Simplorer

1
Simplorer V6Basic Training

• 1st Day

2
1st Day Content

1. System structure and background
2. Circuit simulation
3. Block diagram simulation
4. State machine simulation
5. System simulation

3
System structure and background
4
SIMPLORER Multi Domain Simulation
5
Example Drive System
Power Supply
Converter/ Inverter
Electrical Machine
Load
Analog Control
Digital Control

• Automotive systems, electrical drives and other
  systems consist of a variety of components and
  the components have interactions

.
6
Domains a Drive System
Electronics
Electromagnetics
Mechanics
Power Source
Power Converter
Mechanical Load
Actuator
Digital Control
Analog Control
Control

• Simplorer can group these components together
  into different domains and link them

7
Conventional Modeling Method

Electronic Circuits
Controls
Mechanics
Magnetic
transformation of all model components into one
description language (e.g. differential equations,
frequently electric circuits)
SML Script Language
VHD VHDL-AMS Language
8
SIMPLORER Methodology
Electrical/Electronics (analog and digital
circuits)
Digital Control Systems (state machine)
XOR2_DEL1
A
XOR
XOR2_DEL2
B
IGBT1
IGBT3
SUM
IGBT2
XOR
C
AND2_DEL1
C1
AND
OR2_DEL1
4.7m
AND2_DEL2
Carry
OR
IGBT4
IGBT5
IGBT6
Analog Control, Mechanics (block diagram)
AND
B
A
C
3
MS
Each part of a complex technical system is
represented by the most appropriate modeling
language
9
Mixed Language Simulation

• Each Physical Domain has its Solver and Modeling
  Language
• Separate simulators, but coupled together

Control System/ Mechanics
Electronic Circuits
Discontinuous Processes
Based on
Based on
Based on
Block Diagram Simulator
Non-SPICE Circuit simulator
State Machine Simulator
SIMPLORER Coupled Simulators Multi Language
Concept
10
Simulator Coupling Technology
Maxwell2D/3D Electromagnetism Electro mechanics
SIMPLORER Simulation Data Bus Simulator Coupling
Technology
Model Database Electrical, Blocks, States,
Machines, Automotive, Hydraulic, Mechanics,
Power, Semiconductors
11
Analysis Types for Simulation

• Time Domain (transient analysis or TR simulation)
• Example Determine losses for buck converter
  power supply
• Frequency Domain (harmonic analysis or AC
  simulation)
• Example Design control loop for buck converter
• Quiescent Domain (DC operating point analysis or
  DC simulation)
• Example Determine initial conditions of
  transistors and semiconductors for an AC analysis

12
TR Simulation
Transient Domain
Select here
13
AC Simulation
Frequency Domain
Select here
Note elements not supported in frequency domain
simulation
14
DC Simulation
Quiescent Domain
Select here
Note elements not supported in DC simulation
15
C/C - Software Structure
SIMPLORER
C/C Programming Interface
State Machines
Mechanics Components Electrical Machines Solver
Matrix Access
Blocks Controller Characteristics Data Processing

• Includes C-interface Wizard
• Used to define new components for
• 1) Users C-models such as control algorithms or
  behavior component models
• 2) Creating call functions for users external
  .dll such as a Matlab simulation

16
Data Exchange Concept
Different way for data to flow in Simplorer
State Machine
Resistance
Schematic
SET AS11
R1
Control signal
R1.R gt 10 AND
TR1
SUM.VAL 1000
cs AS1
SET RefVal 100
Block Diagram
RefVal
SUM
Gain
NEG1
TR1.I
Current
Gain
NEG
17
Naming Conventions
Circuit Simulator - Passive Components
Symbol
Read and Write
Component Name
R_SHUNT.R
resistance
R_SHUNT.I
current of the component
R_SHUNT.dI
1st derivative of of the current
R_SHUNT.V
voltage of the component
R_SHUNT.dV
1st derivative of of the voltage
C_LINK.C
value of the component
C_LINK.VO
initial voltage value
C_LINK.Q
charge of a capacitance
L_LOAD.PSI
flux linkage of inductor
Read Only
18
Component Specific Parameter Dialogs
Blue color for output Red color for
parameters Brown for bi-directional
19
Naming Conventions - Blocks
Integ
I
Block Name
Integ.VAL Value of the Block Output
Signal Integ.KI Integral Gain Integ.Y0 Initial
Output Value Integ.UL Upper Limit (0 no
limit) Integ.LL Lower Limit (0 no
limit) Integ.TS Sampling Time
20
Naming Conventions State Machine
State Machine Simulator / Expression Evaluator
OFF
State name
RefVal
Name of a variable, carries a quantity, executed
when state is active depending on type of action
(STEP, SET, ...)
OFF.ST
Activity situation of a state Delivers 0, if the
state is inactive Delivers 1, if the state is
active
RefValAsin(2PIfreqt)
21
Reserved Internal Variables
TEND , HMIN , HMAX , THETA , FSTART , FEND
Simulation End Time
Maximum Time Step
Start Frequency
Minimum Time Step
Ambient Temperature
End Frequency
F , T , H , PI , TRUE , FALSE , SECM.ITERAT ,
FSTEP
Current Frequency
Current of Iterations
Mathematical
Logical
Current Time Step
Frequency Step Size
Current Time
22
User Management
User Name
Load the last opened project
Start new Project or Schematic
All settings for the given user are restored,
when SIMPLORER is re-started, if the user does
not exist, create a new one
23
Welcome Screen
Create / Open a simulation model / project
24
Project Management
When Project/New is selected
A project contains all files belonging to a
simulation task, such as schematics, results,
experiments, etc.
Project location
CLICK
Project Name
Project Description
25
SSC Commander Project Management
.ssh .sml .vhd .day .smd .sml .idl .ssh
Tool Bar
List of files associated with the selected
application
Simulation Queue
Application Launcher
26
Project Copy

• Multiple sheets at different locations could be
  included in one project.
• Can copy all files of a project into one
  directory by
• Open the project.
• Click on project / copy.
• Browse into the new location and assign a project
  name.
• Project will be copied with all of its files into
  the same directory.

27
Install/remove Libraries
Options -gt
To add one or more libraries, select them in the
upper window...
... and add the selection or all of the libraries
in the directory
Dont forget to save your installation!

• Libraries can also be inserted or removed in the
  schematic
• Libraries can be saved in a common location and
  shared over a network

28
Install/remove Libraries

• Libraries can also be inserted or removed in the
  schematic.
• Right mouse click in the library area.
• Select insert, new, or remove.

29
SIMPLORER Schematic
Tool Bars
DEMO
Libraries
Drawing Area
Library Components
Warnings, Errors and Messages Area
30
Symbols in the Model Agent (library)
Results on sheet
Basic components
C-models
Macros
Subsheets
31
Simulator Options / Commander
Compiler or simulator will stop, when a warning
occurs
Number of time steps, before active elements or
the ViewTool is updated. Increase to save
simulation time
Options for storage of the simulator state and
usage of saved states
Load and use an existing state file automatically
at the start of the simulation.
Save the states of all components contained in a
simulation model. Can continue the simulation
later from the last state.
Save the values of energy storage contained in a
simulation model. These values could also be
used as an initial values for a simulation.
32
Simulator Options / Sheet
When simulation data is not available.
When simulation data is available.
Files below are created if above options
selected .KRN generated at the end of the
simulation with automatically save state
option. .AWS initial value file, contains the
values of energy storing components
33
Numerical Data Conventions
Prefix Value Value SML SML Examples
tera 1012 E12 t TER 5e12, 5t, 5ter
giga 109 E9 g GIG 1.49e9, 1.4g, 1.4gig
mega 106 E6 MEG -0.3E6, -0.3meg, -0.3MEG
kilo 103 E3 k KIL 1000, 1e3, 1k, 1kil
milli 10-3 E-3 m MIL 0.0105, 1.05E-2, 10.5M, 10.5MIL
micro 10-6 E-6 u MIC 0.000005, 5e-6, 5u, 5mic
nano 10-9 E-9 n NAN 40E-9, 40n, 40nan
pico 10-12 E-12 p PIC 100E-12, 100P, 100PIC
femto 10-15 E-15 f FEM 9E-15, 9F, 9FEM
34
Formulas and Expressions
Formulas consist of operands and operators.
Operands can be any numerals or names. Operators
compare or assign a value. XYZ X,
Y, and Z are the operands and and are the
operators.
35
Integration Parameters
Itermax is the maximum number of iterations for
one simulation step.
Solver
IEMAX / VEMAX is the maximum current / voltage
error
Minimum and maximum step size settings
36
Basic Rules for Choice of Time Step
Proper choice of minimum and maximum integration
step size is very important for correct
simulation results.
37
Circuit Simulation
38
Circuit Simulator - Algorithms

• Modified Nodal Approach potential at every node,
  conduction between nodes
• Euler implicit (slower) and trapezoid integration
  (faster) algorithms
• Linear and nonlinear, expression and externally
  controlled passive components and sources
• Linear and nonlinear internally controlled
  sources
• Variable time step determination with user
  defined upper (hmax) and lower (hmin) limit

39
Direction Conventions
passive element such as resistance
voltage source
(current)
(current)
E1
R
a
b
a
b
(voltage) (EMF)
E1.V V(a) - V(b)
R.V V(a) - V(b)
(voltage)
E1.EMF V(b) - V(a)
E1.EMF V(a) - V(b) Spice convention
Note The red dot characterizes the pin, where
the current is considered being positive entering
the component.
40
Ground Node
Three ways to add a ground node
1. Right Mouse Click on the sheet
2. Connect Toolbar
Note Do not forget the ground node for each
separate circuit !!
3. Connect Menu
41
Electrical Components
Component Properties
Component Symbol
Component Parameters Settings
Component Name
Electrical Components have ideal connectivity,
line resistances, inductance etc. have to be
added separately
42
Nonlinear Resistance
The voltage-current relation is defined by a
nonlinear characteristic
Select Nonlinear If(v) And click the
Characteristic button
Select Reference or Look-up Table
Drag the resistor into the sheet
Double click on the resistor to get the property
window
Enter the values here
43
Nonlinear Components
The voltage-current relation is defined by an
equation
Change the name of the resistor
Define the variable that specifies the resistor
value. value10 value is defined elsewhere in
the sheet
Drag the resistor into the sheet
Double click on the resistor to get the property
window
44
Output and Display Definition

• Right mouse click on component and select
  Properties, Output/Display
• Show and hide parameters on the component, define
  outputs

To DAY postprocessor
To Viewtool
Display Options
45
How to Define an Output
Right mouse click
Online analog output, displayed in ViewTool or
QuickView automatically
File (database) output
The default output quantities already predefined
here
46
Output Definition

• Fast and easy output definition.
• Default output quantities automatically saved in
  result database file (SDB).
• Add waveforms from SDB after simulation has
  stopped.
• Data-reduction mode.
• View Tool settings (arrangement of displays and
  data channels) saved for simulation task.

Output definitions ina component dialog
47
Voltage Source

• Can be a constant, equation, or externally
  controlled
• The value of an equation controlled component is
  determined from the result of the equation

48
Controlled Voltage Source

• Linear or nonlinear
• Controlled by measured quantity either voltage
  or current

49
Switches and Semiconductors
50
Switches and Semiconductors
Spice compatible models
Ideal switches and semiconductor - system level
Semiconductor - device level
51
Other Components / Basic Library
DC motor
3ph motor
1ph transformer
3ph transformer
52
Other Components / Basic Library
Measurement (Electrical)
Measurement (Fluid)
Measurement (Magnetic)
Measurement (Mechanical)
Measurement (Thermal)
53
Other Components / Basic Library
Signal Characteristics
54
Nonlinear Components X-Y-Relation
Non-linear component x-y-Relation X-Value Y-Value
Resistance i f(V) Voltage Current
Capacitance v f(q) Charge Voltage
Inductance I f(?) Flux Current
Dual Capacitance C f(v) Voltage Capacitance
Dual Inductance L f(i) Current Inductance
55
Useful Things
Sheet
Toolbar
Component
Right Mouse Click on an empty area of the sheet
opens the sheet object menu with general setting,
wiring, etc
Right Mouse Click on an element opens the object
menu with most common functions
Right Mouse Click on an area of the tool bar
opens the object menu to turn ON or OFF tool bars
Folder
Element
56
Data Reduction

• Tool to reduce the size of the output file by
  reducing
• the frequency of saving simulation steps
• Does not impact previously solved projects

In Result Database tab, Select data reduction
Right mouse click in the sheet
57
Graphics and Display Settings
Right mouse click in the sheet and select Viewtool
Display Selected Period Only
Set Y-Axis Limits For Display
58
Page Setup and System Settings
Select Sheet/ Properties/ System
Select Sheet/ Properties/ Page Size
For automatic start of Viewtool, check here.
59
Integration Formula

• Select integration method using Simulation/
  Parameters
• The integration formula influences the result
• Trapezoidal is fast but may be instable (default)
• Euler (basic with stiffness method) is fast and
  stable but dampens

Trapezoidal
Euler
Ideal Oscillator
Hmin10u Hmax100m
Hmin10u Hmax10m
60
Output Display with 2D View
61
Quick View / Sliding Window
Check the Time Range box and set the value of the
sliding window of the graphic
Right mouse click
62
Quick View / Multiple Axis
63
Place Holders (text boxes)

• Click on Draw / Text and place it in the sheet
• Right mouse click

Select and insert the item
64
Advanced Settings for Time Functions
65
Advanced Settings for Time Functions
66
Example 1Varistor - Nonlinear Resistance
67
Example Problem 1Varistor - Nonlinear Resistance
Simulation properties Simulation End Time
100m Minimum Time Step 10u Maximum Time Step 1m
Use the default time controlled values for the
source
The varistor model is defined as a nonlinear
characteristic using a 2D look up table from
within the resistor component. The data can be
obtained directly from a measurement device via
the SIMPLORER IEEE-interface or entered manually.
68
Circuit Setup
Add a Voltage Source, Inductor, and 2 Resistors
From The Basic Components Library
Dont Forget the Ground !
69
Nonlinear Resistor
Voltage Current
-220 -10
-210 -0.1
-200 -0.001
0 0
200 0.001
210 0.1
220 10
Save to a file or Read a data file
Click on yellow corner box and enter values
70
Simulation Result

• To add a new plot
• On toolbar, select 2D View icon
• (or) from library, select Displays/ 2D View
• To scale quantities, RMB on plot and select Best
  Representation

71
How to Display the Characteristic
Add one 2D View (con) and two Data from simulation
Note the ConnectGraph consists of 2 parts the
ConnectGraph and the associated 2D view
72
Settings and Results
Connect channel1 to X terminal
Set R2.V for channel1
Set R2.I for channel2
Connect channel2 to Y1 terminal
73
Example 2DC Drive for aPermanent Magnet DC
Motor
74
Example Problem 2DC Drive
Four Static Diodes
DC Motor
AC Voltage Source
Note Dont forget the ground!
Period of the input sine wave is 16.666ms -gt Hmax
16.666m/20 Steps 0.833ms, we use Hmax 0.5m
and Tend 200ms
Timestep choice
? LA/RA 10mH/1? 10ms -gt Hmin 10ms/20
Steps 0.5ms, we use Hmin Hmax/100 0.005ms
Time constant
75
Diode Definition
Clone the component by dragging with pressed CTRL
key.
Choose equivalent line diode type
76
Voltage Source
77
Electrical Machine DC Permanent Magnet
Excitation
78
Simulation resultsNo control, no load and static
diodes
Note Add title blocks using Draw/ Text
79
Block DiagramSimulator
80
Block Diagram Simulator

• Distributed integration algorithm
• Linear, non linear and external controlled analog
  blocks
• Digital closed loop control systems using
  discrete transfer functions
• Mixed digital and analog control system
  simulation in one model

81
Blocks
Continuous
Discrete
Signal Processing
Math
82
Digital Control Capabilities
Example filter for motor control

• Sampling time is set locally for blocks (such as
  inputs) which use a sample time
• You may want longer sampling time than time-step

83
Example 3 Transfer Function Step Response
84
Example Problem 3 Transfer Function Step
Response
Summation Block
Transfer Function
Input
Output

4.87
1
1 5s 6.25s2
Transfer Function G(s)
STEP
Numerator Order 0 Denominator Order 2
Goal of this example is to model a process
85
Model Definition
3. Add transfer function coefficients
1. Add S-Transfer function
A0 1 A1 5 A2 6.25
B0 4.87
2. Add step input
Note This is voltage response for
uncontrolled process
4. Set Sample Time locally
Tend 100 Hmin 10m Hmax 1
86
With Feed Back
5. Add feedback loop using negator block
Use Element/Rotate and Element/Flip to align
Note This is voltage response for controlled
process
Tend 20 Hmin 10m Hmax 100m
87
With PID Controller
88
Schematic and Result
6. Add integrator and derivative blocks 7. Need
to add 3rd input pin to SUM2
Note This is voltage response for controlled
process with KP 0.5, KI 0, and KD 0
Tend 20 Hmin 10m Hmax 100m
89
Step Response With PID (Optimized)
7. Modify coefficients in gain, integrator, and
derivative blocks
Tend 20 Hmin 10m Hmax 100m
Note This is voltage response for controlled
process with optimized PID coefficients KP 1,
KI 0.1, and KD 1
90
State MachineSimulation
91
State Machine Simulator

• State machine simulator is based on well known
  PETRI-net theory
• Integrated, system wide expressions and equations
  both arithmetical and logical
• Event driven simulation
• Process state dependent modification of almost
  any SIMPLORER system parameter including
  integration parameters and blocks
• Especially for discontinuous processes

92
Basic Concept of a State Machine
INPUT State
OUTPUT State
I1
O1
activity 1..n
activity 1..n
Define the activity to occur at each output
state
Define the activity to occur at each input state
I2
O2
activity 1..n
activity 1..n
I3
O3
Crossover Condition
activity 1..n
activity 1..n
(Transition)
93
Almost As Writing a Program
Sequential
Note Many different kinds of processes can be
simulated
Parallel Processes
Cycle
If a gt10
If alt10
(Loop)
Alternative
(IF-THEN-ELSE)
Synchronization
94
Observation and Modification
The state machine is controlling the process.
Process (Model)
evaluate system quantities and simulation state
at the transition
evaluate system quantities and simulation state
at the transition
Influence the process modifying component
parameters and values
activities
activities
activities
95
Example 4 Single-phase Inverter Bridge
96
Example Problem 4Single-phase Inverter Bridge
DC to AC
Inverter bridge
Input voltage source
Resultant current output
97
Circuit Topology
All semiconductors use the same nonlinear
characteristic (equivalent line) defined in the
component property. The transistors are
controlled digitally by a state machine with
variables carrying the on/off information. For
transistors, set control signals TSV1, TSV2,
TSV3, TSV4.
1. Current flow when TR1 and TR4 are on
2. Current flow when TR2 and TR3 are on
98
Switching Control
Initial Values (only updated at t0)
Permanent Computation of values (updated at
each timestep)
ICA
EQU
Current Frequency Duty cycle
Reference current waveform Lower bounds Upper
bounds
A 30
I_REF A sin(OMEGA t)
freq 60
I_LOW I_REF - D A
SET TSV11
I_UPR I_REF D A
D 0.1
SET TSV20
OMEGA 2 PI freq
SET TSV30
SET TSV41
Dont forget to set the initial state
ON14
R_LOAD.I gt I_UPR
Turn ON / OFF the activity mark by clicking this
interaction pad
ON23
R_LOAD.I lt I_LOW
SET TSV10
SET TSV21
SET TSV31
SET TSV40
99
ICA and EQU Definition
Name of each individual ICA or EQU element on the
sheet, dont display
Click here to create a new variable or to create
an if statement
Change the computation sequence or delete a
definition
List of the defined variables and expressions
100
Action (activity) Types

• Permanent computation of the variable at each
  computation time step before the circuit
  simulator
• Permanent computation of the variable at each
  computation time step
• Permanent computation of the variable at each
  valid time step
• Set a variable once upon activation of the state
• Specify a delay
• Activation of the state upon a key on the
  keyboard is pressed

Click here to enter a new action and select the
appropriate type

• Simulator Control Activities

101
How to Display Actions
Display type 6 was implemented for the
visualization of activities
102
Name References
103
Simulation Result
Tend 20m Hmin 10u Hmax 1m
104
Example 5 Online Measurement
105
Example Problem 5Online Measurement
Process (Model)
evaluate system quantities and simulation state
at the transition
evaluate system quantities and simulation state
at the transition
Use system quantities to compute characteristic
values, max/min ...
mathematical computations
mathematical computations
mathematical computations
106
Online Measurement - Example

• Goal is to determine the period and frequency of
  the current ripple from the previous example
• Will monitor the time between 2 consecutive
  peaks, after a 5msec waiting period

period
5ms
107
Single-phase Inverter Bridge
Wait_start
NE3
event1
LON23
event2
LON14
event3
NE4
End
SET t_periodt - t_mem
LON23
LON14
DEL Istarttstart
SET t_memt
SET hmax_memHmax
LON23
Istart
SET frequency1 / t_period
SET hmin_memHmin
SET Hminhmin_mem
FREQUENCY
PERIOD
SET Hmax.1u
SET Hmaxhmax_mem
0.624878m
SET Hmin1n
1.60031k
ON14
NE1
SET TSV11
R_LOAD.IgtI_UPR
SET TSV20
SET TSV10
SET TSV30
SET TSV21
SET TSV41
SET TSV31
SET LON23FALSE
SET TSV40
SET LON14TRUE
SET LON23TRUE
R_LOAD.IltI_LOW
SET LON14FALSE
ON23
NE2
Measurement of the switching period/frequency
108
Circuit and Blocks together
Circuit
Example 2 DC Drive for a Permanent Magnet DC
Motor
Power Supply
DC Motor
Rectifier
Chopper
Example 6 Extended Motor Example Add a
drive system with speed and cascaded current
control
Speed Control
Current Control
Block Diagrams
109
Example 6 Extended Motor Example
110
Example Problem 6Extended Motor Example
Switch on motor at 50msec
Change the DC machine settings
Change the Simulation parameters
hmin 1u hmax .1m tend 300m
111
Simulation Result
Note These are results without control
112
Max. Source Current Detection
Monitoring current through the voltage source E1.I
Start with absolutely smallest current -1e36 as
an initial condition
113
Now We Add a Load Torque
M
DATAPAIRS1
Y
t
114
Load Torque Data Input
115
Simulation Result
Rotor Speed
Armature Current
DCMP1.N
2.50k
DCMP1.IA
80.00
2.00k
50.00
1.50k
Note These are uncontrolled results with load
at applied at t 0.18 to 0.20 sec
1.00k
25.00
500.00
0
0
-500.00
-20.00
t
0
0.30
0.10
0.20
t
0
0.30
0.10
0.20
E1 EMF
Armature Voltage
E1.EMF
200.00
DCMP1.VA
175.00
150.00
100.00
100.00
0
50.00
-100.00
0
-200.00
-25.00
t
0
0.30
0.10
0.20
t
0
0.30
0.10
0.20
116
And Now We Add the Control
speed
current
rpm
Rad/sec
Show pins on motor for Speed (N), Load and
Armature Current (IA)
Set summation block polarities carefully !
117
Simulation Results
Note These are controlled results with load at
applied at t 0.15 to 0.18 sec
Control System Regulates Speed to 1000RPM and
Current to 20A 2.5A
118
The End of 1st Day

• Thanks for your attention!