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 & Simulation System & Control theory

Low Power Area Analog Electronics

High Power Area Circuit Theory Electric machines

Signal Processing

Power Electronics
Solid-State Physics Power Systems

Digital Electronics

Electromagnetics

Power Electronics
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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

North American Power Symposium 2002, Arizona State University, Tempe

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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
North American Power Symposium 2002, Arizona State University, Tempe

10/14/2002

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
North American Power Symposium 2002, Arizona State University, Tempe

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Modeling of Components in Modelica

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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, TwoPin Switch,

Thyristor, Thyristor Firing Circuit,

Electrical to Control, Control to Electrical,

Average Model for Rectifier, RMS Model for Inverter

DC Machine, Induction Machine

Measurement 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 DAEs 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.
Visualization of dynamic behavior, 2-D or 3-D graphical view or animation. DYMOVIEW
North American Power Symposium 2002, Arizona State University, Tempe

Post-processing tool

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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
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North American Power Symposium 2002, Arizona State University, Tempe

Step by Step Simulation Procedure

Connection of components
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Entire Circuit & its Translation

North American Power Symposium 2002, Arizona State University, Tempe

Step by Step Simulation Procedure

Simulation Control

Plot Window & Output Variables

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North American Power Symposium 2002, Arizona State University, Tempe

Single-Phase Bridge Rectifier

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North American Power Symposium 2002, Arizona State University, Tempe

Single-Phase Bridge Rectifier

Firing Angle = 45 degrees

Firing Angle = 30 degrees

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North American Power Symposium 2002, Arizona State University, Tempe

Buck Chopper

iout

Vout

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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