1. Modeling and Simulation for Power Electronics and Electrical Drives dr. ir. P.J. van Duijsen Simulation Research Haus der Technik, München, 2003

2. 9.12.2003(c) 2003 Simulation Research2 Contents I - Introduction II - Components III - Models IV - Simulation V - Special models VI - Tools VII - Examples VIII - Conclusions

3. 9.12.2003(c) 2003 Simulation Research3 I - Introduction Identify the components Models Parameters

4. 9.12.2003(c) 2003 Simulation Research4 Identify the components Different components require different models First identify these components

5. 9.12.2003(c) 2003 Simulation Research5 Models What can we model –Complexity of the model –Availability of parameter

6. 9.12.2003(c) 2003 Simulation Research6 Parameters What is a model –Reflection of the users imagination, how a design should work

7. 9.12.2003(c) 2003 Simulation Research7 II - Components Power Electronics Electrical machine Mechanical load Main Control

8. 9.12.2003(c) 2003 Simulation Research8 III - Models Multilevel Modeling –Circuit model –Block Diagram –Modeling language

9. 9.12.2003(c) 2003 Simulation Research9 IV - Simulation What is simulation Mathematical methods Programs

10. 9.12.2003(c) 2003 Simulation Research10 What is Simulation Simulation is a prediction of what might happen

11. 9.12.2003(c) 2003 Simulation Research11 What can we simulate Large simulations take a lot of time Large simulations increase complexity and clarity

12. 9.12.2003(c) 2003 Simulation Research12 Methods and Programs Mathematical methods –State Space –DAE –MNA Various programs –Spice –Matlab/Simulink –Saber –Caspoc

13. 9.12.2003(c) 2003 Simulation Research13 Mathematical Methods ODE (State Space) –Causal time varying systems MNA –Circuit models DAE –Equations Mathematics

14. 9.12.2003(c) 2003 Simulation Research14 Various programs Spice –Electronics (General) Matlab/Simulink –Systems described by a Block Diagram (General) Saber –Systems described by equations (General) Caspoc –Systems and Circuits (PE & ED)

15. 9.12.2003(c) 2003 Simulation Research15 V - Special models Power Electronics –Semiconductor models –Heat sink –Parasistics –Analog / digital control –Embedded control Electrical Machines –Machine models –Mechanical load

16. 9.12.2003(c) 2003 Simulation Research16 Semiconductor models Mosfet / IGBT –Gate charge –Cgd non-linear behavior –Temperature dependent On-resistance Rds Diode –Reverse recovery

17. 9.12.2003(c) 2003 Simulation Research17 Mosfet / IGBT Dynamics Non linear gate-drain capacitance Cgd

18. 9.12.2003(c) 2003 Simulation Research18 Temperature dependence Mosfet At T=125 Celcius, the drain-source resistance is doubled from R on to 2*R on

19. 9.12.2003(c) 2003 Simulation Research19 Spice diode model Reverse recovery is modeled by a non-linear capacitor

20. 9.12.2003(c) 2003 Simulation Research20 Reverse recovery modeling Model based on measurement

21. 9.12.2003(c) 2003 Simulation Research21 Reverse recovery Reverse recovery is dependent on IF and di/dt

22. 9.12.2003(c) 2003 Simulation Research22 Heat sink models Parameters from data sheet Parameters from known structures Parameters from FEM analysis

23. 9.12.2003(c) 2003 Simulation Research23 Parameters from a data sheet Thermal resistance and thermal capacitance are from the manufacturers data sheet Zth is modeled using parallel RC models Calculate losses in the mosfet and diode Calculate temperature and feed back into the semiconductors

24. 9.12.2003(c) 2003 Simulation Research24 Parameters from know structures Calculate Rth & Cth from geometry

25. 9.12.2003(c) 2003 Simulation Research25 Parameters from FEM analysis Calculate Zth in FEM analysis and use it in the simulation

26. 9.12.2003(c) 2003 Simulation Research26 Parasitic inductance Model parasitic inductance for simulating high turn-off voltages Vds

27. 9.12.2003(c) 2003 Simulation Research27 Analog / Digital control Analog control as –Electric circuit using Opamp models –Block diagram (more efficient) Digital control –Logical components –Modeling language (more efficient)

28. 9.12.2003(c) 2003 Simulation Research28 Block diagram vs Circuit model Block diagram model for a PI control 4 blocks Calculation effort ~ 4

29. 9.12.2003(c) 2003 Simulation Research29 Block diagram vs Circuit model Circuit model for the PI control No. of nodes = 17 - 4 Calculation effort ~ (4/3) * (13)^3

30. 9.12.2003(c) 2003 Simulation Research30 Using C/Pascal to create models Replace blocks by C/Pascal code Model complex control systems Use the debugger to debug these models

31. 9.12.2003(c) 2003 Simulation Research31 Embedded Control Embedded Control models

32. 9.12.2003(c) 2003 Simulation Research32 Machine models Connections –Electrical properties –Mechanical properties Model –State Space equations –Lumped circuit model –Reduced Order Model from FEM analysis

33. 9.12.2003(c) 2003 Simulation Research33 VI - Tools Integrated Modeling and Simulation –Modeling Electrical machines Connection to FEM tools –Modeling Power Electronics Connection to Packaging analyzers –Modeling Control Creating Embedded C code –Control design Small signal modeling Connection to design tools

34. 9.12.2003(c) 2003 Simulation Research34 VII - Example Synchronous generator PWM induction machine drive Switched Reluctance Machine Variable structure system in Caspoc and Simulink

35. 9.12.2003(c) 2003 Simulation Research35 Example - Synchronous machine

36. 9.12.2003(c) 2003 Simulation Research36 Example - PWM induction machine drive

37. 9.12.2003(c) 2003 Simulation Research37 Example - Switched Reluctance machine Electric connections: –u,I Mechanical connect.: –T,angular speed

38. 9.12.2003(c) 2003 Simulation Research38 Example - Variable structure system in Caspoc and Simulink Caspoc: –Inverter –Machine –Load

39. 9.12.2003(c) 2003 Simulation Research39 Example - Variable structure system in Caspoc and Simulink Simulink: –VSS Control Comparison switched Caspoc model with averaged model in Simulink

40. 9.12.2003(c) 2003 Simulation Research40 Example Switched Reluctance Machine (SRM) Design of the SRM in Tesla FEM analysis of the SRM in ANSYS Reduced order model from ANSYS in Caspoc Design of the power electronics and control in Caspoc Export of the control algorithm to Embedded C-code for the microprocessor

41. 9.12.2003(c) 2003 Simulation Research41 Geometric design in Tesla

42. 9.12.2003(c) 2003 Simulation Research42 FEM analysis in ANSYS

43. 9.12.2003(c) 2003 Simulation Research43 Complete model and simulation in Caspoc

44. 9.12.2003(c) 2003 Simulation Research44 Embedded C-code for the control

45. 9.12.2003(c) 2003 Simulation Research45 Conclusions - SRM Export of C code from Block diagram Including the exported code in the simulation Debugging during simulation

46. 9.12.2003(c) 2003 Simulation Research46 VIII - Conclusions A model is a reflection of the users imagination, how a design should work! Simulation is a prediction of what might happen!