Simplorer and Mechanical. David Twyman Technical Services

Transcription

1 Simplorer and Mechanical David Twyman Technical Services 1

2 Overview Simplorer Architecture, Methodology and Operation Simplorer and Mechanical Rigid Body Dynamics to Mechanical Link (Cosimulation) Mechanical to Simplorer (Reduced Order Modelling) 2

3 Electromechanical Systems Electromechanical (EM) systems are designed by integrating electromagnetic, mechanical, electronic and control technology to build physical systems Electromechanical systems are an integration of EM components and EM subsystems 3

4 Visual Definition Electrical Current Voltage Electromechanical Force Position Mechanical {Fluid} {Thermal} { } Voltage Nonlinear Position Current Speed Control Control Signals 4

5 ANSYS Simplorer and Mechanical Overview System ANSYS Mixed--Signal MultiMixed Multi-Domain System Simulator Circuit Model Extraction & Cosimulation Component ANSYS Workbench Electrical ANSYS, Inc. Magnetic February 14, 2012 Fluid Mechanical Thermal Acoustic

6 C/C++ User Defined Model Simplorer Architecture Matlab Real Time Workshop Matlab Simulink Co-Simulation ANSYS RBD ANSYS Maxwell Simulation Data Bus/Simulator Coupling Technology Blocks: Electrical, Electromagnetic Mechanical, Hydraulic, Thermal MMF L JA States: J M(t) STF GND Θ H Model Extraction: Equivalent Circuit, Dynamic State Space, Impulse Response Extracted LTI, Stiffness Matrix Electromagnetic (FEA) Mechanical (FEA) F(t) m STF Thermal (FEA) GND Fluidic (CFD) VHDL-AMS IF (domain = quiescent_domain) V0 == init_v; ELSE Current == cap*voltage'dot; END USE; 6

7 Simplorer: Design Environment Windows-like Single project file Modeling Graphical, SML, C/C++ VHDL-AMS, PSpice Hierarchical models All quantities accessible Postprocessing on sheet or in reports VB, Java, Python,... Model libraries Wizards Optimetrics Distributed Solve 7

8 Simplorer Component Characterization In general: Each parameter can be made dependent on time or any other quantity by expressions or tables. A B C IM1 E1 M 3 ~ V_LUT M_LUT1 Y t Y t V3DLUT Z Y X NL_Charact NL Characteristics Stimuli Loads L1 L:= L0 -k1 * arctan( k2 * L1.I) H L1 # C1 # EQU FML1 E1 EMF := A1*sin(2*pi*f1*t) + A2*sin(2*pi*f2*t) A1 := 10 f1 := 50 A2 := A1/10 f2 := 2k 0 Data Acquisition, Processing, Transfer 2D, 3D, MD lookup table 8

9 Electric circuits Conservative electrical systems + V Additional component libs + Vendor specific component libs + VHDL-AMS and Spice models 9

10 Scalable Model Detail/Accuracy Ideal switch Two states defined by a short circuit or an open circuit Logical control 0/1 Open Circuit Short Circuit bctrl Static semiconductor Three states defined by high resistance in nonconducting area, low resistance in conducting area and commutation characteristic Logical control 0/1 bctrl Dynamic semiconductor Physics based dynamic model providing basic dynamic effects, advanced dynamic effects, losses, switching behavior and thermal behavior in various selectable levels Control circuit (current or voltage) Spice compatibility Import Spice compatible models in Simplorer Control circuit (current or voltage) 10

11 Simplorer State Machines Discretize a discontinuous process into states and transitions. State is active or inactive. Actions assigned to a state are executed when state active. Switch between states on transition = TRUE. Easy to understand algorithms Fast Simulator control possible SET: itrcn:=0 SET: itrcp:=1 ucref-utri<=0 SET: itrcn:=0 SET: itrcp:=0 DEL := lcn##td ucref-utri>=0 lcp ucref-utri<=0 SET: itrcn:=0 SET: itrcp:=0 DEL := lcp##td ucref-utri>=0 SET: itrcn:=1 SET: itrcp:=0 lcn 11

12 Electromechanical Systems System Level (Park Transformation) M 3 ~ A B C M # MS 3 ~ ( w. Damper ) A B C Linear and nonlinear, lumped parameters System Level (Park Transformation, Mechsim1D components) N1 N2 M ROT1 ROT2 DCMP A12 B12 C12 ROT1 A11 B11 C11 3~ M ASMS A2 B2 C2 ROT2 A12 B12 A11 B11C11 3~ M C12 ROT1 ROT2 SYMPD Linear and nonlinear, lumped parameters, provides advanced mechanical properties RMxprt equivalent circuit generation N_1 N_2 N_3 N_4 Nonlinear, losses, space harmonics, lookup tables Maxwell2D/3D (Static and Transient) As accurate as FEA simulation performed 12

13 Multi-Level Techniques Cosimulation: Compare Modeling Depth Simplorer internal model Analytical model, linear Park transformation Simplorer with RMxprt ECE Analytical model, look-up table Nonlinear saturation, eddy effects Maxwell2D Transient + External Circuits (cosimulation) Transient field simulation model All dynamic effects from db/dt Saturation, slot harmonics Eddy, current displacement Skin, proximity, diffusion, etc 13

14 Compare Torque Multi-Level Techniques Cosimulation: Compare Modeling Depth M 3~ ASMS L= L(f, µ) Inrush: Smaller inductance Higher current Stronger damping A B C N ROT1 ROT2 RMX Maxwell most accurate 14

15 Compare Currents Multi-Level Techniques Cosimulation: Compare Modeling Depth M 3~ ASMS A ROT1 B C N ROT2 RMX 15

16 Multi-Level Techniques Cosimulation: Compare Modeling Depth Implications for system design Doubled inrush current affects electrical system design Doubled inrush torque burdens mechanical system Stronger damping affects control dynamics Slot harmonicsaffectmotionquality, control/inverter design Motor design considerations Interactions with systemaffect motor design, e.g. losses 16

17 Example 1 Simplorer RBD Cosimulation Link Highlights: Easy setup through simple UI Fast Robust TR-TR Co-simulation Algorithm Released in R14 Capabilities: Continuous rigid sub-systems (RBD was formerly known as MBD) 17

18 Example 1 Link Setup: 1. Add pins in RBD UI 18

19 Example 1 Link Setup 2: Set Up Link in WB 19

20 Example 1 Link Setup 3: Add RBD Component and schematic Measure rotation (used in force calculation) Forces applied every cycle Two forces out of phase Small starting torque 20

21 Example 1 Simulation Results Force Applied on Pistons Rotational Displacement Rotational Velocity 21

22 Example 2 : Simplorer - ANSYS Mechanical Link Create ANSYS Modal Analysis System Setup, define inputs and outputs, etc ANSYS WB/Mech APDL SPMWRITE Command Snippet Add Mechanical Component Reads exported.spm file Simplorer Mech ROM Created In Simplorer Solve.spm 22

23 Example 2: ANSYS Mechanical to Simplorer Input Torque Here Φ 1 Φ 2 Φ 3 Φ 4 Observe Rotation/Oscillation at These Locations 23

24 Example 2: Model the Same Driveshaft Using Reduced Order Model in System Rotational Torque source 1Nm Torque Reduced Order Model From ANSYS Mechanical FEM 24

25 Example 2: Simplorer Circuit Simulation: Proportional-Integral-Derivative (PID) Controller ANSYS Mechanical Coupling 25

26 ANSYS Mechanical Coupling ANSYS Mechanical Coupling 26

27 General State Space Coupling Simplorer state-space model Description: New capability to simulate multi-domain state-space models Thermal Mechanical Electrical 27

28 C/C++ User Defined Model Simplorer (Summary) Matlab Real Time Workshop Matlab Simulink Co-Simulation ANSYS RBD ANSYS Maxwell Simulation Data Bus/Simulator Coupling Technology Blocks: Electrical, Electromagnetic Mechanical, Hydraulic, Thermal MMF L JA States: J M(t) STF GND Θ H Model Extraction: Equivalent Circuit, Dynamic State Space, Impulse Response Extracted LTI, Stiffness Matrix Electromagnetic (FEA) Mechanical (FEA) F(t) m STF Thermal (FEA) GND Fluidic (CFD) VHDL-AMS IF (domain = quiescent_domain) V0 == init_v; ELSE Current == cap*voltage'dot; END USE; 28

29 Thank You 29