motor design suite v12
TRANSCRIPT
+ V
+ V
A
A
A
M3 ~BA
C
ET1
ET2
ET3
GND
VM1
VM2
AM1
AM2
AM3
Load
Generator_torque
T0 := 1.2 s
AMPL := -3.2k
Load_torqueAMPL := 3.204k
T0 := 1 s
ASM_2
LS1 := 0.1726m HLS2 := 0.20222m H
R1 := 4.8m Ohm
LM := 9.81m H
J := 10.5 kg m%
R2 := 13.3m Ohm
P := 2
T
Electrical Machine Design Suite
Quick IntroductionAnsoft offers the most complete solution to electrical machine design
in the industry through its Electrical Machine Design Suite
What is the Electrical Machine Design Suite?Five combinable tools which assist engineers in designing and analyzing electrical machinesIntegrates electromagnetic, circuit, and system engineering using a common desktop environment
The Electrical Machine Design Suite includes:RMxprt – for machine design Maxwell 2D/3D – for finite element analysisOptimetrics – for optimizationSimplorer – for system analysisePhysics – for thermal and stress analysis
Electrical Machine Design Suite
RMxprt
Maxwell 2D Maxwell 3D
SIMPLORER
14 types of motors/generators
FEA FEA
Equivalent circuits
Co-simulation
ePhysics
Optimetrics
Electric Machine Design Suite A Complete Solution for Modern Electric Machines and Drives Design
Equivalent Circuit Model : High Fidelity Physics Based Model
Fast Analytical Solution: Narrow the Design Space
Parametric AnalysisOptimization
Magnetostatic/Eddy Current Analysis using FEA
Parametric AnalysisOptimization
AHAJA ×∇×+×∇+∇−∂∂−=×∇×∇ vVt cs σσσυ
scf
ff
ff uu
dtid
LiRddtdA
aSlN
d =+++Ω∫∫ 0=−dtduCi c
f
Field Equation:
Circuit Equation:
Motion Equationexternalem TTm +=+λωα
Simultaneous Equations:
Transient Analysis using FEA
Parametric Analysis
A_PHASE_N1
A_PHASE_N2
B_PHASE_N1
B_PHASE_N2
C_PHASE_N1
C_PHASE_N2
ROTB1
ROTB2
EMSSLink1
EMF2
RA
RB
RC
A
IA
A
IB
A
IC
1750.023
0.023
0.023
theta>90 AND theta<150theta>150 AND theta<210
theta>210 AND theta<270
theta>270 AND theta<330theta>330 OR theta<30
ICA:
theta>30 AND theta<90
EMF1 175
E1
R1
E2
R2
E3
R3
E4
R4
E5
R5
E6
R6
ctrl_1:=OFFctrl_6:=OFF
ctrl_1:=ON
ctrl_6:=ONctrl_1:=ONctrl_2:=ON
ctrl_1:=OFFctrl_2:=OFF
ctrl_2:=ONctrl_3:=ON
ctrl_2:=OFF
ctrl_3:=ONctrl_4:=ON
ctrl_4:=ONctrl_5:=ON
ctrl_5:=ON
ctrl_6:=ON
ctrl_5:=OFFctrl_6:=OFF
ctrl_3:=OFF
ctrl_3:=OFFctrl_4:=OFF
ctrl_4:=OFFctrl_5:=OFF
A AM_IGBT
+ VVBC
+ VVGE4
MASS_ROTB1
Drive System Integration with Manufacturer’s IGBTs
EMF
A
IA
A
IB
A
IC
175
ICA:
EMF 175
A AM_IGB
V+ VVBC
A_PHASE_N1
B_PHASE_N1
C_PHASE_N1
ROT1
ROT2
ECE
ECELink
T
FM_ROT
PP:=
ON:=
OFF:=
THRESH:=4
HYST:=
EQU theta_elect := PP * ECELink
theta := MOD(theta_elect
ωω+IGBT
IGBT IGBT
IGBTIGBT
D2 D3
Drive System Design
Phase CurreIAIBIC
t
1.00
-1.00
0
-500.0
500.0
0 17.27m10.00m
TorquTo
t
400.0
-100.0
0
200.0
0 17.2710.00
Phase VoltagV_A
t
300.0
-300.0
0
-200.0
200.0
0 17.2710.00
Analytical Based Model
System Level IGBT
Von Mises stress
Thermal and Stress Analysis
A_PHASE_N1
A_PHASE_N2
B_PHASE_N1
B_PHASE_N2
C_PHASE_N1
C_PHASE_N2
ROTB1
ROTB2
EMSSLink1
EMF2
RA
RB
RC
A
IA
A
IB
A
IC
1750.023
0.023
0.023
theta>90 AND theta<150theta>150 AND theta<210
theta>210 AND theta<270
theta>270 AND theta<330theta>330 OR theta<30
ICA:
theta>30 AND theta<90
EMF1 175
E1
R1
E2
R2
E3
R3
E4
R4
E5
R5
E6
R6
ctrl_1:=OFFctrl_6:=OFF
ctrl_1:=ON
ctrl_6:=ONctrl_1:=ONctrl_2:=ON
ctrl_1:=OFFctrl_2:=OFF
ctrl_2:=ONctrl_3:=ON
ctrl_2:=OFF
ctrl_3:=ONctrl_4:=ON
ctrl_4:=ONctrl_5:=ON
ctrl_5:=ON
ctrl_6:=ON
ctrl_5:=OFFctrl_6:=OFF
ctrl_3:=OFF
ctrl_3:=OFFctrl_4:=OFF
ctrl_4:=OFFctrl_5:=OFF
A AM_IGBT
+ VVBC
+ VVGE4
MASS_ROTB1
Complete Transient FEA -Transient System Co-simulation
Design Requirements
Size/Weight EfficiencyTorqueSpeedCogging/RippleInverter MatchingThermalStressManufacturabilityCost
RMxprt
What is RMxprt ?• Analytical Design Software for Electric Machines• User can calculate machine performance, make material and size decisions• Flexible design and optimization process for rotating electric machines which perform hundreds of "what if" analyses in a matter of seconds
Machine Types• Induction Machines : Three-Phase, Single-Phase• Synchronous Machines : Line-Start PM, Adjustable Speed PM,
Salient Pole, Non-Salient Pole• Brush commutated: DC, Permanent Magnet DC, Universal, Claw-
pole Alternator• Electronically commutated: Brushless PM, Switched Reluctance
User Inputs
Typical Results
Complete Report and Curves
RMxprt to Maxwell 2D linkAutomatic creation of complete transient design including: Geometry, Materials, Master/Slave Boundaries, Sources, Mesh Operations, External Circuits, Motion, and Solution SetupAccess this by clicking on Analysis > Setup > Create Maxwell Design
RMxprt to Maxwell 3D linkComplete geometry creationOne-click FEA designOption for periodic or full modelsAutomatic update with project variables
Geometry creation and material assignmentGeneral and dedicated machine partsCreate new machine types with arbitrary combinationsDimension variables supported
Arbitrary Winding Configurations
Lap winding with coil pitch=1
Concentric winding
Double-layer lap winding
Single-layer lap winding
DC winding
Common Slot Type Support
squirrel-cage coresSingle/double
squirrel-cage coresSingle/double
Inner/outer AC/DC armature cores
Inner/outer AC/DC armature cores
Maxwell
What is Maxwell?Magnetic and Electric Finite Element Field SolversStatic, Quasi-Static and Transient (time-domain) solutionsLinear and non-linear, isotropic and anisotropic, and laminated materialsParametric and Optimization capabilities including statistical, sensitivity and tuning analysisCo-simulation with SimplorerDirect link from RMxprtDirect link to ePhysics
Maxwell Desktop
Project Manager Window
History Tree Window
3D modeler Window
Message Window
six windows
Properties Window
Progress Window
Powerful Geometry UtilitiesGeometry utilities automatically create complicated 2D/3D geometriesShape optimized for minimum count, good quality mesh, significantly enhancing meshing success rate
General Machine Parts
Components
for most
machines
Geometry Variables Sharing with RMxprt
Maxwell geometry
changed in RMxprt
Convenient for geometry parametric sweep and
optimization
Convenient for geometry parametric sweep and
optimization
automatic update with variables
Maxwell geometry automatic update
with variables changed in RMxprt
3-Tier Library StructureSystem (global) level – predefined from AnsoftUser Library – to be shared among several users at a company (can be encrypted)Personal libraries - to be used only by single user (can be encrypted)
Advanced Analysis FeaturesDistributed Analysis – for computing farm to Options for remote or distributed analysis capability – can solve different rows of a parametric table on different PC’s (Tools > Options > Analysis) Remote Solve – to solve on a single remote computer (must have separate license)Optional convergence stopping criterion –use of % change of any output parameter (such as loss or torque) as an additional convergence stopping criterion, but does not impact adaptive refinement
Double Rotor Motion
Rotor II
Rotor I
Stator
Two Bands in Transient SolverFor transient motion solver, two bands with two independently moving objects now allowedBoth rotational and translational solvers can handle this
Multiple end connected conductors
Induction Motor with Dual Rotor Cages
squirrel cage I
squirrel cage II
For transient solver, can have for independently connected squirrel cage rotors
External Circuit CouplingUse Maxwell Circuit Editor for control and drive circuitryRe-adjusts time step of field computation when:
SwitchingSharp variations in external sourcesLarge change in winding inductance
fivewindows
Project and Components Window
Properties Window
Schematic Window
Message Window
Progress Window
Maxwell Co-simulation with Simplorer2D transient co-simulation: Maxwell V12 – Simplorer V8
Improved performance with asynchronous time steps
Next step is to support 3D: Maxwell V12.x – Simplorer V8.x
Maxwell SIMPLORER
Lumped fieldcoupling parameters
Equivalent circuitcoupling parameters
Dynamic DemagnetizationSource Design Target Design2-step
process
Dynamic Demagnetization - Results
Source H fieldin the PM
Target H fieldin the PM
:
)(][
)()]([
1
1
pc
pc
pca
tk
t
H
HH
HHT
µ
µσ
∂∂
=
+∂∂
=×∇×∇
−
−
Laminated Materials Core Loss Field Effects
Note: this can have an impact on the torque in a motor
Typical Maxwell 2D/3D Results
Optimetrics
What is Optimetrics ?Optimetrics enables engineers to determine the best design variation among a model's possible variations.
Create the original model, the nominal design, and then define design parameters that vary
Optimetrics includes five unique capabilities: 1. Parametrics: Define one or more variable sweep definitions, each specifying a series of variable
values within a range. Easily view and compare the results using plot or table to determine how each design variation affects the performance of the design.
2. Optimization: Identify the cost function and the optimization goal. Optimetrics automatically changes the design parameter(s) to meet the goal. The cost function can be based on any solution quantity that can be computes, such as field values, R,L,C force, torque, volume or weight.
3. Sensitivity: Determine the sensitivity of the design to small changes in variables in the vicinity of a design point. Outputs include: Regression value at the current variable value, First derivative of the regression, Second derivative of the regression
4. Tuning: Variable values are changed interactively and the performance of the design is monitored. Useful after performing an optimization in which Optimetrics has determined an optimal variable value, and you want to fine tune the value to see how the design results are affected.
5. Statistical: shows the distribution (Histogram) of a design output like force, torque or loss caused by a statistical variation (Monte Carlo) of input variables.
Optimetrics Module (cont.)
Distributed Parametrics and Optimization
Seamless setupIntegrated with force, torque, matrixComplete support of Transient solution
Optimetrics Module (cont.)Integrated with external circuit
Optimize on ‘voltage’in MaxwellSetup variables in
Maxwell Circuit Editor
Optimetrics ExampleOptimization of a starter-alternator packThe pack contains a motor used also as alternatorThree-phase claw pole motorPermanent Magnets are added between teeth
Optimization of the Geometry
Want to see the influence on the output torque
Tooth angle Magnet thickness Magnet length
ResultsTransient analysis run for the optimized designInitial Peak torque: 63.40 NmOptimized Peak Torque: 67.42 Nm
Initial Optimized
Simplorer
What is Simplorer ?
SUM2_6
CONST
id_ref
G(s)
GS2
I
I_PART_id
GAINid
LIMIT
yd
UL := 9
LL := -9
GAIN
P_PART_id
KP := 0.76
12
R1 R2 R3 R450 1k 1k50
C1 C2
3.3u3.3u
V0 := 5 V0 := 0
N0005
N0003N0004
N0002
Circuits
Block Diagrams
State Machines
• Multi-domain, system simulator for designing high performance systems
• Commonly used by the automotive, aerospace/defense, and industrial automation industries.
• Integrated analysis with electromagnetic simulation tools (Maxwell, PExprt, RMxprt, Q3D, HFSS)
• Three Basic Simulation Engines:CircuitsBlock DiagramsState Machines
• Analysis Types: DC, AC, Transient• Co-simulation with Maxwell and Simulink• Statistical Analysis and Optimization• VHDL-AMS Capability
IMP = 0
IMP = 1IMP = 0IMP = 1
IMP = 0 and RLine.I <= ILOW
IMP = 1 and RLine.I >= IUP
IMP = 0 and RLine.I >= IUP
IMP = 1 and RLine.I <= ILOW
SET: CS1:=-1SET: CS2:=-1SET: CS3:=-1SET: CS4:=-1
SET: CS1:=-1SET: CS2:=1SET: CS3:=-1SET: CS4:=-1
SET: CS1:=1SET: CS2:=-1SET: CS3:=-1SET: CS4:=-1
SET: CS1:=-1SET: CS2:=-1SET: CS3:=-1SET: CS4:=-1
Complete System Design
ThermalElectricalMechanical Hydraulic
MagneticLogic
Analog Digital
Component
Subsystem
System
SIMPLORER MethodologyElectrical/Electronics
(analog and digital circuits)Digital Control Systems
(state machine)
12
R1 R2 R3 R450 1k 1k50
C1 C2
3.3u3.3u
V0 := 5 V0 := 0
N0005
N0003N0004
N0002
C14.7m
MS3 ~BA C
IGBT1 IGBT2 IGBT3
IGBT4 IGBT5 IGBT6
XOR
XOR2_DEL1
XOR
XOR2_DEL2
AND
AND2_DEL1
AND
AND2_DEL2 OR
OR2_DEL1
SUM
Carry
IMP = 0
IMP = 1IMP = 0IMP = 1
IMP = 0 and RLine.I <= ILOW
IMP = 1 and RLine.I >= IUP
IMP = 0 and RLine.I >= IUP
IMP = 1 and RLine.I <= ILOW
SET: CS1:=-1SET: CS2:=-1SET: CS3:=-1SET: CS4:=-1
SET: CS1:=-1SET: CS2:=1SET: CS3:=-1SET: CS4:=-1
SET: CS1:=1SET: CS2:=-1SET: CS3:=-1SET: CS4:=-1
SET: CS1:=-1SET: CS2:=-1SET: CS3:=-1SET: CS4:=-1
A
B
C
Analog Control, Mechanics(block diagram)
SUM2_6
CONST
id_ref
G(s)
GS2
I
I_PART_id
GAINid
LIMIT
yd
UL := 9
LL := -9
GAIN
P_PART_id
KP := 0.76
Each part of a complex technical system is represented by the most appropriate modeling language
Multi Domain Design
Power Converter
Electro Mechanics
Sensors
Transformer
Control
Multitude of DomainsMultitude of Tools & Methods
MechanicsUtility
Simulator Coupling TechnologySimulinkMaxwell2D/3D
ElectromagnetismElectro mechanics
SIMPLORER Simulation Data BusSimulator Coupling Technology
MathCadC/C++ Interface
CircuitSimulator
Block DiagramSimulator
State MachineSimulator
VHDL-AMSSimulator
Model DatabaseElectrical, Blocks, States, Machines, Automotive, Hydraulic,
Mechanics, Power, Semiconductors…
Integrated Design EnvironmentAll three basic simulation types are on same desktop:
Circuits, Block Diagrams, State Machines
Power Library
Power System and Cable Models
Single Phase Power Supply
Ideal Three Phase Power Supply
Three Phase Power Supply with Impedance
WIRE - Gamma Model
Wire T-Model
Inverter Topologies
Line-commutated Converters
B2 Diode Bridge
B2 Fully Controlled
B2 Half-Controlled, Symmetrical
B2 Half-Controlled, Asymmetrical
B6 Diode Bridge
Two Level Inverter Equivalent Circuit
Three Phase Two Level Inverter
Single Phase Two Level Inverter
Three Phase Three Level Inverter
Single Phase Three Level Inverter
Control Algorithms
Two Level Square Wave
Two Level Natural Sampling
Three Level Single Phase
Three Level Three Phase
Load Models
Three Level Single Phase NS
Three Level Three Phase NS
Four Quadrant Current Control
Four Quadrant Natural Sampling
B6 Thyristor Bridge
B6 Bridges - Inverse Parallel Connection
B12 Diode Bridge
B12 Thyristor Bridge Parallel Connection
B12 Thyristor Bridge Cascade
B24 Thyristor Bridge
Single Phase A.C. Chopper
Three Phase A.C. Chopper
DC Link
Three Phase RL Load
Logic
Dead Time
Power LibraryApplications:• AC/DC Converters• Inverters (DC/AC)• Drive Systems• Power Quality• Alternative Power
Industries:• Industrial Automation• Drives Manufacturers• EV/EHV• Power Conversion• Power Quality
+ Battery and Fuel Cell
Mechanical Elements LibraryRotational
Mass
Translational
Mass
Coordinate Transformation
Rotational-Rotational
Rotational-Translational
Translational-Rotational
SYMP Synchronous Machine Permanent Excitation
SYMP Synchronous Machine Permanent Excitation w Damper
Electrical Machines
DCMP DC-Machine Permanent Excitation
ASMS Slip Ring Induction Machine
Rigidity
Rigidity
Torque Source
Ground
Angular Velocity Source
Velocity Source
Ground
Force Source
Translational-Translational
Mechanical Systems
Applications:• Drive Trains• Electro-Hydraulic
Systems• Electro-Mechanical
Systems• Load Variations
Industries:• Automotive Suppliers• Drive Manufacturers• Industrial Automation• Defense• Aerospace
Simplorer to Maxwell ECE Coupling
Simplorer - Simulink Cosimulation
SIMPLORER v8 SIMPLORER v8 SIMPLORER v8
Simulation initiated from SIMPLORERSimulation initiated from SIMPLORERSimulinkSimulink invoked from SIMPLORERinvoked from SIMPLORER
d-q-Phase Transformation
Control Signal Generation / Phase Transformation
Vector control based on d-q transformation
d-q transformation using built in math engine
On-time computation for phase A and B for inverter control based on Controller output data
ICA:
TP := 0.0002ustmax := 10.t0a := 0t0b := 0t0c := 0
EQU
yalph := cos(theta_el) * yd.VAL - sin(theta_el) * yq.VAL theta_el := SYMPOD1.PHIDEG * PI / 180.ybeta := sin(theta_el) * yd.VAL + cos(theta_el) * yq.VAL TEc := (yc / ustmax + 1) * TP / 2.
ya := yalph i1alph := SYMPOD1.I1Ayb := -0.5 * yalph + ybeta * sqrt(3.) / 2. i1beta := (SYMPOD1.I1A + 2 * SYMPOD1.I1B) / sqrt(3.)yc := -ya - yb i1d := i1alph * cos(theta_el) + i1beta * sin(theta_el)TEa := (ya / ustmax + 1) * TP2 i1q := i1beta * cos(theta_el) - i1alph * sin(theta_el)
TEb := (yb / ustmax + 1) * TP2theta_m := theta_el / 3.
Speed and Torque ControlSpeed Control
I_nI_iq n
GAIN
GAINY t
GAIN
id
I
KI := 29.02kUL := 10LL := -10
GAIN
P_PART_n
KP := 0.1161k
Controller design using block diagrams
Speed Profile from Data File
Reference Torque Determination
ust_in
GAIN iq
ust
d-q-Current Controller
I
G(s) GS1
UL := 9m_refLL := -9 P_Iq
G(s)
GS2
I
I_id
LIMIT GAIN LIMIT
yq KP := 0.76
id_refCONST
KI := 80
yd P_id
LIMIT GAIN
UL := 9 KP := 0.76LL := -9
DC Motor Drive System
L_R
L_S
L_T
ET1
ET2
ET3
CD1m
R_R
R_S
R_T
Yt
LOAD
CONTR_OUT
THRES2 := 2.5
VAL2 := 1
THRES1 := -2.5
VAL1 := -1
-16.66m
DCM.N P_GAIN
KP := 50I_GAIN
KI := 20
LIMITER
UL := 20LL := 0
10m
GAIN GAIN
I
LIMIT
CONST
N_REF
16.6667
0.3m
M
DCMRA := 1.2
LA := 9.5mKE := 0.544
J := 4m
A+ AM1D1 D2 D3
D4 D5 D6
D7
TR
CONST
CLOCK
.1m
0 50.00mT
15.00
0 0
10.00
0
0
100.00m
100.00m
50.00m
50.00m
Motor torque and load torque
Servo Drive SystemET1
ET2
ET3
R1
R2
R3
L1
L2
L3
10m
10m
10m
1m
1m
1m
D1 D2 D3
D4 D5 D6
C14.7m
ICA:
EQU
TP := 0.0002ustmax := 10.
GAIN
n
GAIN
ust_in
GAIN iq
Y t
ust
d-q-Current Controller
Speed Control
1,3 Nm at2000 rpm
Yt
M_LOAD
MS3 ~
BA CSYMPOD1
R1 := 1 L1D := 9.2mL1Q := 9.2mKE := 0.334
P := 3J := 5.55m
LOAD := SYMPOD1.N*0.00065 + M_LOAD.VAL
t0a := 0t0b := 0t0c := 0
Synchronous Machinepermanent excitation
Control Signal Generation / Phase Transformation
Phase Currents
t [s]
20
-25
0
-20
-15
-10
-5
5
10
15
0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35
Reference and Actual Speed
t [s]
1k
-1k
0
-0.75k
-0.5k
-0.25k
0.25k
0.5k
0.75k
0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35
DC Link VoltageC1.V [V]
t [s]
0.57k
0.53k0.53k
0.54k
0.54k
0.55k
0.55k
0.56k
0.56k
0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35
Position
t [s]
1.6k
-0.2k0
0.2k
0.4k
0.6k
0.8k
1k
1.2k
1.4k
0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35
Reference and Actual Torque
t [s]
40
-40
0
-30
-20
-10
10
20
30
0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35
QuickGraph92 * yd.VALyq.VAL
t [s]
8
-8
0
-6
-4
-2
2
4
6
0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35
G(s)
GS2
I
I_id
GAIN
id
LIMIT
yq
UL := 9LL := -9
LIMIT
yd
UL := 9LL := -9
GAIN
P_id
KP := 0.76
P21
z2 := 1z5 := 0
P22
z2 := 0z5 := 1
t - t0b >= TP
t - t0b >= TEb
t0b := t
P11
z1 := 1z4 := 0t0a := t
P12
z1 := 0z4 := 1
P31
z3 := 1z6 := 0t0c := t
P32
z3 := 0z6 := 1
t - t0c >= TP
t - t0c >= TEct - t0a >= TEa
t - t0a >= TP
G(s) GS1
I
I_iq
I
I_n
KI := 29.02kUL := 10LL := -10
GAIN
P_PART_n
LIMIT
m_ref
KP := 0.1161k
IGBT1 IGBT2 IGBT3
IGBT4 IGBT5 IGBT6
CONST
id_ref
KI := 80
GAIN
P_Iq
KP := 0.76
theta_el:=SYMPOD1.PHIDEG * PI / 180.yalph:=cos(theta_el) * yd.VAL - sin(theta_el) * yq.VALybeta:=sin(theta_el) * yd.VAL + cos(theta_el) * yq.VALya:=yalphyb:=-0.5 * yalph + ybeta * sqrt(3.) / 2.yc:=-ya - ybTEa:=(ya / ustmax + 1) * TP2TEb:=(yb / ustmax + 1) * TP2TEc:=(yc / ustmax + 1) * TP / 2.i1alph:=SYMPOD1.I1Ai1beta:=(SYMPOD1.I1A + 2 * SYMPOD1.I1B) / sqrt(3.)i1d:=i1alph * cos(theta_el) + i1beta * sin(theta_el)i1q:=i1beta * cos(theta_el) - i1alph * sin(theta_el)theta_m:=theta_el / 3.
Generator System
+
V
+
V
+
V
A+
A+
A+ +
V
+
V
+
V
+
V
+
V
+
V
R1
R2
R3
L1
L2
L3
R4
1n
L4
1n
ET1
ET2
ET3
TH1
TH2
TH3
TH4
vm22 vm11vm33
TH5
TH6
vm_HS_U1
vm_HS_U2
vm_HS_U3
IGAIN
alpha2
KI := -0.1k
bypass:=0
Tmax:=-500
net_in:=1 * Unom
main:=1bypass:=1
Tmax:=-5000
net_in:=1 * Unom
Tmax:=-10000
net_in:=1 * Unom net_in:=1 * Unom
Tmax:=-15000Tmax:=-19000
net_in:=1 * Unom net_in:=1 * Unom
(t>=0.6) (t>=2.5) (t>=3.5) (t>=4.5) (t>=4.8)
SET: := con:=0
(t>=0.65) State10_3
con:=1
net_in:=1 * Unom
Tmax:=-500SET: := bypass:=1
(t>0.1)
soft
con:=1(t>=(0.65+T_con))
(t>=(0.65+(2*T_con)))
(t>=(0.65+(3*T_con)))
(t>=(0.65+(4*T_con))) (t>=(0.65+(6*T_con)))
(t>=(0.65+(5*T_con))) (t>=(0.65+(7*T_con)))
(t>=(0.65+(8*T_con)))
SET: ignit11:=0
vm1.V>0 and alpha.VAL<=risetime-1
t>th1+toff or vm1.V<=0
SET: ignit12:=0
SET: th1:=t
vm1.V<0 and alpha.VAL<= risetime-1
t>th1+toff or vm1.V>=0
SET: ignit31:=0
SET: th3:=t
vm3.V>0 and alpha.VAL<=risetime-1
t>th3+toff or vm3.V<=0
SET: := ignit32:=0
SET: := th3:=t
vm3.V<0 and alpha.VAL <= risetime-1
t > th3+toff or vm3.V>=0
SET: ignit21:=0
SET: th2:=t
vm2.V>0 and alpha.VAL<=risetime-1
t>th2+toff or vm2.V<=0
n_off2
SET: ignit22:=0
vm2.V<0 and alpha.VAL<=risetime-1
t>th2+toff or vm2.V>=0
EQU Yt ICA: EQU
tignit := alpha.VAL / (360 * freq)
freq := 50
toff := 1 / (2.1 * freq)
alpha
risetime := 120C_com := 10uUnom := 20k / 1.73
T_turbine := -5000
VA2_1
Pmech := T_turbine * ASM_1.N / 60 * 2 * 3.14 / 3
Star
High Voltage Low Voltage
Dy5 TFR3LP1TFR3LS1
am1 := 20k * sqrt(2) / sqrt(3)
FILE := asynchronous_wind_generator5_ssh__alpha.mdxTPERIO := 0.5
PHASE := 0PERIO := 0
Delta
M3 ~BA
C
R1 := 1.13333m
R2 := 1.7m
LS1 := 0.135667m
LS2 := 84.6667u
LM := 4.33333m
I1A0 := 0
I1B0 := 0
I1C0 := 0
I2A0 := 0
I2B0 := 0
I2C0 := 0
N0 := 1.49k
PHI0 := 0
LOAD := T_turbine
Reactive power compensation
Soft startbypass
Soft start curve for alpha
<---Timedependent changing of load torque caused by the wind
Thyristor Control
SET: := C_con:=100uSET: := T_con:=0.05
Time dependent changing of the capacitancesin the reactive power compensation
QuickGraph1ASM_1.N
t
1.70k
1.40k
1.60k
0 3.002.00
QuickGraph2vm1.Vvm2.Vvm3.V
t
40.00
-40.00
0
-25.00
25.00
0 3.002.00
SET: th1:=t
SET: th2:=t
DEL: ignit22 ## tignit
Inverter Drive System
i_a"Dc
T
30.00
-10.00
0
20.00
0 812.9m500.0m
t
ETR
t
ETS
t
ETT
TH11 TH12 TH13
TH14 TH15 TH16
TH21 TH22 TH23
TH24 TH25 TH26
UR US UT
USynR USynS USynT
UR
US
UT
ERS
ERS
EXT
v_soll
60
P
n_soll
100
P
un_soll
5m
LIMITER
um_sollB
10 -10
un
EXT
un_ist
0.04775omg"MasTacho"
NEG
NEG1
EXT
n_ist
omg"MasTacho"9.549
P
v_ist
0.16667m
I
s_ist
1
EXT
n6
9.549omg"MasTisch"
P
v6
0.16667m
I
s6
1
EXT
uni6
0.04775omg"MasTisch"
I
GRnI
350.385
P
GRnP
4.67
10 -10
ui_soll
LIMITER
ui_sollB
-7.57.5
ui
EXT
ui_ist
i_a"DcmpMotor"0.2
NEG
NEG2
I
GRiI
45.446-1010
P
GRiP
0.168
ustICA :
ICA1
VA1 :VA1_1
Start Sp
VSoll
NE1NE2
lTT2 lTT1
t Y
dssi
SR1
SR2
P2P1
NE3
NE4
NE5
NE6
NE7
NE8
NE9
NE10
W01 W02 W03
W04 W05 W06
V01 V02 V03
V04 V05 V06
Z11 Z21 Z12 Z22 Z13 Z23
Z14 Z24 Z15 Z25 Z16 Z26
NE11 NE12
NE13 NE14
NE15 NE16
NE17 NE18 NE19 NE20
NE21 NE22
NE23 NE24 NE25
NE26 NE27 NE28 NE29 NE30 NE31
NE32 NE33 NE34 NE35 NE36 NE37
NE38 NE39 NE40
vsoll
NE41
P
v_soll1
100
ssollsistsschl
T
7.500m
-2.500m
0
5.000m
0 812.9m500.0m
s_ists6
T
7.500m
-2.500m
0
5.000m
0 812.9m500.0m
v6v_ist
T
20.00m
-10.00m
0
0 812.9m500.0m
m_Dffm_Dffm_Dffm_Dffm_Dff
T
40.00
-20.00
0
25.00
0 812.9m500.0m
u_a"D
T
200.0
-100.0
0
0 812.9m500.0m
J
MasTachoJ := 0.15m
J
MasKupplgLiJ := 0.9m
J
MasKpplgReSpdlLiJ := 1.55m
J
MasSpindelReJ := 1.94m
J
MasTisch
J := 0.57m
STF
StfTachowellec := 20k
k_Vsc := 66.7m
STF
StfMotorwellec := 35k
k_Vsc := 0.24
STF
StfKpplgc := 186k
k_Vsc := 0.39
STF
StfSpindelc := 18k
k_Vsc := 0.223
STF
StfSpdlAxialc := 190
k_Vsc := 0.095
M
DCMP
DcmpMotorR_a := 1.28
L_a := 4.749m
k_e := 971m
I_a0 := 0
J := 2.1m
k_Vsc := 0.25
k_Vsc := 1
State MachineMechanical Elements
Control loop
Drive System with FEA modelIncludes: High Fidelity Machine FEA Model, Battery, Manufacture IGBTs, Closed-loop Current/Speed Controls, Dynamic Mechanical Load and Digital Switching
GAIN
n
GAIN
ust in
GAIN iq
Y t
ust
d-q-Current Controller
Speed Control
Yt
M LOAD
Phase Transformation / Control Signal Generation by Space Vector Modulation
G(s)
GS2
I
I id
GAIN
id
LIMIT
yq
UL := 10
LL := -10
LIMIT
yd
UL := 10LL := -10
GAIN
P id
KP := 1.96
G(s
)
GS1
I
I n
KI := 29.02kUL := 10
LL := -10
GAIN
P PART n
LIMIT
m ref
KP := 0.1161k
IGBT1 IGBT2 IGBT3
IGBT4 IGBT5 IGBT6
CONST
id ref
KI := 240
GAIN
P Iq
KP := 1.96
I
I iq
KI := 240
ICA: EQU
PI3:=pi / 3.
P18:=pi / 180.Tp:=1./fp
wu32:=sqrt(3.) / 2.
kA:=0.1
wu3:=sqrt(3.) gam1:=0.
fp:=10k
tx:=0 costhe:=cos(theta_el)
yalph:=costhe * yd.VAL - sinthe * yq.VAL
i1q:=i1beta * costhe - i1alph * sinthe
i1d:=i1alph * costhe + i1beta * sinthe
ybeta:=sinthe * yd.VAL + costhe * yq.VAL
sinthe:=sin(theta_el)
theta_el:=SYMPOD1.PHIDEG * P18
i1beta:=(SYMPOD1.I1A + 2 * SYMPOD1.I1B) / wu3
theta_m:=theta_el / 3.
i1alph:=SYMPOD1.I1A
SET: k:=k+1 SET: gam1:=gam1
SET: kr:=(k-1)*PI3SET: kl:=k*PI3
kl <= gam1
true
t-tx >= Tp
kr <= gam1 and kl > gam1
yalph > 0 and ybeta >= 0
SET: tx:=t SET: k:=1yalph = 0 and ybeta = 0PRI := 1
(ybeta > 0 and yalph <= 0) or (yalph < 0 and ybeta <= 0) ybeta < 0 and yalph >= 0
SET: gam1:=pi-ASIN(ybeta/y)SET: gam1:=2*pi+ASIN(ybeta/y)true
true
A126SET: z3:=0SET: z6:=1
B345SET: z6:=0SET: z3:=1
A234SET: z1:=0SET: z4:=1
B246SET: z5:=0SET: z2:=1
A135SET: z2:=0SET: z5:=1
B156
SET: z4:=0SET: z1:=1
A123 SET: z3:=1
SET: z4:=0SET: z1:=1
SET: z6:=0SET: z5:=0SET: z2:=1
E456 SET: z2:=0SET: z6:=1
SET: z1:=0
SET: z3:=0SET: z5:=1SET: z4:=1
t-tx >= t02+tr+tl
t-tx>=t02 and k=2
t-tx >= t02+tr+tl
t-tx>=t02 and k=4
t-tx >= t02+tr+tl
t-tx>=t02 and k=6 t-tx>=t02 and k=5
t-tx >= t02+tr+tlt-tx >= t02+tr+tl
t-tx>=t02 and k=3
t-tx >= t02+tr+tl
t-tx>=t02 and k=1
B234
SET: z3:=1SET: z6:=0
A246
SET: z4:=1SET: z1:=0
B135SET: z4:=0SET: z1:=1
A345
SET: z5:=1SET: z2:=0
A156SET: z3:=0SET: z6:=1
B126SET: z2:=1SET: z5:=0
t-tx >= t02+trt-tx >= t02+trt-tx >= t02+tr t-tx >= t02+tr t-tx >= t02+tr t-tx >= t02+tr
E123SET: z6:=0
SET: z4:=0
SET: z3:=1SET: z5:=0
SET: z1:=1SET: z2:=1
A456SET: z4:=1SET: z5:=1SET: z6:=1
SET: z1:=0
SET: z3:=0SET: z2:=0
SET: tl:=kA*y*Tp*sin(gamr)
SET: gamr:=gam1-krSET: tr:= kA*y*Tp*sin(PI3 - gamr)
SET: t02:=(Tp-tr-tl)/2
k=2 or k=4 or k=6 k=1 or k=3 or k=5
SET: k:=0true PRI := 1
t-tx >= Tp and k = 0 SET: tx:=t
SET: gam1:=ASIN(ybeta/y)
true
true
t-tx >= Tp
y:=SQRT(SQU(yalph)+SQU(ybeta))
if (y>10.) y:=10.
ω+
T
ECE - LINKECE - LINK
TA B C
Im β
Rotor
V ROT1
TTheta IN
Im_IN
beta IN
Battery- +
LBATT A1
EMI Motor Drive AnalysisIncludes: Busbar, Cable, IGBT Package Parasitics for EMI Application
ePhysics
What is ePhysics ?• Coupled Thermal and Stress Analysis for electromagnetic devices• Fully integrated with other Ansoft Desktops (Models, Materials, Mesh etc.)• Three Solvers:
Static ThermalTransient ThermalStatic Stress
Magnetic Analysis Thermal Analysis
Thermal Solution for Motors
Temperature variation vs timeof the rotor yoke & coils
Features:
- Coupled Maxwell – ePhysics solution- Automatic loss mapping- Anisotropic material properties- Adaptive time stepping- Advanced convective – radiative BCs
Convection &RadiationBoundaryConditions
Temperature distribution
Stress Solution for Motors
Deformation / stress due tocombined electromagnetic
and centrifugal force distributions
Von Mises stress
Features:
- Coupled Maxwell – ePhysics solution- Automatic force distribution mapping- Anisotropic material properties- Usage of load with spatial distribution
Permanent magnets,rotor with centrifugal
force volume density withspatial distribution10,000 rpm
Embedded PM Motor
Rotor
Magnified deformation due tocentrifugal and EM forces