modeling and simulation for power electronics and electrical drives dr. ir. p.j. van duijsen...
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Modeling and Simulation for Power Electronics and
Electrical Drives
dr. ir. P.J. van Duijsen Simulation Research
Haus der Technik, München, 2003
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9.12.2003 (c) 2003 Simulation Research 2
Contents
• I - Introduction• II - Components• III - Models• IV - Simulation• V - Special models• VI - Tools• VII - Examples• VIII - Conclusions
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I - Introduction
• Identify the components• Models• Parameters
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Identify the components
• Different components require different models• First identify these components
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Models
• What can we model– Complexity of the model
– Availability of parameter
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Parameters
• What is a model– Reflection of the users imagination, how a design
should work
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II - Components
• Power Electronics• Electrical machine• Mechanical load• Main• Control
PowerElectronics
MechanicalLoadMain
Control
ElectricalMachine
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III - Models
• Multilevel Modeling– Circuit model
– Block Diagram
– Modeling language
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IV - Simulation
• What is simulation• Mathematical methods• Programs
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What is Simulation
• Simulation is a prediction of what might happen
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What can we simulate
• Large simulations take a lot of time• Large simulations increase complexity and clarity
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Methods and Programs
• Mathematical methods– State Space
– DAE
– MNA
• Various programs– Spice
– Matlab/Simulink
– Saber
– Caspoc
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Mathematical Methods
• ODE (State Space)– Causal time varying
systems
• MNA– Circuit models
• DAE– Equations
• Mathematics
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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)
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V - Special models
• Power Electronics– Semiconductor models
– Heat sink
– Parasistics
– Analog / digital control
– Embedded control
• Electrical Machines– Machine models
– Mechanical load
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Semiconductor models
• Mosfet / IGBT– Gate charge
– Cgd non-linear behavior
– Temperature dependent On-resistance Rds
• Diode– Reverse recovery
Detailed Behavioral/Circuit Model
Component stress isequal in each period
Ideal Model
Circuit design
Ideal Model
Control Design Circuitlayout
Detailed Behavioral/Circuit Model
Single periodcomponent stressanalysis
Number of simulated periods
Mod
el C
ompl
exity
Behavioral Model
Predict losses andtransient behavior
Simulation takesto much time andproduces to muchdata
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Mosfet / IGBT Dynamics
• Non linear gate-drain capacitance Cgd
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Temperature dependence Mosfet
• At T=125 Celcius, the drain-source resistance is doubled from Ron
to 2*Ron
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Spice diode model
• Reverse recovery is modeled by a non-linear capacitor
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Reverse recovery modeling
• Model based on measurement
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Reverse recovery
• Reverse recovery is dependent on IF and di/dt
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Heat sink models
• Parameters from data sheet
• Parameters from known structures
• Parameters from FEM analysis
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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
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Parameters from know structures
• Calculate Rth & Cth from geometry
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Parameters from FEM analysis
• Calculate Zth in FEM analysis and use it in the simulation
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Parasitic inductance
• Model parasitic inductance for simulating high turn-off voltages Vds
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Analog / Digital control
• Analog control as– Electric circuit using Opamp models
– Block diagram (more efficient)
• Digital control– Logical components
– Modeling language (more efficient)
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Block diagram vs Circuit model
• Block diagram model for a PI control• 4 blocks• Calculation effort ~ 4
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Block diagram vs Circuit model
• Circuit model for the PI control
• No. of nodes = 17 - 4• Calculation effort ~
(4/3) * (13)^3
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Using C/Pascal to create models
• Replace blocks by C/Pascal code
• Model complex control systems
• Use the debugger to debug these models
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Embedded Control
• Embedded Control models
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Machine models
• Connections– Electrical properties
– Mechanical properties
• Model– State Space equations
– Lumped circuit model
– Reduced Order Model from FEM analysis
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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
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VII - Example
• Synchronous generator• PWM induction machine drive• Switched Reluctance Machine• Variable structure system in Caspoc and
Simulink
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Example - Synchronous machine
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Example - PWM induction machine drive
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Example - Switched Reluctance machine
• Electric connections:– u,I
• Mechanical connect.:– T,angular speed
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Example - Variable structure system in Caspoc and Simulink
• Caspoc:– Inverter
– Machine
– Load
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Example - Variable structure system in Caspoc and Simulink
• Simulink:– VSS Control
• Comparison switched Caspoc model with averaged model in Simulink
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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
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Geometric design in Tesla
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FEM analysis in ANSYS
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Complete model and simulation in Caspoc
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Embedded C-code for the control
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Conclusions - SRM
• Export of C code from Block diagram• Including the exported code in the simulation• Debugging during simulation
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VIII - Conclusions
• A model is a reflection of the users imagination, how a design should work!
• Simulation is a prediction of what might happen!