系统仿真和硬件在环的三相同步电机等效电路模型提取.pdf

用于瞬态电气传动系统仿真和硬件在环的三相同步电机等效电路模型提取 Vincent Delafosse Senior EM Product Manager 等效电路提取(ECE)是Maxwell的标准功能 Parametric sweep of static solutions to map a nonlinear relationship between Current and Position to Flux Linkage and Torque/通过静态求解器参数化扫描分析，映射电流、位置和磁链、转矩之间的非线性关系 Ideal for systems with a small number of input parameters/具有少量输入参数的、理想的系统仿真模型 Can become computationally intensive with higher number of input parameters/可通过增加输入参数来提高仿真模型的保真度和计算精度 This work implements a new approach for the IPM/本专题采用一种新方法来提取IPM电机的等效电路 Reducing the number of simulations for higher number of input parameters/在增加输入参数的情况下减少仿真模型数量 Optimizing the“Look-up”table/优化查表 内容简介 26 May 2014 ECE Model Approach Summary/等效电路提取模型方法概述 The Model has the following parameters/模型参数包括:Rs:Stator winding resistance P:Number of pole pairs J:Moment of Inertia n1n2n3m1SimulatorModel=PMSM_DQ_GNurbsw+V_ROTB1ECE方法:Characterize the relationship of static flux-linkage to current for use in the circuit simulation/特征化静态磁链和激励电流的关系，以便用于电路仿真 ECE Model Approach Summary/ECE模型方法概述 2D Toyota Prius Example dDesign Prerequisistes 2D Transient Design No Eddy Effects 3-Windings defined Current Source Excitation Stator Currents Flux Linkages Example Three Phase Currents 0.002.505.007.5010.0012.5015.00Time s-125.00-62.50 0.0062.50125.00Y1 A06_Prius_Demo_Full_PeriodInput_CurrentCurve InfoInputCurrent(PhA)ECE_TR_Setup:TransientInputCurrent(PhB)ECE_TR_Setup:TransientInputCurrent(PhC)ECE_TR_Setup:Transient0.002.505.007.5010.0012.5015.00Time s-0.50-0.250.000.250.50Y1 Wb06_Prius_Demo_Full_PeriodFlux_LinkageCurve InfoFluxLinkage(PhA)ECE_TR_Setup:TransientFluxLinkage(PhB)ECE_TR_Setup:TransientFluxLinkage(PhC)ECE_TR_Setup:Transient Induced Voltage Magnetic Torque Example:Id=10A,Iq=100A 0.002.505.007.5010.0012.5015.00Time s-200.00-150.00-100.00-50.00 0.0050.00100.00150.00200.00Y1 mV06_Prius_Demo_Full_PeriodInduced_VoltageCurve InfoInducedVoltage(PhA)ECE_TR_Setup:TransientInducedVoltage(PhB)ECE_TR_Setup:TransientInducedVoltage(PhC)ECE_TR_Setup:Transient0.002.505.007.5010.0012.5015.00Time s80.0085.0090.0095.00100.00105.00Moving1.Torque NewtonMeter06_Prius_Demo_Full_PeriodMagnetic_TorqueCurve InfoMoving1.TorqueECE_TR_Setup:TransientThe DQ transformation is the projection of three sinusoidal phase quantities onto two axes rotating with the same angular velocity as the sinusoidal phase quantities./DQ变换是三相正弦相量向两相同步旋转坐标系上的投影 The two axes are/两相坐标轴是:The direct,or d-axis(typically oriented with rotor)/直轴 The quadrature or q-axis(90 degrees from d-axis)/交轴 Condition:the three sinusoidal quantities sum to zero./条件：三相正弦量和为0 Parks Transformation(DQ)/Park(DQ)变换 http:/en.wikipedia.org/wiki/Dqo_transformation Rotor-oriented currents Flux Linkage rotor-oriented Example:Id=10A,Iq=100A 0.002.505.007.5010.0012.5015.00Time s0.180.200.230.250.280.300.330.35Y1 Wb06_Prius_Demo_Full_PeriodXY Plot 2Curve InfoECE_psi_dECE_TR_Setup:TransientECE_psi_qECE_TR_Setup:Transient0.002.505.007.5010.0012.5015.00Time s-125.00-62.50 0.0062.50125.00Y1 A06_Prius_Demo_Full_PeriodInput_CurrentCurve InfoInputCurrent(PhA)ECE_TR_Setup:TransientInputCurrent(PhB)ECE_TR_Setup:TransientInputCurrent(PhC)ECE_TR_Setup:TransientId=10A Iq=100A Example:Id=10A,Iq=100A Mean(d)=0.1827Wb Mean(q)=0.3403Wb E.g.9 x 9 values of Id and Iq result in 81 solution points/Id and Iq各取9个扫描点即可获得81种求解方案 Results are exported from Reporter to*.csv files/扫描结果可直接输出到*.csv文件 ECE Approach/ECE方法 Parametric Sweep of Id and Iq/参数化扫描Id and Iq Flux D as function of Iq(Families of Id)/不同Id下、d轴磁链和Iq的关系曲线 Flux Q as function of Iq(Families of Id)/不同Id下、q轴磁链和Iq的关系曲线 ECE Approach:Sweep of Id and Iq-300.00-200.00-100.00 0.00100.00200.00300.00ECE_Iq A-0.50-0.250.000.250.50mean(ECE_psi_q)Curve Infomean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=-300Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=-225Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=-150Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=-75Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=0Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=75Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=150Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=225Amean(ECE_psi_q)ECE_TR_Setup:TransientECE_Id=300A01_Prius_design_IdIq_Symm_ECEECE_psi_q-300.00-200.00-100.00 0.00100.00200.00300.00ECE_Iq A-0.25-0.130.000.130.250.380.50mean(ECE_psi_d)Curve Infomean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=-300Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=-225Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=-150Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=-75Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=0Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=75Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=150Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=225Amean(ECE_psi_d)ECE_TR_Setup:TransientECE_Id=300A01_Prius_design_IdIq_Symm_ECEECE_psi_dExport reporter value for average flux density as functions of Id and Iq in*.csv files/以*.csv文件输出的不同Id、Iq激励下的平均磁通密度 ECE Approach Example*.csv results file Flux D and Q as function of Id/Iq ECE Approach Parametric Sweep of Id and Iq Non-linear dynamic model of formulated in the dq(rotor-oriented)reference frame/DQ轴系下的电机非线性动态模型公式 Electrical equations +=0 =0 Mechanical Equation 1=0 =0 =Torque Equation 1.5 Development of ECE Model/ECE模型研究 Model Structure/模型结构 Current transformation/电流变换 Voltage transformation/电压变换 Note:k=2/3 ECE Model Approach Summary=cossin=cos 23 sin 23 =0 Handled explicitly by Simplorer=cos +cos 23+cos+23 =sin +sin 23+sin+23 Nonlinearity defined by a parametric study of flux vs current/通过参数化分析定义磁链和电流的非线性关系:,=0 ,=0 Each parametric variation is performed by a transient simulation and has inputs ,and outputs ,.Model symmetry can be used/采用瞬态参数化扫描分析，输入为 ,，输出为 ,，可以采用对称性模型。The dq quantities are then taken from the time-averages of ,/dq轴磁链为 ,的时域平均值 Development of ECE Model/ECE模型研究 Model Structure/模型结构 ECE Model Generation Process/ECE模型生成流程 26 May 2014 Simplorer Model 26 May 2014 0w+V_ROTB1EQUFML1S1:=if(Time The dimension of the interpolation space would then be 3/插值空间的维数就变成3 Development of ECE Model/ECE模型研究 Model Structure/模型结构 Interpolation 26 May 2014 Integrating FEM in an everyday design environment to accurately calculate the performance of IPM motors;Johannes Germishuizen,Scott Stanton and Vincent Delafosse;ISEF 2009-XIV International Symposium on Electromagnetic Fields;in Mechatronics,Electrical and Electronic Engineering;Arras,France,September 10-12,2009 OS Linux cluster specifications:Total CPUs(cores):48 Total hosts(nodes):4 Large Scale Distributed Solve Option(LS-DSO)Prius motor project 17195 variations Cores used 48 IPM Motor Simulations on LS-DSO Maxwell Setup Parametric sweep table of 17195 rows:Beta=0:20:360 Theta=0:0.25:45 Iamp=0:50:200 Parametric table was run on(LS-DSO)Results post-processed using Matlab Final Table:Beta=0:5:360 Theta=0:0.25:45 Iamp=0,2.5,5,8,11,18,25,37.50,50,75,100,125,150,175,200 Note:Results were post-processed using spline interpolation in Matlab/注：结果采用注：结果采用Matlabapline插值进行处理插值进行处理 IPM Motor Simulations on LS-DSO Results Flux Linkage Flux linkage of phase U when Beta=0 deg and Iamp=0A 0102030405060708090-0.05-0.04-0.03-0.02-0.0100.010.020.030.040.05Theta,deg fu,Weber Flux Linkage of Phase UResults Instantaneous Torque Instantaneous torque of phase U when Beta=45 deg and Iamp=200A 051015202530354045280290300310320330340350Theta,deg Torque,N.m Instantaneous TorqueResults Instantaneous Torque Instantaneous torque of phase U when Beta=45 deg and Iamp=200A 051015202530354045280290300310320330340350Theta,deg Torque,N.m Instantaneous TorqueResults Incremental Inductance Incremental inductance of phase U when Beta=45 deg and Iamp=200A 0510152025303540451.522.533.544.555.5x 10-5Theta,deg Luu,H Incremental Inductance Note:Maxwell also can compute the incremental inductance when Iamp=0 Results Average Torque Average torque of phase U when Beta=45 deg and Iamp=200A Note:For motor mode operation,Beta ranges from 0 deg to 90 deg which adheres to the alignment criteria shown in the phasor diagram 050100150200250300350-400-300-200-1000100200300400Beta,deg Average Torque,N.m Average TorqueResults Instantaneous Torque Instantaneous Torque Results Instantaneous Flux Linkage Instantaneous Flux Linkage Results Instantaneous Flux Linkage Instantaneous Inductance Speed-up factor and cores utilizations:IPM Motor Simulations on LS-DSO Number of cores Simulation time(hours)Speed-up factor Cores utilization%1 368.3 1 100%6 63.7 5.7 95%12 32.9 11.2 94%24 16.2 22.8 95%36 10.9 33.4 94%48 8.0 46.1 96%60 6.4 57.6 96%96 4.2 90.0 94%Simulation time in log scale:IPM Motor Simulations on LS-DSO 0102030405060708090100100101102103Number of coresTime,hours Speed-up factor:IPM Motor Simulations on LS-DSO This graph shows that the simulation time is reduced linearly with the increase of number of cores 020406080100020406080100Number of coresSpeed-up factor Results for all variations extracted using LS-DSO extractor with merge csv option/所有变量的结果：通所有变量的结果：通过大规模分布式并行求解提取所得过大规模分布式并行求解提取所得 Extraction of Results on LS-DSO All results of the variations are combined in a single CSV file/所所有变量的参数化扫有变量的参数化扫描结果都整合到单描结果都整合到单个个CSV文件中文件中 Plant model exported from Maxwell,is integrated with I/O&any peripheral plant model/Maxwell输出的设备模型可以和I/O、任意外围设备模型进行集成 components in Simulink to be compiled for real-time./Simulink中的器件可通过编译用于实时仿真。Xilinx System Generator is a FPGA Simulink blockset/Xilinx系统发生器是Simulink FPGA仿真模型库 No need to know VHDL language/不需要知道VHDL语言 User can customize the I/O for complex applications/用户可针对复杂应用定制化I/O RT-LAB I/Os are fully programmable with Xilinx System Generator/RT-LAB I/O可采用Xilinx系统发生器进行全面编程 A typical XSG model in RT-LAB Conclusion/结论 40 FPGA will soon be the reference for HIL testing/FPGA将很快成为硬件在环测试的参考 High-fidelity HIL model on FPGA is a reality/FPGA高保真度硬件在环模型为现实所需 Large scale parametric analysis of(example)Prius Motor was done to prepare data for Opal-RT software using ANSYS Maxwell software/采用采用ANSYS Maxwell大规模参数化扫描分析提大规模参数化扫描分析提取的取的Prius电机模型为电机模型为Opal-RT软件测试准备了相关数据软件测试准备了相关数据 Motor prototyping is ready/电机虚拟原型已准备就绪 Enhanced control algorithm validation is now possible on HIL/可实现硬件在环的、改进的控制算法验证 Faster test means lower cost/更快速的测试意味着更低的成本 Motor and controller designer can work closely together The exported Maxwell model(Design)IS the HIL plant model/电机和控制器设计者可紧密协作Maxwell输出的模型是硬件在环的设备模型 Summary/总结 26 May 2014 41