A MODELICA-Based Object-Centric

Virtual Power Electronics

Laboratory

Janhavi Agashe
V.V.Sastry
V.Ajjarapu
S.S.Venkata

Dept. Of Electrical & Computer Engineering

10/14/2002
Iowa State University
 Outline
Power Electronics Simulators
Object-Oriented Modeling Language –
Modelica
Modeling of Components in Modelica
Various Models Developed
Simulation Results
Conclusions

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Inter-Disciplinary Nature of Power
Electronics
System Area

Modeling & System &

Simulation Control theory

Low Power Area High Power Area

Analog Electronics Circuit Theory

Signal Processing Electric machines

Power
Electronics
Solid-State Physics Power Systems

Digital Electronics Electromagnetics

Power Electronics
10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Power Electronics Simulators

A simulator for power electronic

systems should
 Have event handling capabilities.
 Handle hybrid/ mixed-mode systems.
 Support multi-domain modeling.
Widely used simulators: SABER,
PSPICE, MATLAB/SIMULINK etc.
 Lack of Object-oriented features
 Closed modeling environment

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Object-oriented Modeling Language -
Modelica
Developed by the Modelica Association,
Germany
Key Features
 Object-oriented modeling language
 Hierarchical structuring
 Reuse
 Effective in solving large and complex models
 Open Modeling Environment

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Object-oriented Modeling Language -
Modelica
Additional Features
 Acausal modeling
 Ports are not committed to ‘input’ and ‘output’
early in the modeling/design process
 Simpler models
 More efficient simulation
 Multi-domain
 Electrical circuits, multi-body systems, drive
trains, hydraulics, thermodynamic systems

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Object-oriented Modeling Language –
Modelica
Additional Features (contd.)
 Several formalisms
 ODE, DAE, bond graphs, finite state automata,
state charts
 Graphical user interfaces
 Icons representing model components
 Menu driven interface for modeling and
simulation
 Standardization effort
 Group of internationally recognized and
experienced researchers and companies worked
for language and model development
10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Modeling of Components in Modelica
 Model is derived as an extension of
some base class using the “extends”
statement
 Required variables are declared

 Necessary equations are defined in the

“equation” section
 The “annotation” section defines the

graphical symbol i.e. icon for the model

 The file is saved as “*.mo”

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Modeling of Components in Modelica

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Thyristor Model in Modelica

model Thyristor
constant Boolean DymolaCompatibility=true;
extends Modelica.Electrical.Analog.Interfaces.ThreePin;
Real Gate;
Real u;
Real GOp = 1.E-5;
Real RCl = 1.E-5;
Real i;
Boolean GATE;
Boolean Op(start=true);
equation
cont.v = Gate;
u = p.v-n.v;
i=p.i;
0=p.i+n.i;
GATE = if (Gate < 1.0) then false else true;
0 = if Op then i - GOp*(p.v - n.v) else (p.v - n.v) - RCl*i;
when (not (Op) and i < 0) or (Op and u > 0 and GATE) then
new(Op) = (not (Op) and i < 0) or (Op and not ((u > 0 and GATE)));
end when;
end Thyristor;

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Models in the Power Electronics Library
TwoPin ThreePin OnePort TwoPort Others

Diode, Thyristor, Electrical to Average DC Machine,

Control, Model for
TwoPin Thyristor Rectifier, Induction
Switch, Firing Control to Machine
Circuit, Electrical, RMS Model
Measurement for Inverter
Templates, ThreePin
Switch,

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Architecture of Simulator

Front-end
 Pre-processing tool that helps effective understanding
and modeling
 DYMODRAW
Simulation Engine
 For conversion DAE’s into state space form and solving
them symbolically or with efficient numerical techniques.
 DYMOSIM. Any other simulator like ACSL, SIMULINK, etc.
can also be used.
Post-processing tool
 Visualization of dynamic behavior, 2-D or 3-D graphical
view or animation.
 DYMOVIEW
10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Architecture of Simulator

Graphical Front-end

Object-oriented
Modeling

Simulation Engine

Post-processing Tool

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Step by Step Simulation Procedure

Switch Library Single Thyristor

Various Libraries
10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Step by Step Simulation Procedure

Connection of components Entire Circuit & its Translation

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Step by Step Simulation Procedure

Simulation Control Plot Window & Output Variables

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Single-Phase Bridge Rectifier

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Single-Phase Bridge Rectifier

Firing Angle = 45 degrees

Firing Angle = 30 degrees

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Buck Chopper

iout

Vout

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Buck Chopper

Duty Ratio = 0.75

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 MODELICA Based EE 452 Laboratory
Experiments

Single Phase Thyristor Rectifier

Three Phase Thyristor Rectifier
Buck Chopper
Boost Chopper
Single Phase Square-Wave Inverter
Three Phase Square-Wave Inverter
Chopper-fed DC Motor Drive
V/F control of Induction Motor

10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe
 Conclusions

Object-oriented modeling language

enabled reuse of models, hierarchical
structuring and easy maintenance of
models
The power electronics library using
MODELICA has been developed at Iowa
State University
EE 452 experiments earlier written in
DYMOLA have been designed around
the new MODELICA library
10/14/2002 North American Power Symposium 2002, Arizona State University, Tempe