for display in SIMVIEW The current is positive when it flows into the dotted terminal of the branch Current Flag_A Current flags for Phase A B and C of three phase branches respectively Current Flag_B Current Flag_C The resistance inductance or capacitance of a branch can not be all zero At least one of the parameters has to be a non zero value Chapter 2 Power Circuit Components 7 2 1 2 2 1 3 Rheostat A rheostat is a resistor with a tap Image t Attributes Parameters Description Total Resistance Total resistance of the rheostat R between Node amp and m in Ohm Tap Position 0 to 1 The tap position Tap The resistance between Node k and t is R Tap Current Flag Flag for the current that flows into Node k Saturable Inductor A saturable inductor takes into account the saturation effect of the magnetic core Image Attributes Parameters Description Current vs Inductance Characteristics of the current versus the inductance i4 L1 i2 L2 etc Current Flag Flag for the current display The nonlinear B H curve is represented by piecewise linear approximation Since the flux density B is proportional to the flux linkage and the magnetizing force H is proportional to the current i the B H curve can be represented by the i curve instead as shown below Inductance L i The inductance is defined as
166. image of the MagCoupler block Clicking on the Display File button will display the Link Table File in the Microsoft Internet Explorer environment and clicking on the Read File button will read or re load the Link Table File Set up in JMAG and PSIM Using the MagCoupler block it is easy to set up the link between JMAG and PSIM for co simulation It involves two main steps setting up the circuit in JMAG and generating 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 Chapter 2 Power Circuit Components MagCoupler block At each time step PSIM calls JMAG 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 i
167. in the simulation 2 7 1 Device Database Editor The device database editor PcdEditor exe provides an easy and convenient way of adding editing and managing devices An image of the database editor is shown below On the left are the device database files that are loaded into the database editor and the list of the devices The devices can be displayed based on either Device Type or Manufacturer Also the device list can be sorted by Part Number Voltage rating or Current rating by clicking on the title bars of the list On the right is the information of each device In general the following information is defined for the device Manufacturer and Part Number Package type Absolute maximum ratings Electrical characteristics Thermal characteristics Dimension and weight Chapter 2 Power Circuit Components 35 36 P PcdEditor a Fie Device View Help Device O a S i t H a b File Name database T APSIM_Debug PSIM 0 0_debug Device diode dev Manufacturer Powerex ea ait CN240610 CAPSIM_Debug PSIM3 0 0_debua Device IGBT dev files C APSIM_Debua PSIM9 0 0_debug Device MOSFET dev Package CAPSIM_Debug PSIM3 0 0_debug Device Semikron dev 7 ee Duale z Style Device information Absolute Maximum Ratings Device Type Manufacturer Varn mas V 600 IF max A 100 Timax oC 150 All Types IAI Manufacturers xl El
168. is available it is easier with the Graph Wizard To Define the Graph Manually Refer to the Maximum On State Characteristics graph of the datasheet and enter the values for the x y axis settings as follows X0 1 Xmax 1000 YO 0 6 Ymax 2 6 X in log checked Visually inspect the graph and select a few data points Enter the data points in the data area as follows Chapter 2 Power Circuit Components 37 38 1 0 7 10 1 05 100 1 8 200 2 2 300 2 4 Then click on the Refresh button to display the graph Click on the Conditions tab and enter the Junction Temperature as 25 C Alternatively the graph can be defined in this case using the Graph Wizard To Define the Graph Using the Graph Wizard Click on the Add Curve button Then click on the forward wizard icon fto start the Graph Wizard Display the graph of the datasheet on the screen as follows E Adobe Acrobat Poweres 5240650 600 50A pdf El File Edit Document Tools View Window Help Wi gt lj BSUAST B 0 2 BS lol xi 18 x 685644 48 8 kos o 4 BS Q B s f MAXIMUM ON STATE CHARACTERISTICS A a 26 TTT a a T 25 C 5 2 a T 22 al EEC aa g a 2 14 Bl o a i Z 10 2 06 LUO Uh 100 101 02 103 INSTANTANEOUS ON ST
169. is PSIM s waveform display and post processing program The following shows simulation waveforms in the SIMVIEW environment Simview Indm_FOC txt Dj x E Fie Edit Axis Screen Measure View Options Label Window Help a x SSB OA S Hs x viKRPoQARV Ekke R Time s 4 Mora VAM UW m SIMVIEW reads data in either ASCII text format or SIMVIEW binary format The following shows a sample text data file Time Isa Isc Isb Tem_IM 5 000000000E 006 0 000000000E 000 0 000000000E 000 0 000000000E 000 7 145888260E 048 1 000000000E 005 0 000000000E 000 0 000000000E 000 0 000000000E 000 1 082981714E 046 1 500000000E 005 0 000000000E 000 0 000000000E 000 0 000000000E 000 5 408644357E 046 2 000000000E 005 1 139566166E 001 2 279132474E 001 1 139566166E 001 1 613605209E 017 2 500000000E 005 5 072914178E 001 1 014582858E 000 5 072914178E 001 3 598226665E 015 Functions in each menu are explained in the following sections 7 1 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
170. is for reporting purposes only and will appear in the parts list in View gt Element List in PSIM Information such as device rating manufacturer and part number can be stored under the Other Info tab 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 106 n 10 p 10712 A mathematical expression can contain brackets and is not case sensitive The following mathematical functions are allowed addition subtraction 7 multiplication division to the power of Example 2 3 2 2 2 SQRT square root function SIN sine function COS cosine function ASIN sine inverse function ACOS cosine inverse function TAN tangent function ATAN inverse tangent function ATAN2 inverse tangent function n lt atan2 y x lt n Chapter 1 General Information SINH COSH EXP LOG LOG10 ABS SIGN Chapter 1 General Information hyperbolic sine function hyperbolic cosine function exponentia
171. itch 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 BB i 2 ya 7 AAN K L va ae oor a A 2 t n t y RE The 2 2 4 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 gt F j gs i my eS Q_e oj a cae Attributes Parameters Description Initial Position Initial switch position flag for single switch only Initial Position for Initial switch position for Phase A or B or C Phase A B C Switch Position Switch position can be either On or Off fo
172. ive input is lower the output is zero If the two input are equal the output is undefined and it will keep the previous value Image 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 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 of the limiter Upper Limit Upper limit 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 For a range limiter let the range of the upper limit and the lower limit be V When the input is within the ange limit the output is equal to the input When the output exceeds the upper limit 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 Gradient dv dt Limiter A gradient dv dt limiter limits the rate of change of the input If the rate of
173. k SimCoupler Model Block In Link Node Out Link Node oo 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 f2 PSIM C Fliers Simcoupler PMSM_psim sch F lol x fa File Edit View Subcircuit Elements Simulate Options Window Help m laj xl onsas eea al eR aello E l a ei La Power Di a in PSIM Lye LG l File pmsm_psim sch Elpmsm_simulink File Edt View Simulation Format Tools Help 2 0 xi D aS sBB L22 gt soe bat 0 488240 04199 U 1 u 2 W_ret RPM 0 00255 40 0026 O 0 005s 5 s i 001s Control o E in SimuLink a File pmsm _simulink md res moe l des 7 The following are the steps to set up SimCoupler for PSIM Matlab Simulink co simulation for the example above Chapter 3 Control Circuit Components 3 6 2 Adding the SimCoupler Block to the Simulink Library Run the program SetSi
174. l 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 Power Circuit Components 2 1 Resistor Inductor Capacitor Branches 2 1 1 Resistors Inductors and Capacitors Both individual resistor inductor capacitor and lumped RLC branches are provided in PSIM Initial conditions of inductor currents and capacitor voltages can be defined To facilitate the setup of three phase circuits symmetrical three phase RLC branches are provided Initial inductor currents and capacitor voltages of the three phase branches are all zero Images Resistor Inductor Capacitor RL RC LC RLC TEE 3 4 gt amp a 2 T R3 L3 C3 RL3 RC3 RLC3 yo ee ao J D oA pM Lo out A Lo AA D AAA AN e A AH AAH AAA NM oft A Ae A For three phase branches the phase with a dot is Phase A Attributes Parameters Description Resistance Resistance in Ohm Inductance Inductance in H Capacitance Capacitance in F Initial Current Initial inductor current in A Initial Cap Voltage Initial capacitor voltage in V Current Flag Flag for branch current output If the flag is zero there is no current output If the flag is 1 the current will be available for display in the runtime graphs under Simulate gt Runtime Graphs It will also be saved to the output f
175. lculate 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 The power factor is defined as cos theta where theta is the angle difference between the first curve and the second curve P real power Calculate the real power of two 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 exampl
176. ld give a positive sensor output Otherwise if the sensor is opposite to the reference direction of the mechanical system a positive mechanical speed would give a negative sensor output For example in the mechanical system below Speed Sensor 1 is along the reference direction and Speed Sensor 2 is opposite to the reference direction of the mechanical system If the actual mechanical speed is positive the output of Speed Sensor 1 will be positive and the output of Speed Sensor 2 will be negative 3 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 Torque sensor In this case the direction of the positive
177. le 7 Load 1 Load 2 IM Sensor 1 Sensor 2 T T Tom Tri Tr2 J Jil Jr2 The system consists of one machine 2 torque sensors and 2 mechanical loads The torques and moment of inertia for the machine and the loads are as labelled in the diagram The reference direction of this mechanical system is from left to right The equation for this system can be written as dOn T T dt onaem ALI Spa J J Jr2 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 m The current probe on the left represents the reading of the Torque Sensor 1 Similarly the current probe on the right represents the reading of the Torque Sensor 2 Note that the second 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 m 2 11 6 Position Sensors Four types of position sensors are provided absolute encoder incremental encoder resolver and hall effect position sensor They are connected to the mechanical shaft similar to
178. le in binary format Note that the extension of PSIM schematic files is sch in PSIM 8 0 or older but the extension in PSIM 9 0 is changed to psimsch in order to differentiate PSIM files from files of other software Simulating a Circuit To simulate the sample one quadrant chopper circuit chop sch Start PSIM From the File menu choose Open to load the file chop sch From the Simulate menu choose Run PSIM to start the simulation Simulation results will be saved to File chop txt If the option Auto run SIMVIEW is not selected in the Options menu from the Simulate menu choose Run SIMVIEW to start SIMVIEW If the option is selected SIMVIEW will be launched automatically In SIMVIEW select curves for display 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 Chapter 1 General Information 3 xi LS x Ly x Parameters Other Info Color Parameters Other Info Color Parameters Other Info Color Resistor Help Resistor Help Resistor Help Display Display Name R1 E Name RI Resistance 10 E Power Rating 124W E Current Flag 0 X Manufacturer Company ABC Part No 01 23456 The parameters in the Parameters tab are used in the simulation The information in the Other Info tab on the other hand is not used in the simulation It
179. le of an induction motor drive system using the incremental encoder is given in the sample file Incremental Encoder INDM Drive sch 2 11 6 3 Resolver 92 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 Chapter 2 Power Circuit Components Image Hi 4 66 8 oo nn Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Poles Number of poles of the resolver The resolver has four outputs cost cos the inverse of cost sin and sin the inverse of sint 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 2 11 6 4 Hall Effect Sensor A hall effect sensor is a type of position sensors that provides three pulses depending on the shaft position The sensor consists of a set of semiconductor switches and trigger magnets The switches open or close when the magnetic field is higher or lower than a certain threshold value Image A BE Attribute Parameter Description Initial Position deg Initial shaft position in deg No of Poles Number of poles of the senso
180. le two mechanical systems Image Mechanical System 1 o Mechanical System 2 This block is used in situations where both mechanical systems have a device in the master mode and they must be connected together to form one system Based on the connection convention in PSIM a mechanical system can have only one master device In this case the mechanical coupling block can be inserted in between and the mechanical system on each side of the coupling block can have its own device in the master mode 2 11 4 Mechanical Electrical Interface Block This block allows users to access the internal equivalent circuit of the mechanical system of a machine Image Mechanical Side M E Electrical Side 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 7 and a moment of inertia of J gt The equation that
181. linear sole noid is shown below Parameter Description RA Resistance of the solenoid in Ohm Mass Mass of the solenoid in kg MechTimeConstant Mechanical time constant of the solenoid in sec SpringConstant Spring constant of the solenoid used in JMAG RT DispLimitMax Maximum limit of the displacement of the solenoid in m DispLimitMin Minimum limit of the displacement of the solenoid in m OffsetDisp Initial displacement in m turns_coil2 Coil 2 turns used in JMAG RT coef mass1 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 Chapter 2 Power Circuit Components 83 Position Flag Velocity Flag Force Flag mass Master Flag Display flag for the solenoid position in m Display flag for the solenoid velocity in m sec Display flag for the developed force in N Master slave flag of the solenoid 1 master 0 slave The parameters of a linear synchronous machine is shown below coef_magnet coef_material turns_coill turns_coil2 coef mass1 coef mass2 Current Flag Back emf Flag Position Flag Velocity Flag Force Flag mass Master Flag Parameter Description RU Resistance of Phase U in Ohm RV Resistance of Phase V in Ohm RW Resistance of Phase W in Ohm Mass Mass of the machine in kg MechTimeC
182. ll be derived internally in the program Similar to the single thyristor switch a thyristor bridge can also be controlled by either a gating block or an alpha controller as shown in the following examples Examples Control of a Thyristor Bridge The gating signal for the circuit on the left is specified through a gating block and the gating signal for the circuit on the right is provided through an alpha controller A major advantage of the alpha controller is that the delay angle alpha of the thyristor bridge in deg can be directly controlled 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 Chapter 2 Power Circuit Components 19 20 Images Diode full wave 3 DC A o B oJ a Co DC Thyristor full wave DC 1 DC z DC Ac o 1 x 3 A d A amp Ne 4K 6 2 CoH Alc ya 4 OK 2 De Ct DC Thyristor half wave 1 Ct Al oJ o4 BS N A6 lct VSI3 MOSFET switches DC DC 5 1 3 5 jes JH Jae Ct VSI E i La B DC
183. low 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 junction temperature is in turn fed back and used in the loss calculation The circuit shows a thermal circuit without considering the thermal transient Chapter 2 Power Circuit Components 2 7 4 Rth_ic Rth cs F_heatsink T_ambient 40 IGBT Device in the Database An IGBT device has three types of packages discrete dual or 6 pack For the dual package both the top and the bottom switches can be IGBT s full bridge configuration or one of the switches is IGBT and the other is a free wheeling diode half bridge configuration For the half bridge dual IGBT device since the free wheeling diode parameters can be different from these of the anti parallel diode this type of device is referred to as the IGBT Diode device and is treated as a different type in the simulation But for the convenience of discussion both devices are referred to as the IGBT devices here The following information is defined for an IGBT device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Package It can be discrete dual or 6 pack as shown in the figure bel
184. ly at each simulation time step A random source is defined as Vo 7 Vn nt V offset where V is the peak to peak amplitude of the source n is a random number in the range of 0 to 1 and Voge is the de offset Images Voltage Current n Attributes Parameters Description Peak Peak Amplitude Peak to peak amplitude of the source DC Offset DC offset 4 2 10 Math Function Source A math function source allows one to define the source in a mathematical expression Image Chapter 4 Other Components 143 Attributes Parameters Description Expression The mathematical expression of the source Tstart Start time of the source In the expression T or t represents time For example to implement a sinusoidal source the expression will be sin 2 3 14159 60 t 2 09 4 2 11 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
185. m 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 abc transformation block where only Phase d and q are not used and Phase o is not used it must be connected to ground The transformation equations from abc to dqo are cos cos 0 2 cos 0 Ya 3 3 F Yal 3 sin sin 0 22 sin 9 Yb Vo Ve 1 1 1 2 2 2 O The transformation equations from dqo to abc are cos sin 1 yV yV i cos 0 2 sin 0 zz 1 4 vp 3 3 Vg Ye cos 0 zz sin 0 zm 1 Yo Example In this example three symmetrical ac waveforms are transformed into dqo quantities The angle 0 is defined as 0 wt where 2n 60 Since the angle 0 changes linearly with time a piecewise linear voltage which has a ramp waveform is used to represent 8 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 5 00 10 00 15 00 20 00 25 00 30 00 Time ms Chapter 4 Other Components 155 4 8 2 2 abc of Transformation The abc a function blocks perform the transformation between the abc coordinate and the a coordinate
186. mPath 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 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 sch
187. 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 No of Poles P Number of poles P Moment of Inertia Moment of inertia J of the machine in kg m Mech Time Constant Mechanical time constant Tinech Torque Flag Output flag for internal developed torque 7 em Master slave Flag Master slave flag of the machine 1 master 0 slave The node assignments of the image are Nodes a b and c are the stator winding terminals for Phase a b and c respectively The stator windings are Y connected and Node n is the neutral point The shaft node is the connecting terminal for the mechanical shaft They are all power nodes and should be connected to the power circuit For more details on the definition and use of the master slave flag refer to Section 2 8 1 The equations of the permanent magnet synchronous machine are Va R 0 0 i j Aa v 0 R 0 fi baer hep Ve 0 0 RI Ji Ao where vy Vp Yo and iq i and ic and q p c are the stator phase voltages currents and flux linkages respectively and R is the stator phase resistance The flux linkages are further defined as cos Na Lia Lab Lre ig 20 Mel La Lop Lael fis Apm cos 0 3 IES PRT L i c ca cb See c cos 0 where 0 is the rotor electrical angle and Apn is a coefficient which is defin
188. mber 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 Tom 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 2 8 1 The models of the squirrel cage induction machine with and without the neutral are the same internally The operation of a 3 phase induction machine is described by the following equations ated 8 Teed Led Gillet oad Gelato ate Ri Ted ed aind l al where Va s Va r la s la r ane i z Vp s abe i Vp r te lp sS A lp Ve s Ver los lor For squirrel cage machines v vp Ve 0 The parameter matrices are defined as R 0 0 R 0 0 RJ fo R 0 R 0 R 0 0 0R 0 OR p M Ms M l M Mer Me s O 2 2 r sro 2 z 2 Mer Me M M z 2 L M 2 A a 2 L M a 2 M M L M Ms Ms L M L 2 2 s sr L 2 2 r sr cos cos 0 cos o KA Ms cos 0 zm cos8 cos 0 22 cos 0 te 22 cos 0 zm cos where M is the mutual inductance between the stator and rotor windings and 6 is the mechanical angle The mutual inductance is related to the magnetizing inductance as 3 Ly 5M m D S The mechanical equation is expressed
189. mperature Coefficient Ct Coefficient Ks Number of cells N of the solar module A solar module consists of N solar cells in series Light intensity S under the standard test conditions in W m The value is normally 1000 W m in manufacturer datasheet Temperature T under the standard test conditions in C Series resistance R of each solar cell in Ohm Shunt resistance R of each solar cell in Ohm Short circuit current 9 of each solar cell at the reference temperature Tep inA Diode saturation current J of each solar cell at the reference temperature T ref in A 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 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 C in A C or A K Coefficient k that defines how light intensity affects the solar cell temperature Chapter 2 Power Circuit Components Chapter 2 Power Circuit Components Attributes for Functional Model Parameter Description Open Circuit Voltage Voc Voltage measured when the solar module terminals are open circuit in V Short Circuit Current Isc Current measured when the solar module terminals are short circuit in A Maximum Power Voltage Vm Solar module terminal voltage when the output power is at the maximum in V Maximum
190. mple illustrates that the input of the time delay block can be either an analog or a digital signal vint 1 50 1 00 0 50 oon 1 50 1 00 f oso f oon 20 00 10 00 f 0 00 Dagan geet its AO O0 Pea cece 20 00 i i 0 00 5 00 10 00 voz Ving Ly 5 15 00 20 00 02s oo 30 00 Time ms 3 3 8 Multiplexer The output of a multiplexer is equal to a selected input depending on the control signal Three multiplexers are provided multiplexers with 2 inputs 4 inputs and 8 inputs Images 2 input 4 input d0 lt dls MUX e Y T s0 sl s0 s2 s150 In the images d0 d7 are the data inputs and s0 s2 are the control signals The truth tables of the multiplexers Chapter 3 Control Circuit Components 113 are as follows 2 Input MUX 4 Input MUX 8 Input MUX s0 T sl s0 Y s2 sl s0 Y 0 do 0 0 do 0 0 0 do 1 dl 0 1 dl 0 0 1 dl 1 0 d2 0 1 0 d2 1 1 d3 0 1 1 d3 1 0 0 d4 1 0 1 d5 1 1 0 d6 1 1 1 d7 Note that the data input could be either an analog or digital signal Example The following circuit selects the maximum value out of two inputs When V is greater than V the comparator output will be 1 and V V Otherwise V Vp Va 3 3 9 THD Block The total harmonic distortion THD of an ac waveform that contains both the fun
191. n 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 To avoid over saturation a limiter should be placed at the integrator output Example The following circuit illustrates the use of the resettable integrator The input of the integrator is a dc quantity The control input of the integrator is a pulse waveform which resets the integrator output at the end of each cycle The reset flag is set to 0 vd vo 15 00 10 00 Yetrl 0 00 0 00 1 00 2 00 3 00 4 00 Time ms Chapter 3 Control Circuit Components 101 3 1 3 Differentiator The transfer function of a differentiator is A differentiator is calculated as follows G s sT Vin t Vin t AD th T v A where A is the simulation time step v and v t At are the input values at the present and the previous time step Image of sT be Attribute Parameter De
192. n is y n 0 0201 u n 0 0402 u n 1 1 561 y n 1 0 6414 y n 2 The parameter specification of the filter in PSIM will be Order N 2 Coeff bo by 0 0201 0 0402 0 0201 Coeff ag ay 1 1 561 0 6414 Sampling Frequency 10000 If the coefficients are stored in a file the file content will be 2 0 0201 0 0402 0 0201 1 1 561 0 6414 Or the file can also have the content as follows 2 0 0201 1 0 0402 1 561 0 0201 0 6414 Unit Delay A unit delay block provides one sampling period delay to the input Image oS a gt a Attribute Parameter Description Initial Output 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 Chapter 3 Control Circuit Components 125 3 5 4 Quantization Blocks Quantization blocks simulate the quantization process of an A D converter Two quantization blocks are provided One with 1 LSB least significant bit quantization error and the other with input offset with 0 5 LSB quantization error Image Quantization Block
193. n the PSIM library Images H H s be Attributes Parameters Description Order n Order n of the transfer function Gain Gain amp of the transfer function Coeff B By Coefficients of the numerator from B to Bo Coeff A Ao Coefficients of the denominator from 4 to Ag Initial Values x x1 Initial values of the state variables x to x for the element s domain Transfer Function 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 differential equation form as follows x 000 0 4 4 x By Ay B A gal 100 0 A a bof Bi 4iB 4 g 0 1 0 0 4 4 fe tE Ba B 4 x aTa aa x n S oe at n n The output equation in the time domain can be expressed as B y x tk T u 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 3 Control Circuit Components 99 3 Gis 15 400 In PSIM the specification will be Order n 2 Gain 1 5 Coeff B B 0 0 400 e3 Coeff A 46 1 1200 400 3 3 1 1 Proportional Controller 100 s 1200 s 400 e The output of a proportional P controller is equal to the input multiplied by a gain
194. nce On resistance Rgg on Of the MOSFET in Ohm Threshold Voltage Threshold voltage of the gate to source voltage in V beyond which the MOSFET Vos th starts to conduct Transconductance g Transconductance g of the MOSFET Diode Threshold Threshold voltage of the anti parallel diode in V Voltage Diode Resistance On resistance of the anti parallel diode in Ohm A linear BJT device is controlled by the base current Ij It can operate in one of the three regions cut off off state linear and saturation region on state The properties of a npn BJT in these regions are Cut off region V lt V p 9 I 90 Linear region Vpe Vg p B lys Vee gt Vee sat Saturation region Vpe Vy Ie lt B lys Vee Vee sat 16 Chapter 2 Power Circuit Components 2 2 6 where Vj is the base emitter voltage V eis the collector emitter voltage and I is the collector current The properties of a pnp BJT in these regions are Cut off region V lt Vg I 9 I 0 Linear region Veb Ve Te Balise Vec Vee sat Saturation region Ve Vy Ie lt B Ib 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 Vgs 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
195. nction 108 U unit delay block 113 125 V variable default 175 176 178 179 190 passing 178 runtime 174 181 voltmeter ac 146 de 146 W wattmeter 146 147 148 3 phase 148 wind turbine 97 wire 172 174 177 185 203 Z zero order hold 1 111 112 120 131 162
196. nduction 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 Tom Master slave flag of the machine 1 master 0 slave Attributes based on manufacturer datasheet information Parameters Description Resistance phase phase Inductance phase phase Speed Constant Torque Constant No of Poles P Moment of Inertia No Load Speed No Load Current Torque Flag Master Slave Flag 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 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 The current under no load operation in A Output flag for internal developed torque Tom 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 4 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 pow
197. ne are described below Images Wind Turbine Wind Speed o3 W Wind Turbine Shaft Pitch Angle 3 P 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 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 m 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 1 3 3 4 Ywind P gt Cp where A is the area of the rotor blade v 4 is the wind speed p is the air density and C is the power coefficient The power coefficient C is a function of the tip speed ratio and the blade pitch angle p It can be expressed as Heie
198. near 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 imp 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 shaftl_Momentoflnertia Moment of inertia of the machine in kg m shaft MechTimeConstant Mechanical 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 RT coef_magnet Magnet coefficient used in JMAG RT coef_material Material coefficient used in JMAG RT turns_coill Coil 1 turns used in JMAG RT turns_coil2 Coil 2 turns used in JMAG RT Current Flag Display
199. ng voltage current scopes until desired performance is achieved Running Simulation in the Free Run Mode To illustrate how to run a simulation in the free run mode a buck converter circuit shown below is used as an example The circuit on the left was originally set up for the one time simulation with the total simulation time set to a specific value One time simulation Simulation in the free run mode To set up the simulation in the free run mode In Simulation Control check the Free Run checkbox Go to Elements gt Other gt Scopes and select the 2 channel voltage scope Connect the scope as shown above on the right Double click on the scope and the scope image will appear Start the simulation and the waveforms will appear and will be updated continuously in the scope Change the scope settings as desired Elements parameters can now be adjusted in the middle of the simulation To adjust the gain of the PI controller for example right click on top of the PI block and choose Runtime Variables gt Gain The text of the gain 0 6 will be displayed if it has not been displayed already Click on the text 0 6 and a small dialog window will appear The screen should look as follows Chapter 6 Circuit Schematic Design 181 182 D GLER jejeje i gt lkaal zlelofx alals p olnm aE 5 Joe Gain of the PI controller Average Current Mode Control
200. nition OpenSimUser Fen The function that is called only once at the beginning of the simulation for initialization RunSimUser Fen The function that is called at each simulation step CloseSimUser Fen The function that is called only once at the end of the simulation for termination When one of the choices is selected the area underneath shows the corresponding code The complete code consists the combined code of all the four parts Chapter 4 Other Components 4 8 6 C Block Input output Parameters Color ports C Block Block Number of Input Output Ports Name SCB1 E Input 0 Output 0 Function C Code selection E Function Type C ariable Function definitions C OpenSimUserFen RunSimUserFen C CloseSimUser Fen void RunSimUser double t double delt double in double out int pnError char szEtrorMsg g_nStepCount In case of error uncomment next two lines Set pnError to 1 and copy Error message to szErrorMsg pnEror 1 stropy szErorMsg Place Error description here Area for custom code Edit Image Check Code Click on the Check Code button to check if the code has any compiling errors Click on the Edit Image button to customize the image of the C 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
201. nk Table File in XML format defines the input output interface and corresponding functions in JMAG This file is generated automatically by JMAG To locate this file click on the browse button EI 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 the 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
202. ntrolled 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 2 11 2 Gear Box The image is a gear box is shown below Image Shaft f L Shaft 2 Attribute Parameter Description Gear Ratio The gear ratio a Shaft 1 Master Slave Flag Master slave flag for Shaft 1 Shaft 2 Master Slave Flag Master slave flag for Shaft 2 The shaft with the bigger dot is Shaft 1 Chapter 2 Power Circuit Components 87 If the numbers of teeth of the first gear and the second gear are n and n3 respectively the gear ratio a is defined as a n m Let the radius torque and speed of these two gears be r1 r2 T1 To and we have T T gt ril r 02 01 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 2 8 1 2 11 3 Mechanical Coupling Block The mechanical coupler block is used to coup
203. o Xmax 0 I XinLog yo jo Ymax 0 X F Yinlog Enter values in the following format _ x1 y1 x2 y2 x3 y3 ON STATE CHARACTERISTICS HET 101 102 103 axis IF Y axis Vd Junction Temperature Tj oC i ii Redraw OK Cancel Opposite end of the origin Origin of the graph MAXIMUM PEAK SURGE NON REPETITIV INSfNTANEOUS ON STATE VOLTAGE Vpyy VOLTS Then click on the forward wizard icon to move on to the next step In this step the x and y axis settings will be defined Enter the settings as follows X0 1 Xmax 1000 YO 0 6 Ymax 2 6 X in log checked 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 Enter the junction temperature as 25 C Click on the forward wizard icon to move on to the next step Left click on top of the graph to capture the data points In this case for example four data points at the current values of around 1A 10A 100A and 280A are captured Again right click to zoom in You can capture as many data points as desired 40 Chapter 2 Power Circuit Components On state voltage drop Vd vs IF O Click on the graph to capture the data points Right mouse click to zo
204. of Points 6 Switching Points 35 92 175 187 345 357 The gating pattern has 6 switching points 3 pulses The corresponding switching angles are 35 92 175 187 345 and 357 respectively If the Gating Block 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 Chapter 2 Power Circuit Components 187 345 357 2 2 7 Single Phase Switch Modules 2 2 8 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 Atef Fags 1 34 DC Ate ae 1 Ct 35 DC A E A K Sie ae TE o o A o o 2 A DC E 2 a DC 4 DC Attributes Parameters Description Diode Threshold Voltage Threshold voltage of the diode or forward voltage drop of the thyristor in V or Voltage Drop Diode Resistance On resistance of the diode in Ohm for diode bridges only Init Position i Initial position for Switch 7 Current Flag i Current flag for Switch i 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 wi
205. oltage Vg We assume that the diode forward voltage is approximated by a straight line That is va Va mt Ra ig With T 25 C we can obtain two readings from the curve ij 10 mA and vg 1 15 V i7 40 mA and vy 1 3 V Based on these two points we can calculate Ryand Vg 4 as Ry 5 Ohm Vg m 1 1 V The optocoupler model does not take into account the delay but it does model the turn on turn off transient Chapter 2 Power Circuit Components 33 2 6 4 34 through the capacitor C p ACTOSS 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 _ fail Co 72 R where Rz 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 ey dyv dt o The output of the dv dt block is equal to the derivative of the input voltage versus time It is calculated as y V t Vin t At a 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 2 Power Circuit Components 2 7 Thermal Module The Thermal Module is an add on module to the PSIM progr
206. om Click on the Graph wizard to complete the data capture process X axis IF Y axis Vd Suffix I Invert graph xo fi Xmax 1000 X V XinLog Yo 0 6 Ymax 2 6 X I YinLog Enter values in the following format _ x1 y1 x2 y2 x3 y3 Refresh Data points MAXIMUM PEAK SURGE NON REPETITIVE 1000 00 103 axis IF Y axis Vd 2314 2 1 0051 Junction Temperature Tj oC 25 hile Clear Redraw Cancel As data points are captured red lines will appear that will connect the data points Then click on the forward wizard icon to complete the data capture process The final graph dialog window should appear as follows On state voltage drop Vd vs IF BAX Pa A Add Curve Delete Curve Tj 25 X X axis IF Y axis Vd Suffix I Invert graph xo fi Xmax 1000 M Xinlog Yo 0 6 Ymax 2 6 IT Yinlog 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 Tis25 1000 axis IF Y axis Vd 1 2496 2 5468 Junction Temperature Tj oC 25 Other Test C Clear Redraw Cancel Chapter 2 Power Circuit Components 41 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 coo
207. on Issues 8 3 This can also be caused by a poor connection in PSIM When drawing a wire between two nodes make sure that the wire is connected to the terminal of the element W 1 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 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 excita
208. on 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 the open loop response of the output voltage versus the modulation signal 30 00 20 00 a 1000 o oo 1000 fda 20 00 0 00 KC Hon tnnnag free 50 00 i Vaweep 200 20k 200 00 tot tis ee 0 20 040 O60 0 400 OOOO 20 000 000 Frequency KHz 100 00 4 4 150 00 o i Ex
209. on 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 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 Chapter 2 Power Circuit Components 65 Other specifications Number of pole paires 1 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 327m Torque Flag 1 Master Slave Flag 1 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 Tom and 3 phase input currents nes B KA a Brushless DC M
210. onal ports also work for control circuit it is strongly recommended to use input or output signal ports for control circuit for better clarity Furthermore if a subcircuit is involved in code generation only Chapter 6 Circuit Schematic Design 175 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 mOhm This variable will be entered as Variable Description Parasitic Resistance Variable Name Rparasitic Variable Value Im When the checkbox next to the line Parasitic Resistance is 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 s
211. onnection nodes and the positions of the subcircuit They correspond to the connection nodes of the subcircuit block on the right There are no diamonds at the four corners since connections to the corners are not permitted When a diamond is selected it is colored red By default the left diamond at the top is selected and marked with red color Click on the desired diamond to select and to specify the port name In this example in the main circuit chop sch there are four linking nodes two on the left side and two on the right side of the subcircuit block The relative position of the nodes are that the upper two nodes are 1 division below the top and the lower two nodes are 1 division above the bottom To specify the upper left linking node click on the top diamond of the left side and type in The text in will be within that diamond box and a port labelled with in will appear on the screen Connect the port to the upper left node The same 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 Chapter 6 Circuit Schematic Design 177 6 5 3 6 5 4 PortName in x OSS HOOOOSH POOQOOYS in OO O The creation of the subcircuit is now complete Save the subcircuit and go back to the main circuit Connecting
212. onstant Mechanical time constant of the solenoid in sec OffsetDisp Initial displacement in m coef_inductance Inductance coefficient used in JMAG RT coef_flux Flux coefficient used in JMAG RT coef_force Torque coefficient used in JMAG RT Magnet coefficient used in JMAG RT Material coefficient used in JMAG RT Coil 1 turns used in JMAG RT Coil 2 turns used in JMAG RT Mass 1 coefficient used in JMAG RT Mass 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 Display flag for the solenoid position in m Display flag for the solenoid velocity in m sec Display flag for the developed force in N 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 folder 84 Chapter 2 Power Circuit Components 2 11 Mechanical Elements and Sensors This section describes elements that are shared by Motor Drive Module MagCoupler Module and MagCoupler RT Module The
213. or thyristor only Current Flag Flag for switch current output Note that for the TRIAC device the holding current and latching current are set to zero There are two ways to control a thyristor or TRIAC One is to use a gating block and the other is to use a switch controller The gate node of a thyristor or TRIAC must be connected to either a gating block or a switch controller The following examples illustrate the control of a thyristor switch Chapter 2 Power Circuit Components 2 2 3 Examples Control of a Thyristor Switch Gating Block T Dk Alpha Controller This circuit on the left uses a switching gating block The switching gating pattern and the frequency are pre defined and remain unchanged throughout the simulation The circuit on the right uses an alpha switch controller The delay angle alpha in deg is specified through the dc source in the circuit GTO and Transistors Self commutated switches in the switchmode except pnp bipolar junction transistor BJT and p channel MOSFET are turned on when the gating signal is high when a voltage of 1V or higher is applied to the gate node and the switch is positively biased collector emitter or drain source voltage is positive It is turned off whenever the gating signal is low or the current drops to zero For pnp BJT and p channel MOSFET switches are turned on when the gating signal is low and switches are negatively biase
214. otor eS BDCM VDC T HA Fa T 300 lt p dhs e Be Oe i 4 4 1 x x Si Tem_BDCMA to 4 300 fam rich Time ms 2 8 6 Synchronous Machine with External Excitation 66 The structure of a conventional synchronous machine consists of three stator windings one field winding on either a salient or cylindrical rotor and an optional damping winding on the rotor Depending on the way the internal model interfaces with the external stator circuitry there are two types of interface one is the voltage type interface and the other is the current type interface The model for the voltage type interface consists of controlled voltage sources on the stator side and this model is suitable in situations where the machine operates as a generator and or the stator external circuit is in series with inductive branches On the other hand The model for the current type interface consists of controlled current sources on the stator side and this model is suitable in situations where the machine operates as a motor and or the stator external circuit is in parallel with capacitive branches Chapter 2 Power Circuit Components The image and parameters of the machine are shown as follows Image a SM b Shaft Node Cc Paes n field cor a field Attributes Parameters Description R stator L
215. ove an element one level higher in the menu To add a separator between elements To add a submenu in the library To edit the name of an element To edit the image of an element To create a new element in the image library This element will be linked to a netlist element in the netlist library To save the existing element as a new element The new element will have the image of the existing element as the default image New Element DLL To create a new element for a DLL file New Element Subcircuit Delete Element To create a new element for a subcircuit To delete an element from the library 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 Chapter 6 Circuit Schematic Design To illustrate the process a secondary image will be created in the library mylib lib2 for the Diode element in the standard image library Go to Edit gt Edit Library gt Edit secondary image library files and click on New library In the dialog define the secondary image library name as mylib lib2 Then select mylib lib2 an
216. ow Discrete Dual 6 Pack cond O Psw Q o e D Pow D Q 1 Q4 Dual Type I Dual Type I i i In the images beside the IGBT and diode terminal nodes there are four extra nodes from the top to the bottom or from the left to the right on the top for the 6 pack package They are the nodes for transistor conductor losses Peona _ the node with a circle for transistor switching losses Psw 9 for diode conductor losses Prong p the node with a square and for diode Chapter 2 Power Circuit Components 45 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 Vce max V Maximum collector emitter voltage Tis max 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 Eon VS Ie Turn on energy losses vs collector current 7 Eofe VS I Turn off energy losses Eyyvs collector current Z Electrical Characteristics Diode or Anti Parallel Diode Vq vs Ip Forward conduction voltage drop V4 vs forward current Ip ty VS Ip Reverse recovery time vs current Ip I vs Ip Peak reverse recovery current vs current Ip Qr vs Ip Reverse recovery charge Q vs current Ip E vs Ip Reverse recovery energy losses E vs current Ip Elect
217. ow will pop up as shown below PSIM Subcircuit Image C psim6_demo sub ScH loj x Fie Edit View Window Ci ea bal Haeg alee z lel E Subcircuit Image C psim6_d Abico S In the window the diamonds marked red are the connection nodes of the subcircuit block in exactly the same positions as appearing in the main circuit Use the drawing tool to create edit the image for the subcircuit block If the drawing tool is not already displayed go to the View menu and check Drawing Tools Click on Zoom In and Zoom Out icons on the toolbar to adjust the size of the image working area After the image is created the pop out window will appear as follows Fie Edit View Window Ci ea bel Haea alz z plej atkc bloln N Chapter 6 Circuit Schematic Design 179 Go back to the subcircuit window sub sch in this case and save the subcircuit The new subcircuit block image should appear in the main circuit 6 5 4 3 Including Subcircuits in the PSIM Element List 6 6 180 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 ex
218. pectively Since the row or the column index must be an integer the input value is automatically converted to an integer If either the row or the column index is out of the range for example the row index is less than or greater than m the output will be zero The 2 dimensional lookup table with floating point inputs is similar to the 2 dimensional lookup table with integer inputs The difference is that in this case inputs are floating point values and interpolation is used to calculate the output The data for the lookup table are stored in a file and have the following format m n Vy Ve Vrm Voy Veo ie Von A 1 1 A 1 2 A 1 n A 2 1 A 2 2 A 2 n A m 1 A m 2 A m n where m 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 the input falls between two points interpolation is used to calculate the value If the input is less than the minimum or greater than the maximum value the input will be set to be the same as the minimum or maximum value Examples The following shows a one dimensional lookup table If the input is 0 99 the output will be 10 If the input is 1 5 the output will be 10 057D 0 10 20 The following shows a 2 dimensional lookup table with integer inputs 3 4 1 2 4 1 2 3 5 8 Chapter
219. put 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 Peond D Psw ps Prond_o and Psy gare the total losses of all the parallel devices combined The voltage at the conduction losses node Poong p or the switching losses node Pyy p of the MOSFET 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 T is between the junction temperatures of two curves interpolation will be used If the calculated T is lower than the lowest T or higher than the highest 7 in the curves the curve corresponding to the lowest or highest T will be used If there is only one curve that curve is used regardless of the calculated T Conduction Losses The transistor conduction losses is calculated as Transistor Conduction Losses Py Rps on where Jp is the drain current and Rps on is the static on resistance When the transistor is conducting periodically with an on
220. q M JMAG Simulink JMAG RT Digital Control Motor Drive a Control systems Finite element analysis Power electronics Analog digital control Motor drives Electric machines and other magnetic devices The PSIM simulation environment consists of the circuit schematic program PSIM the simulator engine and the waveform processing program Simview The simulation process is illustrated as follows PSIM Schematic Circuit Schematic Editor input sch PSIM Simulator PSIM Simulator output smv or txt SIMVIEW Waveform Processor input smv or txt This manual covers both PSIM and all the add on Modules except SimCoder Module The use of the SimCoder Module is described in the separate document SimCoder User Manual Chapter 1 of this manual describes the circuit structure software hardware requirement and parameter specification format Chapter 2 through 4 describe the power and control circuit components Chapter 5 describes the specifications of the transient analysis and ac analysis The use of the PSIM schematic program and SIMVIEW is discussed in Chapter 6 and 7 Finally error warning messages are discussed in Chapter 8 Circuit Structure A circuit is represented in PSIM in four blocks power circuit control circuit sensors and switch controllers The figure below shows the relationship between these blocks Power Circuit Switch Sensors Controllers
221. qual 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 3 Control Circuit Components Time Input Value at Memory Location Output for single l 2 3 4 output buffer 0 0 11 0 11 0 0 0 0 0 1 0 22 0 11 0 22 0 0 0 0 2 0 33 0 11 0 22 0 33 0 0 0 3 0 44 0 11 0 22 0 33 0 44 0 0 4 0 55 0 55 0 22 0 33 0 44 0 11 0 5 0 66 0 55 0 66 0 33 0 44 0 22 3 5 6 Convolution Block A convolution block performs the convolution of two input vectors The output is also a vector Image EA T Let the two input vectors be A an Am 1 m 2 ay B ba bn 1 Dp by We have the convolution of A and B as C A B c m n 1 m n 2 cl where c ayy bjd k 0 m n 1 j 0 m n 1 i 1 m n 1 Example If A 1 2 3 and B 4 5 we have m 3 n 2 and the convolution of A and B is C 4 13 22 15 3 5 7 Memory Read Block A memory read block is used to read the value of a memory location of a vector Image gt be 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
222. r The hall effect sensor provides three logic signal outputs A B and C which are spaced 120 electrical deg apart The hall effect sensor is the same as the built in hall effect sensor in the brushless de machine Examples of BDCM motor drive systems using the hall effect sensor are given in the examples sub folder of the PSIM directory Chapter 2 Power Circuit Components 93 2 12 Renewable Energy Models Several elements related to renewable energy applications are included here 2 12 1 Solar Modules 94 Two types of solar module models are provided physical model and functional model as described below The differences between the physical model and the function model are that the physical model can simulate the behavior of the solar module more accurately and can take into account the light intensity and temperature variation On the other hand the functional model cannot take into account the light intensity and temperature variation but requires the minimum amount of parameter input and is easier to define and use Images Physical Model Functional Model Light Intensity Ambient Temperature Pmax Pmax Attributes for Physical Model Parameter Description Number of Cells Ns Standard Light Intensity SO Ref Temperature Tref Series Resistance Rs Shunt Resistance Rsh Short Circuit Current IscO Saturation Current Is0 Band Energy Eg Ideality Factor A Te
223. r a C ci C 3B c4B cs e c where c1 0 5 cp 116 A c3 0 4 c4 0 c5 5 cg 21 A c7 0 01 A and 1 _ 0 035 A 0 088 p 1 The relationship between the power coefficient Cp and the tip speed ratio and the blade pitch angle B can be plotted in the figure below z lS Heier and R Waddington Grid Integration of Wind Energy Conversion Systems Wiley 2006 Chapter 2 Power Circuit Components 97 98 B 0 B 5 0 0 5 00 10 00 15 00 The figure shows that the power coefficient C reaches the maximum of 0 49 when the tip speed ratio A is 8 18 We choose the values of C and 4 at the maximum as the nominal values i e Cp nom 0 49 Xrom 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 Chapter 2 Power Circuit Components 3 1 3 Control Circuit Components Transfer Function Blocks A transfer function block is expressed in polynomial form as n 2 Boies B s B st B G s k n 2 1 0 Ags A s tAr StA n Two types of transfer function blocks are provided one with zero initial values the element is called s domain Transfer Function in the PSIM library and the other with initial values as input parameters called s domain Transfer Function initial value i
224. r 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 Coupled Inductors Coupled inductors with two three and four branches are provided Images 2 branch 3 branch 4 branch 5 branch 6 branch i SANN AAN maapu z et VS z ANNA i orn an C oY Lo 4 amp ofVY Lo C Arna ae EA hs y i VTL Attributes Parameters Description L self Self inductance of the inductor i in H L mutual Mutual inductance between Inductor i and j in H Initial Current i Initial current in Inductor i Current Flag i Flag for the current printout in Inductor i In the images the circle square triangle and plus marks refer to Inductor 1 2 3 and 4 respectively The following shows a coupled inductor with two branches Let 1 and La be the self inductances of Branch 1 and 2 and L and L3 the mutual inductances the branch voltages and currents have the following relationship Var Ly Ly di v2 Ly ta A li The mutual inductances between two windings are assumed to be always equal i e L12 L21 Example Two mutually coupled inductors have the self inductances and mutual inductance as L4 1
225. r Limit of i The lower limit of the current i Upper Limit of 7 The upper limit of the current i For conductance type elements Initial Value vg Lower Limit of v Upper Limit of v Parameters Description Expression f v or f v x Expression of i in terms of v and x i f v or i f v x Expression df dv Derivative of the current i versus voltage v i e df v dv The initial value of the voltage v The lower limit of the voltage v The upper limit of the voltage v A good initial value and lower upper limits will help the convergence of the solution Example Nonlinear Diode Vin E 10 Id pF 1e 14 EXP 40 vj 1 40e 14 EEP 40 v The nonlinear element NONI in the circuit above models a nonlinear diode The diode current is expressed as Chapter 2 Power Circuit Components 2 2 2 2 1 a function of the voltage as i 10714 e ee In PSIM the specifications of the nonlinear element will be Expression f v le 14 EXP 40 v 1 Expression df dv 40e 14 EXP 40 v Initial Value vo 0 Lower Limit of v le3 Upper Limit of v 1 Switches There are two basic types of switches in PSIM One is the switchmode type It operates either in the cut off region off state or saturation region on state The other is the linear type It can operates in either cut off linear or saturation region Switches in switchmode include the following Diode
226. r push button switch only Chapter 2 Power Circuit Components 15 Current Flag Switch current flag for single switch only Current Flag for Switch current flag for Phase A or B or C Phase A B 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 bias conditions For the push button switch the switch position is set directly from the parameter input 2 2 5 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 Images BJT npn BJT pnp MOSFET MOSFET n channel p channel ills Attributes for npn and pnp BJT 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 LOT Veo sat for Saturation voltage in V between collector and emitter for the npn transistor and pnp between emitter and collector for the pnp transistor Attributes for n channel and p channel MOSFET Parameters Description On Resista
227. rad sec WT Ta Ta WTp2 T or 90 104 Chapter 3 Control Circuit Components 3 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 order band stop _I st order low pass F lt r ek Eh Attributes for second order filters Parameters Description Gain Gain k Damping Ratio Damping ratio o Cut off Frequency Cut off frequency f f 7 for low pass and high pass filters in Hz o Center Frequency Center frequency fy f op for band pass and band stop filter in Hz Passing Band Frequency width f f of the passing stopping band for band pass band Stopping Band stop filters in Hz Attributes for first order low pass filter Parameters Description Gain Gain k Cut off Frequency Cut off frequency f f of the low pass filter in Hz The transfer function of these filters are listed below For second order low pass filter 2 Oe CO k s 260 tO For second order high pass filter 2 S GS kip s 208 O For second order band pass filter B s G s k s B s o For second order band stop filter PS S O G s k 7 5 s B st o For first order low pass filter Oe G s r Chapter 3 Control Circuit Components 105 3 2 3 2 1
228. rdinates 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 If there are multiple curves for different junction temperatures repeat the same process and enter the junction 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 With the same process define the reverse recovery characteristics vs Ip L vs Ip and O vs Ip Enter the Thermal Characteristics as Rthg c 0 6 Renie s 0 4 Enter the Dimension and Weight as Length mm 53 Width mm 36 Height mm 29 Choose Device gt Save Device to save the device information This completes the process of adding the diode into the database 2 7 2 Diode Device in the Database The following information is defined for a diode device in the database General Information Manufacturer Device manufacture Part Number Manufacturer s part number Package It can be discrete dual or 3 phase bridge package as shown in the figure below Discrete Dual Dual Dual 3 phase Type I Type II Type M Bridge Pow k P cond o In the images beside the diode anode and cathode terminals there are two extra nodes The node with a dot is for the diode conduction losses Poong and the node without a dot is for the diod
229. rical Characteristics Free Wheeling Diode for IGBT Diode device only Vq vs Ip Forward conduction voltage drop vs forward current Ip ty VS Ip Reverse recovery time vs current Ip Lr vs Ip Peak reverse recovery current vs current Ip Qr vs Ip Reverse recovery charge Q vs current Ip E vs Ip Reverse recovery charge E vs current Ip Thermal Characteristics Rthg c transistor Transistor junction to case thermal resistance in C W Ringj c diode Diode junction to case thermal resistance in C W Rin 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 Eogr 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 V sq7 of the transistor and the forward conduction voltage drop V of the diode change depending on the currents The new values are used in the subsequent sim
230. rovided in the examples custom DLL sub folder in the PSIM directory Embedded Software Block The Embedded Software Block is a special type of the external DLL blocks It is intended for modeling embedded software devices such as microcontrollers and DSP Attribute Parameter Description DLL File Name of the DLL file that defines the functionality and the interface of the block Number of Nodes Total number of input and output nodes The Embedded Software Block has similar functionality as the general external DLL block However unlike the general DLL block whose connection nodes are predefined as either inputs or outputs the Embedded Software Block allows the node types to be programmed as needed Also additional information such as the exact instant at which the state of a variable changes can be calculated and passed to and from PSIM The Embedded Software Block is a control circuit element and can be used in the control circuit only For more information on how to use the Embedded Software Block please refer to the document Help Embedded Software Block pdf Chapter 4 Other Components 5 1 5 Analysis Specification Simulation Control The Simulation Control element defines parameters and settings related to simulation To place the Simulation Control element go to the Simulate menu in PSIM and select Simulation Control The Simulation Control element has the image of a clock In the Paramet
231. rrently on display must be the same as the number of screen in the favorite 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 In Microsoft Excel select Open from the File menu Open the file chop 1q txt In the dialog window Text Import Wizard Step 1 of 3 under Original data type choose Chapter 7 Waveform Processing 199 200 Delimited Click on Next In the dialog window Text Import Wizard Step 2 of 3 under Delimiters choose Space Click on Next In the dialog window Text Import Wizard Step 3 of 3 under Column data format choose General Click on Finish Chapter 7 Waveform Processing 8 1 8 1 1 8 Error Warning Messages and Other Simulation Issues Simulation Issues Time Step Selection PSIM uses the fixed time step in the simulation In order to assure accurate results the simulation time step should be properly chosen The factors that limit the time step in a circuit include the switching period widths of pulses or square waveforms and intervals of fast transients It is recommended that the time step should be at least one magnitude smaller than the smallest of the
232. ry 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 M 152 Chapter 4 Other Components k n Gri Gnd z Gn kn where n is the number of gating patterns m is the modulation index correspondent to Pattern i and k is the number of switching points in Pattern i The modulation index array m to m should be monotonically increasing The output will select the iy pattern if the input is smaller than or equal to m If the input exceeds Mp the last pattern will be selected The following table shows an example of a PWM pattern file with five modulation index levels and 14 switching points 5 0 901 0 910253 0 920214 1 199442 1 21 14 7 736627 72 10303 80 79825 99 20176 107 8970 172 2634 180 187 7366 252 1030 260 7982 279 2018 287 8970 352 2634 360 14 7 821098 72 27710 80 72750 99 27251 107 7229 172 1789 180 187 8211 252 2771 260 7275 279 2725 287 7229 352 1789 360 14 7 902047 72 44823 80 66083 99 33917 107 5518 172 0979 180 187 9021 252 4482 260 6608 279 3392 287 5518 352 0980 360 14 10 186691 87 24225 88 75861 91 24139 92 75775 169 8133 180 190 1867 267 2422 268 7586 271 2414 272 7578 349 8133 360 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
233. s and Dimensions and Weight and the rise time t and fall time ty parameters are not used in the loss calculation and are optional In addition the on resistance R ps on from the database is used in the simulation Also the forward conduction voltage drop V of the diode changes depending on the current The new conduction voltage value is used in the subsequent simulation 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 Vaga upper level Upper level of the gate source voltage in V Vega lower level Rg on turn on Rg off turn off Rpson Calibration Factor gp Calibration Factor Peona Q Calibration Factor Pow Q Calibration Factor Peona p Calibration Factor Pow p Calibration Factor Number of Parallel Devices 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 Rg oy and the turn off gate resistance R opare identical The calibration factor of the on state resistance Rpg on The calibration factor of the forward transconductance gg The calibration factor Kond o Of the transistor conduction losses
234. s between two points interpolation is used to calculate the value If the input is less than the minimum or greater than the maximum value the input will be set to be the same as the minimum or maximum value This PMSM model with saturation can also be used as the linear PMSM model if the lookup tables are defined such that Lgm and Lgm are linear function of 74 and 14 The following shows an example of the lookup table 4 15 5 7155 4 8990 4 0825 3 2660 5 7155 4 8990 4 0825 3 2660 2 4495 1 6330 0 8165 0 0 8165 1 6330 2 4495 3 2660 4 0825 4 8990 5 7155 0 0109 0 0109 0 0107 0 0104 0 0102 0 0100 0 0098 0 0098 0 0098 0 0100 0 0102 0 0104 0 0107 0 0109 0 0109 0 0109 0 0109 0 0109 0 0106 0 0109 0 0106 0 0105 0 0105 0 0105 0 0106 0 0109 0 0106 0 0109 0 0109 0 0109 0 0109 0 0109 0 0109 0 0109 0 0111 0 0108 0 0106 0 0106 0 0106 0 0108 0 0111 0 0109 0 0109 0 0109 0 0109 Chapter 2 Power Circuit Components 2 8 9 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 Switched Reluctance Machine The old switched reluctance machine model with 6 stator poles or teeth and 4 rotor poles teeth is replaced by this model Schematics with the old model will still work In this 3 phase model the numbers of stator poles and rotor poles are no longer limited to 6 and 4 The image and parameters of the machine are shown as follows Image Shaft
235. s calculated and sent back to PSIM The inductor structure in the JMAG environment is shown on the lower right Circuit in PSIM file inductor_jmag sch inductor jmag xml In PSIS In JMAG The setup process of calling JMAG in PSIM through the MagCoupler block is as follows In JMAG In the JMAG circuit connect a voltage function to the right of the FEM coil Under Electrical Potential in the property window choose Constant Value and set Constant Value V to 0 Connect a current probe to the left of the FEM coil Connect another voltage function to the left of the current probe the circuit will look like what is shown above In the property window choose Cooperates with an external circuit simulator Highlight the inductor structure window Go to the menu Conditions gt Create Conditions From the Conditions List highlight Coupled External Circuit Simulator and click Modify On the Coupled External Circuit Simulator dialog window there are two lists The list on the right called JMAG contains 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
236. s 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 L sec leakage the primary L ter leakage Ln magnetizing Magnetizing inductance in H N primary No of turns of the primary secondary tertiary winding N secondary N tertiary All the resistances and inductances are referred to the primary winding side If there are multiple primary windings they are referred to the first primary winding side For the transformers with more than 1 primary winding or more than 3 secondary windings the attributes are as follows Attributes Parameters Description R i primary i Resistance of the i primary secondary tertiary winding in Ohm R secondary 7 L i pri i leakage Leakage inductance of the ip primary secondary tertiary winding in H referred L sec leakage to the first primary winding Ln magnetizing Magnetizing inductance in H seen from the first primary winding N i primary 7 No of turns of the i primary secondary tertiary winding N secondary i 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
237. scription 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 3 1 4 Proportional Integral Controller A proportional integral PI controller is defined as below Image 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 a 1 sT G s k Tr The Bode plot of the amplitude G and the phase angle of the PI controller is shown as below IG 0 D 0 90 A A 20dB dec T rad sec A To avoid over saturation a limiter should be placed at the PI output 102 Chapter 3 Control Circuit Components 3 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 Oe G s ETT where 2nf The Bode plot of the amplitude G and the phase angle of the single pole controller is shown as below ci 20dB dec 0 em rad sec p A 2
238. sim examples go to the PSIM folder and run the following command PsimCmd i c psim examples chop sch o c psim examples chop smv The format of the command line is as follows PsimCmd i input file o output file v VarNamel VarValue1 V VarName2 VarValue2 t TotalTime s TimeStep g Note that the quotes around the parameter values must be present The command line parameters are i Input schematic file name 0 Output file name in either txt or smv extension V Variable name and value This parameter can be used multiple times For example to define the resistance R1 as 1 5 and the inductance L1 as 0 001 we have v R1 1 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 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 clock on the schematic and double click to display the property window Auto run SIMVIEW To automatically run SIMVIEW after the simulation is complete Set Path To set the PSIM search paths and device file paths Enter Password To enter the password to view a schematic file that is password protected Disable
239. simulation between PSIM and Matlab Simulink This function is part of the SimCoupler Module 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 Unit Converter This program performs unit conversion in length area weight and temperature Calculator This will launch the Windows calculator Managing 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 Edit Library 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 Edit Library gt Edit library files and click on New library Then define the library name as it appears in the PSIM
240. single phase two winding transformer is modeled as two coupled inductors The equivalent circuit can be shown as R Lp R L Np Ns o o oa O ANEA Primary L Secondary Ideal In the circuit R and R are the primary and secondary winding resistances L and L are the primary and secondary winding leakage inductances and L is the magnetizing inductance All the values are referred to the primary side Chapter 2 Power Circuit Components 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 Im Ln magnetizing 100m N primary 220 N secondary 440 2 4 3 Three Phase Transformers Two winding and three winding transformer modules are provided as shown below They all have 3 leg cores 3 phase transformer windings unconnected 3 phase Y Y and Y A connected transformer 3 phase 3 winding transformer windings unconnected 3 phase 3 winding Y Y A and Y A A connected transformer 3 phase 4 winding transformer windings unconnected 3 phase 6 winding transformer windings unconnected Images
241. 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 2 9 2 MagCoupler Block The MagCoupler block has the following image and properties Image Block with 4 inputs and 4 outputs Chapter 2 Power Circuit Components 77 78 Attributes Parameter Description Link Table File The XML file that defines the interface between PSIM and JMAG It has the xml extension JMAG Input File The JCF input data file for JMAG It has the jcf extension Note that the xml file and the jcf file must be in the same directory JMAG Case Text Comments for the JMAG circuit IN Nodes Nodes that pass the values from PSIM to JMAG OUT Nodes Nodes that pass the values from JMAG to PSIM The number of input and output nodes may vary depending on the actual number of input output nodes in a particular circuit The MagCoupler block accepts voltages currents and positions as inputs and it provides voltages currents positions torques and force as the outputs In PSIM the 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 Li
242. speed and torque is in the clockwise direction The dotted side of the sensor is on the left and the load is in such a way that it tries to slow down the shaft the load torque is in the counter clockwise direction The physical meaning of the torque sensor is that if the dotted side of the sensor is fixed the sensor will measure the torque tension on the undotted side of the sensor and a positive sensor output would mean that the torque is opposite to the direction of the speed reference Therefore for the example above the positive speed reference is in the clockwise direction and the load torque is in the counter clockwise direction This will give a torque sensor reading of 10 N m Similarly if the undotted side of the sensor is fixed the sensor will measure the torque tension on the dotted 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 Chapter 2 Power Circuit Components Reference direction of the mechanical system Physical interpretation T 10 Torque sensor To understand how the torque sensor is modeled in the equivalent circuit of the mechanical system we use the following system as an examp
243. square wave 140 Index 207 step 141 triangular 140 141 voltage controlled current 78 144 voltage controlled voltage 78 144 square waveform block 111 square root function block 107 stack 130 131 subcircuit 173 175 176 178 180 connecting 178 creating in the main circuit 176 in the subcircuit 177 image 179 summer 106 sweep ac 166 167 203 parameter 168 169 switch bi directional 10 15 16 151 DIAC 10 12 linear 10 16 17 self commutated 10 13 thyristor 10 12 13 151 transistor 10 13 45 47 50 51 52 TRIAC 10 12 switch controller 2 12 17 151 alpha 13 19 21 151 on off 14 15 151 PWM lookup table 21 22 152 switch module T single phase 19 three phase 19 THD block 114 115 Thermal Module 1 35 43 48 TI F28335 165 time 138 162 idle 185 print 165 total 165 180 183 time delay block 112 113 125 201 time step 34 76 77 133 134 162 165 166 180 183 201 tip speed ratio 97 98 TL431 32 toolbar 172 174 183 185 186 198 transconductance 16 50 51 53 transfer function block s domain 99 z domain 121 transformation 154 208 abc alpha beta 156 abc dqo 155 Index alpha beta dq 157 Cartesian Polar 157 transformer 2 23 ideal 23 single phase 23 three phase 25 transistor BJT npn 10 14 BJT pnp 10 13 GTO 10 13 IGBT 10 MOSFET n channel 10 MOSFET p channel 10 13 trapezoidal waveform block 111 trigonometric fu
244. ss calculation 35 diode 44 IGBT 47 48 MOSFET 51 machine brushless de 62 64 93 de 56 57 induction 54 58 61 89 nonlinear induction 58 nonlinear permanent magnet synchronous 70 nonlinear switched reluctance 74 permanent magnet synchronous 68 70 squirrel cage induction 58 59 60 61 switched reluctance 73 synchronous external excitation 66 wound rotor induction 58 59 61 MagCoupler 77 MagCoupler block 76 77 78 79 80 MagCoupler Module 1 76 80 81 85 MagCoupler DL block 76 MagCoupler RT Module 1 81 85 magnetic elements 26 27 29 187 math function block 158 Matlab Simulink 1 132 133 180 187 maximum power 95 96 maximum minimum function block 109 mechanical coupling block 85 88 mechanical load constant power 85 constant speed 86 constant torque 85 externally controlled 87 general type 86 mechanical load model 1 54 85 89 memory read block 128 129 message error 2 161 185 202 warning 2 167 180 184 202 meter 3 phase VAR 148 VA power factor 146 VAR 146 148 monostable 117 Motor Drive Module 1 54 85 MPPT 96 multiplexer 113 multiplier 3 106 multi rate sampling system 131 N node link 132 133 SLINK 133 180 nonlinear element 9 conductance type 9 conductance type with additional input 9 resistance type 9 resistance type with additional input 9 O operational amplifier ideal 30 non ideal 31 optocoupler 33 P password 173 disable 183 enter 183 PE Pro F28335
245. stator Lam d axis mag ind Lgm q axis mag ind Ry field Lg field leakage ind R4 damping cage Lay damping cage R damping cage Lyri damping cage Ns Nf effective Number of Poles P Moment of Inertia Torque Flag Master slave Flag Stator winding resistance in Ohm Stator leakage inductance in H d axis magnetizing inductance in H q axis magnetizing inductance in H Field winding resistance in Ohm Field winding leakage inductance in H Rotor damping cage d axis resistance in Ohm Rotor damping cage d axis leakage inductance in H Rotor damping cage q axis resistance in Ohm Rotor damping cage q axis leakage inductance in H Stator field winding effective turns ratio Number of Poles P Moment of inertia J of the machine in kg m Output flag for internal developed torque Tpm Master slave flag of the machine 1 master 0 slave All the parameters are referred to the stator side For more details on the definition and use of the master slave flag refer to Section 2 8 1 The equations of the synchronous machine can be expressed as follows where R 58 A revo ve 00 5 fe ts te ipta ia R diag R RR Ry Ry R la aa Ap Ae Ap Nar Ral and A L The inductance matrix is defined as follows Chapter 2 Power Circuit Components 67 2 8 7 68 and 7 P L L L cos 26 2 L cos 20 24 2 Lcos 20 i 2 3 2 3 L L Eal L cos 20
246. t Output v k XNViny OF ip k fVing f k Nonlinear power Output v signi k ki vn 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 a i ii a y Se mg a Vin2 a p y o PA I gt 7 Chapter 4 Other Components 145 4 3 4 4 146 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 For the nonlinear division source Input 1 is on the side of the division sign Voltage Current Sensors Voltage current sensors measure the voltages currents of the power circuit and send them to the control circuit The current sensor has an internal resistance of 1 uQ Images Voltage Sensor Current Sensor T Db a is Attribute Parameter Description Gain Gain of the sensor Probes and Meters Probes and meters are used to measure voltages currents power or other quantities 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 me
247. t has to send to them the secondary image library file with the lib2 extension 6 9 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 schematic file in a folder called user defined in the PSIM directory or in one of the sub folders of the user defined folder Any schematic files and sub folders under the user defined folder will appear in the PSIM library list 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 Create the subcircuit model of the new element Chapter 6 Circuit Schematic Design 189 190 Add this element to the PSIM library Create an on line help file for this new element To illustrate this process a LC filter element is used as an example Creating the Subcircuit The first step is to create the subcircuit of the new element in the same way as if the subcircuit is to be called by another circuit For example the subcircuit of the 2nd order LC filter called LC_filter sch and its image are shown below PSIM Subcircuit Image C PSIM7
248. tage and current contains harmonics i e v t 2V sin t p 2V sin t 5 i t J21 sin t 0 J2bsin t where is the fundamental frequency and all others are harmonic frequencies We have the rms values of the Chapter 4 Other Components 147 4 5 148 voltage and current as 52 2 Vins Vy V5 Fa 2 2 Lms E hitht The real power or average power P is defined as 1 7 a 0O iat 0 where T is the fundamental period The reactive power Q is defined as Q Vi I sin o 8 Note that the reactive power is for the fundamental component only The apparent power S is defined as S Vins fh rms rms The total power factor PF and the displacement power factor DPF are then defined as follow P PF S DPF cos 0 For the three phase circuit the definitions are similar Note that the 3 phase VA Power Factor meter is for the 3 phase 3 wire circuit and the summation of the three phase voltages or currents must be equal to zero that is vat vp tv 0 i ti t i 0 To use the single phase or three phase wattmeter VAR meters insert the meters into the circuit Example This example shows how single phase and three 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 oe Yo wv Ww J hom a w kwh gt E AA
249. tages 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_DIl dll must be added to the PSIM s search path To add to PSIM s search path in PSIM go to Options 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 MagCouplerDL Black Attributes Parameter Description Netlist XML File The XML file that defines the interface between PSIM and JMAG It has the xml extension JMAG Input File The JMAG input data file It has the jcf extension Note that the xml and jcf files must be in the same directory Chapter 2 Power Circuit Components 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
250. tal filters for digital control system analysis The SimCoupler Module provides interface between PSIM and Matlab Simulink for co simulation The Thermal Module provides the capability to calculate semiconductor devices losses The MagCoupler Module provides interface between PSIM and the electromagnetic field analysis software JMAG for co simulation The MagCoupler RT Module links PSIM with JMAG RT data files The SimCoder Module provides automatic code generation capability for DSP hardware The Renewable Energy Package includes the basic PSIM package the Motor Drive Module and Renewable Energy models such as solar modules and wind turbine for simulation in renewable energy applications In addition PSIM supports links to third party software through custom DLL blocks The overall PSIM environment is shown below 1 PSIM and SIMVIEW are registered trademarks of and are copyright by Powersim Inc 2001 2010 2 SimCoder is a trademark of Powersim Inc and is copyright by Powersim Inc 2008 2010 3 Matlab and Simulink are registered trademarks of the MathWorks Inc 4 JMAG and JMAG RT are copyright by JSOL Corporation 1997 2010 Chapter 1 General Information 1 1 2 PSIM Hardware Ager Code Thermal A Targets p DLL A DSP Generation Analysis Third party Power Electronics MagCoupler Matlab SimCoupler MagCoupler RT 7 lavia Control Motor Drives
251. tem Therefore if the speed of the machine is positive Speed Sensor reading will be positive and Speed Sensor 2 reading will be negative Similarly the two constant torque mechanical loads with the amplitudes of Ty 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 opposite to the reference direction and the loading torque of Load 2 to the machine will be 77 gt DC Machine The image and parameters of a dc machine are as follows Image x ag Armature aoe Shaft Node Winding Field Winding Attributes Parameters Description R armature Armature winding resistance in Ohm L armature Armature winding inductance in H Ry field Field winding resistance in Ohm L field Field winding inductance in H Moment of Inertia Moment of inertia of the machine in kg m V rated Rated armature terminal voltage in V I tated Rated armature current in A Chapter 2 Power Circuit Components n rated Rated mechanical speed in rpm Ip rated Rated field current in A Torque Flag Output flag for internal torque To Master Slave Flag The master slave flag of the machine 1 master 0 slave When the torque flag is set to 1 the internal torque generated by the machine will be saved to the output file for display For more details on th
252. ters 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 current Chapter 4 Other Components Images Voltage Probe Current Probe DC Voltmeter AC Voltmeter DC Ammeter AC Ammeter 3 ph Wattmeter kWh Meter 3 ph VA Wattmeter VAR Meter VA Power Factor Meter Power Factor Meter kWh Meter 3 ph VAR Meter Attributes Parameters Description Operating Frequency Operating frequency or fundamental frequency of the ac meter in Hz Cut off Frequency Cut off frequency of the low pass high pass filter in Hz 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
253. 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 Chapter 2 Power Circuit Components 79 80 terminal name to iL Close the dialog window Go to the menu File gt Export and select JCF With the JCF file name defined as inductor the JCF file 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 Power gt MagCoupler Module and select MagCoupler Block Place the block on the schematic Double click on the MagCoupler block to bring out the property window click on the browser button H 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 T
254. the output Vps 35 Similarly if V 34 5678 N 0 truncation flag 1 then V 34 If Vin 34 5678 N 1 truncation flag 1 then V out 34 5 If V 34 5678 N 1 truncation flag 1 then Vout 39 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 Chapter 3 Control Circuit Components Images Time Delay Unit Time Delay m m iL me iL me 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 the unit delay block is a discrete element and the delay time is equal to the sampling period For a discrete system the unit delay block should be used Example In this circuit the first time delay block has a delay time of 1 ms and the second block has a delay time of 4 ms This exa
255. thode anode voltage will in fact be equal to Vg4 Vg 10uQ Ixy Therefore depending on the value of Ixy Vga will be slightly higher than Vp If I4 is very large Vx can be substantially higher than Vp Chapter 2 Power Circuit Components 11 2 2 2 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 Attributes Parameters Description Breakover Voltage Voltage at which breakover occurs and the DIAC begins to conduct in V Breakback Voltage Conduction voltage drop in V Current Flag Current flag Thyristor and TRIAC A thyristor is controlled at turn on The turn off is determined by circuit conditions A TRIAC is a device that can conduct current in both directions It behaviors in the same way as two opposite thyristors connected in parallel Images Thyristor TRIAC Ao wa 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 the OFF state for thyristor only Latching Current Minimum ON state current required to keep the device in the ON state after the triggering pulse is removed for thyristor only Initial Position Flag for the initial switch position f
256. tion When a pop action is performed and the stack is empty the output remains unchanged When a push action is performed and the stack is already full the data at the bottom of the stack will be pushed out and will be lost 3 5 10 Multi Rate Sampling System A discrete system can have more than one sampling rate The following system is used to illustrate this The system below has 3 sections The first section has a sampling rate of 10 Hz The output Vo fed back to the system and is sampled at 4 Hz in the second section In the third section the output is displayed at a sampling rate of 2 Hz It should be noted that a zero order hold must be used between two elements with different sampling rates Chapter 3 Control Circuit Components 131 3 6 3 6 1 132 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 can be implemented and simulated in PSIM and the rest of the system in Simulink One can therefore make full use of PSIM s capability in power simulation and Matlab Simulink s capability in control simulation in a complementary way The SimCoupler interface consists of two parts the link nodes in PSIM and the SimCoupler model block in Simulink The images are shown below Images In PSIM In SimuLin
257. tion voltage amplitude for larger signal level or Reduce the time step for better accuracy and resolution Debugging Some of the approaches in debugging a circuit is discussed in the following Symptom Simulation results show sudden changes discontinuity of inductor currents and capacitor voltages Solution This may be caused by the interruption of inductor current path and short circuit of capacitor or capacitor voltage source loops Check the switch gating signals If necessary include overlap or dead time pulses to avoid open circuit or shooting through If an initial current is assigned to an inductor initial switch positions should be set such that a path is provided for the current flow Otherwise the inductor current will be forced to start from zero Symptom Simulation waveforms look incorrect or inaccurate or the waveform resolution is poor Solution This may be caused by two reasons One is the time step Since PSIM uses the fixed time step during the entire simulation one should make sure that the time step is sufficiently small As a rule of thumb the time step should be several tens times smaller than the switching period Another reason is the problem of waveform display One should make sure that the print step is not too big To display all the data points set the print step to 1 Chapter 8 Error Warning Messages and Other Simulation Issues 203 204 Chapter 8 Error Warning Messages and Other Sim
258. to the equivalent circuit of the mechanical system as shown on the right vij paa Circuit Reference direction 45 Wm dt Tem Tem2 Similarly if we define the machine IM2 as the master unit the reference direction of the overall mechanical system will be from right to left as shown below Based on this direction the machine IM1 will be opposite to the reference direction and the machine IM2 will be along the reference direction This leads to the equivalent circuit of the mechanical system as shown on the right Master Unit aa Equivalent Circuit M1 M2 0 Aim IM IM 7 7 Temi G 411 J2 4 Tem2 T Reference direction J J5 dWin dt To Text The following shows another mechanical system with sensors and loads connected in different ways Chapter 2 Power Circuit Components 55 2 8 2 56 Master Unit Reference direction of the mechanical system Load 1 Speed Torque Load 2 Speed Torque Tij Sensor 1 Sensor 1 Th Sensor 2 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 sys
259. tput which is a scalar will be W Vi V3 ay b ay by a b Chapter 3 Control Circuit Components 3 2 3 3 2 4 3 2 5 Square Root Block A square root function block calculates the square root of the input Image oS fo p Exponential Power Logarithmic Function Blocks The images and attributes of these function blocks are shown below Images Exponential Power LOG LOG10 o a m oy xe by log p 109 po Attributes for exponential and power blocks Parameters Description Coefficient k Coefficient k Coefficient kz Coefficient kz The output of an exponential function block is defined as V kye kh For example if k 1 ky 2 718281828 and V 2 5 then V e gt where e is the base of the natural logarithm The output of a power function block is defined as V ky Viz The function block LOG gives the natural logarithm base e of the input and the block LOG10 gives the common logarithm base 10 of the input Root Mean Square Block A root mean square function block calculates the RMS value of the input over a period specified by the base frequency fp The output is defined as 2 irs eer al Vin t at where T 1 f The output is only updated at the beginning of each period Image oa CMS Attribute Parameter Description Base frequency Base frequency fp
260. ts To launch this program in PSIM go to Utilities gt B H Curve Other Elements Operational Amplifier Two types of operational amplifier 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 2 6 1 1 Ideal Operational Amplifier 30 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 Vi V V V V4 i Vi i vV gnd gnd Circuit Model of the Op Amp wey RENG V4 R Ro A Vv E v A V V Vs Vs OOE H gnd where V V noninverting and inverting input voltages Chapter 2 Power Circuit Components Vo output voltage Ay 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 is that for the Op Amp element the reference ground of the op amp model is connected to the power gro
261. ue of the constant 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 oO Attribute Parameter Description Amplitude Amplitude of the source Chapter 4 Other Components 4 2 4 Sinusoidal Source A sinusoidal source is defined as vo Vpn sin 2n f t 0 Veet oO The specifications can be illustrated as follows Voffset i Images Voltage Current o t Attributes Parameters Description Peak Amplitude Peak amplitude V Frequency Frequency f in Hz Phase Angle Initial phase angle 0 in deg DC Offset DC offset Voges 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 gt He b Or Attributes Parameters Description V line line rms Line to line rms voltage amplitude Frequency Frequency f in Hz Init Angle phase A Initial angle for Phase A 4 2 5 Square Wave Source Chapter 4 Other Components 139 4 2 6 140 A square wave voltage source or current source is defined by peak to peak amplitude frequency duty cycle and DC offset The dut
262. ul 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 Version 8 0 or 7 1 format Note that if the file uses elements that are unique in Version 9 0 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 the schematic The circuit that is 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
263. ulation 46 Chapter 2 Power Circuit Components 2 7 5 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 Frequency Frequency in Hz under which the losses are calculated Peona Q Calibration The calibration factor Keong of the transistor conduction losses Poona o Factor Pow Q Calibration The calibration factor K of the transistor switching losses Psw 9 Factor Poona p Calibration The calibration factor Keong _p of the diode conduction losses Pegng p Factor Py p Calibration The calibration factor K p of the diode switching losses Psw p 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 is set to 60 Hz then the losses will be the value for a period of 60 Hz The parameter Peona o Calibration Factor is the correction factor for the transistor conduction losses For the example if the calculated conduction losses before the correction is Pegnd Q cap t
264. ulation Issues A absolute value function block 108 ac analysis 2 3 166 167 air gap 26 27 28 29 ammeter ac 146 de 146 axis setting 37 40 194 B backup automatic 184 band energy 94 band stop filter 105 batch run 183 B H curve 8 29 30 187 Boltzmann constant 95 C C block 160 161 162 simplified 161 calculator 187 198 capacitor 7 8 27 28 65 89 182 203 circular buffer 128 129 code generation automatic 1 137 162 165 176 180 185 command line 183 comparator 14 15 31 110 114 133 Control 154 controller differentiator 102 modified PI 103 proportional integral PI 102 single pole 103 Type 2 103 Type 3 104 converter A D 119 D A 119 s2z 187 unit 187 convolution block 129 core linear lossless 29 saturable 26 29 187 counter pulse width 118 up down 118 current transfer ratio 33 Index D data array 130 158 data point viewing 37 194 203 default variable 175 190 device diode 42 43 IGBT 45 47 IGBT Diode 45 46 MOSFET 16 17 50 51 device database editor 3 35 187 DIAC 10 12 differentiator s domain 102 z domain 123 Digital Control Module 1 120 diode 10 loss calculation 43 zener 11 divider 106 154 DLL block 1 external 160 161 162 164 185 general 162 164 dv dt block 34 E Embedded Software Block 164 encoder absolute 91 incremental 92 Excel 199 exponential function block 107 F Fast Fourier Transform block 108 favorites 199 FFT analysis 202 f
265. um 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 Chapter 7 Waveform Processing 7 6 irnam roce OOO zax a Isb 60 00 40 00 20 00 20 00 40 00 Time 0 0745033 ya sn ee a ee ae Time 0 0196192 Frequency 50 9705 isb 25 8861 Isb 2 74662 Left mouse click Right mouse click rT eeeeeenenemeaeeeee Teac Once Measure is selected an individual curve can be selected by clicking on the pull down menu Isb on the Measure toolbar The functions Max Min Next Max Next Min Avg and rms can be used to evaluate the curve Note that these functions are only enabled in the Measure mode 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 Ca
266. und 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 the noninverting input is at the lower left For the comparator it is the opposite Example A Boost Power Factor Correction Circuit The figure below shows a boost power factor correction circuit The PI regulators of both the inner current loop and the outer voltage loop are implemented using op amp Win Tin E Vo f AN Wao P y A E L ba 7 D 7 Comparator 2 6 1 2 Non Ideal 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 is treated as a power element in PSIM Two non ideal op amp elements are provided Op Amp level I 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
267. ut Keys Commands Copy Ctrl C Cut Ctx Exit AltF4 Find Alt F3 Flip T B F3 Help Index F1 New Ctr N Open Ctrl O Paste Ctrl Print Ctrl P Save Cti 5 Switch to next pane FE Switch to previous Shift F6 F4 Top Page Close In the section Add Shortcut Key select the option Elements Then find and highlight the element Resistor Move the cursor into the input field of Press new shortcut key and press the key r on the keyboard 186 Chapter 6 Circuit Schematic Design 6 8 6 9 Then click on Assign The key r will be assigned to the resistor and the definition will appear in the Current Shortcut Key list Utilities Menu Several utility programs are provided under the Utilities menu s2z Converter This program converts a s domain function to a z domain function Note that this program is enabled only if the Digital Control Module license is available Device Database Editor This will launch the device database editor PcdEditor exe for the Thermal Module B H Curve This program plots the B H curve of the saturable core element under Elements gt Power gt Magnetic Elements Solar Module physical model This program plots the i v curve of the solar module physical model element under Elements gt Power 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 the co
268. wer 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 201 8 2 202 Comparator Comparator Aa m E S s t A Transfer Function ESVE Transfer Function f E We E pwl HO e FO A sa op amp It should be noted that in PSIM the power circuit and the control circuit are solved separately There is one time step delay between the power and the control circuit solutions 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 an
269. 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 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 cu
270. ws the flux in Weber flowing through the core from Node M to M Chapter 2 Power Circuit Components 29 2 6 2 6 1 The initial flux of the core is the flux flowing from Node M to M at the beginning corresponding to the field intensity H 0 The initial flux density B can be calculated as 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 Psat K1 Kexp1 K2 and Keyp are used to fit the B H curve of an actual magnetic material A good initial guess of is the maximum flux of the B H curve in deep saturation To calculate this flux multiply the corresponding flux density B by the cross section area of the core Coefficient K usually varies between 0 7 and 1 depending on the core material Coefficient K mainly affects the rate of the core saturation and is in the range between 10 and 200 10 for low permeability ferrite and 200 for metglas The coefficients Ky and Keyp are used in very rare occasions such as for ferroresonant regulators They are normally set as follows to keep them from affecting the B H curve Ky gt 2 Kexp2 gt 20 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 coefficien
271. y cycle is defined as the ratio between the high potential interval versus the period Images Voltage 5 Current o Attributes Parameters Description Vpeak peak Peak to peak amplitude Yop Frequency Frequency in Hz Duty Cycle Duty cycle D of the high potential interval DC Offset DC offset Voges Phase Delay Phase delay 0 of the waveform in deg The specifications of a square wave source are illustrated as follows Vofiset 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 o t Attributes Parameters Description Vpeak peak Peak to peak amplitude Vp Frequency Frequency in Hz Duty Cycle Duty cycle D of the rising slope interval DC Offset DC offset Voges Chapter 4 Other Components Phase Delay Phase delay 0 of the waveform in deg The specifications of a triangular wave source are illustrated as 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 an
272. y larger than PSIM time step satisfactory results are obtained In this case for example the time step is set to 20 us 10 times larger than the PSIM time step If the Simulink Solver type is instead set to Variable step the simulation results will not be correct The figure below shows this option Control in Simulink Solver Type Variable step Scope Constant Scope2 Gain Integrator SiMcoupler When the Simulink Solver type is set to Variable step in order to obtain correct results a zero order hold must be placed at the input of the SimCoupler model block Moreover the zero order hold sample time must be the same or close to PSIM time step The figure below shows the configuration Chapter 3 Control Circuit Components Control in Simulink Solver Type Variable step ZOH Sample Time 2 us Scope Zero Order Scope2 Hold Constant Gain Integrator SiMcoupler Therefore Simulink must be set up to have the Solver Type as Fixed step with the time step the same or close to the PSIM time step or if the Solver Type is Variable step a zero order hold must be used with the sample time the same or close to PSIM time step Chapter 3 Control Circuit Components 135 136 Chapter 3 Control Circuit Components 4 1 4 Other Components Parameter File The parameter file element defines the name of the file that stores the component parameters and limit settings For

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