® PSIM User’s Guide Powersim Inc. Chapter : -7 PSIM® User’s Guide Version 9.0 Release 2 March 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: [email protected] http://www.powersimtech.com -6 Chapter : 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 Diode, and DIAC 10 2.2.2 Thyristor and 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 Chapter : -5i 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 2.7 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 2.8 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 2.9 MagCoupler Module 76 2.9.1 MagCoupler-DL Block 76 2.9.2 MagCoupler Block 77 2.10 MagCoupler-RT Module 81 2.11 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 2.12 Renewable Energy Models 94 -4ii Chapter : 2.12.1 Solar Modules 94 2.12.2 Wind Turbine 97 3 Control Circuit Components 3.1 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 3.2 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 3.3 Other Function Blocks 110 3.3.1 Comparator 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 3.4 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 3.5 Digital Control Module 120 Chapter : -3iii 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 3.6 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 4 Other Components 4.1 Parameter File 137 4.2 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 Voltage-Controlled Sources 145 4.3 Voltage/Current Sensors 146 4.4 Probes and Meters 146 4.5 Voltage/Current Scopes 148 4.6 Initial Value 150 4.7 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 4.8 Function Blocks 154 4.8.1 Control-Power Interface Block 154 -2iv Chapter : 4.8.2 Transformation Blocks 154 4.8.2.1 abc-dqo Transformation 155 4.8.2.2 abc-α/β Transformation 156 4.8.2.3 α/β-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 C Block 160 4.8.6 Simplified C Block 161 4.8.7 External DLL Blocks 162 4.8.8 Embedded Software Block 164 5 Analysis Specification 5.1 Simulation Control 165 5.2 AC Analysis 166 5.3 Parameter Sweep 168 6 Circuit Schematic Design 6.1 Creating a Circuit 171 6.2 File Menu 173 6.3 Edit Menu 173 6.4 View Menu 174 6.5 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 6.6 Simulate Menu 180 6.7 Options Menu 183 6.8 Utilities Menu 187 6.9 Managing the PSIM Library 187 6.9.1 Creating a Secondary Image 188 6.9.2 Adding a New Subcircuit Element into the Library 189 6.9.3 Adding a New DLL Element into the Library 191 Chapter : -1v 7 Waveform Processing 7.1 File Menu 193 7.2 Edit Menu 194 7.3 Axis Menu 194 7.4 Screen Menu 195 7.5 Measure Menu 196 7.6 Analysis Menu 197 7.7 View Menu 198 7.8 Option Menu 198 7.9 Label Menu 199 7.10 Exporting Data 199 8 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 vi0 Chapter : 1 General Information 1.1 Introduction PSIM1 is a simulation software specifically designed for power electronics and motor drives.