User's Manual: Powersim Inc
User's Manual: Powersim Inc
User's Manual: Powersim Inc
User’s Manual
Powersim Inc.
Chapter : -7
PSIM® User’s Guide
Version 12.0
Release 1
July 2019
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: support@powersimtech.com
powersimtech.com
-6 Chapter :
Contents
1 General Information
1.1 Introduction 1
1.2 Circuit Structure 4
1.3 Software/Hardware Requirement 4
1.4 Installing the Program 4
1.5 Simulating a Circuit 5
1.6 Simulation Control 5
1.7 Component Parameter Specification and Format 9
Chapter : -5i
3.9 Option Menu 54
3.10 Exporting Data 55
ii
-4 Chapter :
4.6.4 Brushless DC Machine 112
4.6.5 Synchronous Machine with External Excitation 117
4.6.6 Permanent Magnet Synchronous Machine (PMSM) 119
4.6.7 Switched Reluctance Machine (SRM) 125
4.6.8 Motor Control Blocks 128 119
4.7 MagCoupler Module 133
4.7.1 MagCoupler-DL Block 133
4.7.2 MagCoupler Block 134
4.8 MagCoupler-RT Module 137
4.9 Mechanical Elements and Sensors 141
4.9.1 Mechanical Loads 141 141
4.9.2 Mechanical-Electrical Interface Block 143
4.9.3 Mechanical Coupling Block 145
4.9.4 Gear Box 145
4.9.5 Speed/Torque Sensors 145
4.9.6 Position Sensors 147
4.10 Thermal Module 150
4.10.1 Diode Thermal Model 150
4.10.2 MOSFET Thermal Model 153
4.10.3 IGBT Thermal Model 159
4.10.4 RB-IGBT Thermal Model 163
4.10.5 Inductor Thermal Model 165
4.10.6 Device Database Editor 167
4.10.7 Adding a Switching Device to Database 168
4.11 Renewable Energy Module 173
4.11.1 Solar Modules 173
4.11.2 Wind Turbine 179
4.11.3 Batterry Models 181
4.11.4 Ultracapacitor Model 187
Chapter : iii
-3
5.4.3 Fast Fourier Transform 202
5.4.4 THD Block 203
5.4.5 S-Domain Transfer Function 204
5.4.6 Time Delay Blocks 205
5.4.7 Round-Off Block 206
5.4.8 dv/dt Limiter 206
5.4.9 Multiplexers 206
5.4.10 Space Vector PWM 208
5.4.11 Space Vector PWM (alpha/beta) 208
5.4.12 Embedded Software Block 209
5.5 Logic Components 210
5.5.1 Logic Gates 210
5.5.2 Set-Reset Flip-Flop 210
5.5.3 J-K Flip-Flops 210
5.5.4 D Flip-Flops 211
5.5.5 Monostable Multivibrator 212
5.5.6 Time Delay (Logic) 212
5.5.7 Bit Shift 212
5.5.8 Pulse Width Counter 213
5.5.9 Up/Down Counter 213
5.5.10 A/D and D/A Converters 214
5.6 Digital Control Module 215
5.6.1 Motor Control Blocks 215
5.6.2 PWM Controllers 218
5.6.3 PLL Blocks 220
5.6.4 Zero-Order Hold 223
5.6.5 Unit Delay 224
5.6.6 z-Domain Transfer Function Block 224
5.6.7 Quantization Blocks 231
5.6.8 Circular Buffers 233
5.6.9 Convolution Block 234
5.6.10 Memory Read Block 234
5.6.11 Data Array 235
5.6.12 Stack 235
5.6.13 Multi-Rate Sampling System 236
5.7 SimCoupler Module 237
5.7.1 Set-up in PSIM and Simulink 237
5.7.2 Solver Type and Time Step Selection in Simulink 238
5.7.3 Passing Parameters from Simulink to PSIM 240
5.8 PIL Module 241
5.8.1 PIL Block 241
5.8.2 PIL Block (InstaSPIN F2806x) 242
5.8.3 InstaSPIN Set Block (F2806x) 242
5.9 Design Suite Blocks 243
5.9.1 Torque Control (PMSM) 243
5.9.2 Dynamic Torque Limit Control (PMSM) 244
5.9.3 Dynamic Torque Limit Control (Nonlinear PMSM) 245
5.9.4 Voltage Control (PMSM) 246
5.9.5 DC-DC Charging Control 247
5.9.6 DC-DC Discharging Control 248
5.9.7 DC-DC Regeneration Control 248
iv
-2 Chapter :
5.10 PLL Blocks 250
5.10.1 1-ph PLL 250
5.10.2 3-ph PLL 251
6 Other Components
6.1 Switch Controllers 253
6.1.1 On-Off Switch Controller 253
6.1.2 On-Off Switch Controller (Multi-Level) 253
6.1.3 Alpha Controller 254
6.1.4 PWM Lookup Table Controller 255
6.2 Sensors 256
6.3 Probes, Meters, and Scopes
6.3.1 Probes and Meters 256
6.3.2 Voltage/Current Scopes 259
6.4 Function Blocks 260
6.4.1 Control-Power Interface Block 260
6.4.2 Transformation Blocks 261
6.4.3 Lookup Tables 265
6.4.4 Math Function Blocks 269
6.4.5 DLL Blocks 269
6.4.6 C Block 271
6.4.7 Simplified C Block 273
6.5 IC Models 275
6.5.1 PWM IC 275
6.5.2 Driver IC 276
6.5.3 555 Timer 276
6.6 Initial Values 277
6.7 Parameter File 277
6.8 AC Analysis 280
6.8.1 AC Sweep 280
6.8.2 AC Sweep Multisine 282
6.9 Parameter Sweep 283
7 Sources
7.1 Constant 285
7.2 Time 285
7.3 Ground 285
7.4 Voltage and Current Sources 286
7.4.1 DC Source 286
7.4.2 Sinusoidal Source 286
7.4.3 Square-Wave Source 287
7.4.4 Triangular/Sawtooth Sources 288
7.4.5 Step Sources 289
7.4.6 Piecewise Linear Source 290
7.4.7 Random Source 291
7.4.8 Math Function Source 291
7.4.9 Grounded Source Multiple 291
7.4.10 Voltage/Current-Controlled Sources 292
7.4.11 Nonlinear Voltage-Controlled Sources 293
Chapter : -1v
8 SPICE Module
9 Event Control
10 SimCoder Module
11 Error/Warning Messages and Other Simulation Issues
11.1 Simulation Issues 301
11.1.1 Time Step Selection 301
11.1.2 Propagation Delays in Logic Circuits 301
11.1.3 Interface Between Power and Control Circuits 301
11.1.4 FFT Analysis 302
11.2 Debugging 302
11.3 Error/Warning Messages 303
Index 306
vi
0 Chapter :
1
General Information
1.1 Introduction
PSIM1 is a simulation software specifically designed for power electronics, motor drives, and power conversion
systems. With fast simulation speed and friendly user interface, PSIM provides a powerful simulation
environment to meed your simulation and development needs.
The PSIM simulation environment consists of the schematic program PSIM, two simulator engines (one PSIM
engine and the other SPICE engine), and the waveform processing program SIMVIEW1. The simulation
process is illustrated as follows.
PSIM includes the basic package, as well as the following Add-on Modules:
Digital Control Discrete library elements such as zero-order hold, z-domain transfer function
Module: blocks, quantization blocks, digital filters, for digital control system analysis.
HEV Design Suite: Pre-built templates for hybrid electric vehicle (HEV) powertrain system design.
MagCoupler Module: Interface between PSIM and the electromagnetic field analysis software
JMAG4 for co-simulation.
MagCoupler-RT Link between PSIM and JMAG-RT4 data files.
Module:
ModCoupler5 Interface between PSIM and ModelSim6 for co-simulation. There are two
Module: versions of the interface: ModCoupler-VHDL that supports VHDL code, and
ModCoupler-Verilog that supports Verilog code.
Motor Control Design Pre-built templates for induction motor and linear/nonlinear PMSM drives.
Suite:
Motor Drive Module: Built-in electric machine models and mechanical load models for motor drive
system studies.
SimCoupler Module: Interface between PSIM and Matlab/Simulink2 for co-simulation.
Renewable Energy Library elements, such as solar module, wind turbine, battery, and ultra-
Module: capacitor models, for renewable energy applications.
SPICE Module: SPICE engine, powered by CoolSPICE7 from CoolCAD Electronics LLC., for
SPICE simulation. It also includes the function to link to LTspice8.
F2833x Target: Library elements for automatic code generation for TI F2833x series DSP.
F2803x Target: Library elements for automatic code generation for TI F2803x series DSP.
F2802x Target: Library elements for automatic code generation for TI F2802x series DSP.
F2806x Target: Library elements for automatic code generation for TI F2806x series DSP.
F2837x Target: Library elements for automatic code generation for TI F2837x series DSP.
PE-Expert4 Target: Library elements for automatic code generation for Myway PE-Expert4
hardware platform.
PIL Module: Interface between PSIM and TI DSP hardware boards for Processor-In-the-
Loop (PIL) simulation. It also includes the function block to support TI’s
InstaSPIN motor control algorithm.
Thermal Module: Library elements and functions calculate semiconductor device losses and
inductor losses.
In addition, PSIM links with the software SmartCtrl5 for control loop design. SmartCtrl is designed
specifically for power converter applications. For more information on SmartCtrl, refer to SmartCtrl User’s
Guide.
With these product lineup, Powersim provides a complete platform from design to simulation, to hardware
implementation. The overall environment is shown in the figure below.
Hardware
Design Simulation Implementation
PSIM F2833x/F2803x/F2806x/F2802x/F2837x/PE-Expert4
SmartCtrl Thermal Auto Code Targets
Analysis Power Generation
TI DSP
Thermal Electronics SimCoder
Motor Control
Design Suite Solar/Wind Power
Renewable Energy PIL
TI DSP
Device Motor Drives
HEV Design Suite Control
Digital Control SPICE Motor Drive
ModCoupler
MagCoupler/
SimCoupler MagCoupler-RT DLL
Matlab/ ModelSim
Simulink JMAG
3rd-party FPGA
Software
This manual covers both PSIM and all add-on Modules and subjects except the ones listed below which are
covered by these documents respectively:
- For SimCoder and hardware Targets:
SimCoder User Manual.pdf
- SPICE Module:
Notes:
1. PSIM and SIMVIEW are registered trademarks of, and are copyright by, Powersim Inc., 2001-2019
2. Matlab and Simulink are registered trademarks of the MathWorks, Inc.
3. SimCoder is a trademark of Powersim Inc., and is copyright by Powersim Inc., 2008-2019
4. JMAG and JMAG-RT are copyright by JSOL Corporation, 1997-2018
5. ModCoupler and SmartCtrl are copyright by Universidad Carlos III de Madrid, 2011-2018
6. ModelSim is a registered trademark of Mentor Graphics Co.
7. CoolSPICE is copyright by CoolCAD Electronics LLC., 2011-2019
8. LTspice is copyright by Linear Technology Co., 1998-2018
Power Circuit
Switch
Sensors
Controllers
Control Circuit
The power circuit consists of switching devices, RLC branches, transformers, and coupled inductors. The
control circuit is represented in block diagram. Components in s-domain and z-domain, logic components (such
as logic gates and flip flops), and nonlinear components (such as multipliers and dividers) are used in the
control circuit. Sensors are used to measure power circuit quantities and pass them to the control circuit. Gating
signals are then generated from the control circuit and sent back to the power circuit through switch controllers
to control switches.
Sweep Type The sweep type can be: Octave, Decade, Linear, or List.
Parameters for the Octave and Decade options:
Start Freq: Starting frequency, in Hz.
End Freq: Final frequency, in Hz.
Points/oct (or dec): Number of points per octave or decade.
Parameters for the Linear option:
Start Freq: Starting frequency, in Hz.
End Freq: Final frequency, in Hz.
Points: Total number of points.
Parameters for the List option:
Freq List: A list of frequencies to be analyzed, in Hz. Values are separated by space.
For DC Analysis:
Name Name of the source for DC sweep. Source 1 is by default the x-axis. Source 2 can be
enabled. DC sweep sources can be voltage, current, or temperature.
Sweep Type The sweep type can be: Octave, Decade, Linear, or List.
Parameters for the Octave and Decade options:
Start: Starting value.
End: Final value.
Points/oct (or dec): Number of points per octave or decade.
Parameters for the Linear option:
Start: Starting value.
End: Final value.
Increment: Incremental step size.
Parameters for the List option:
List: A list of values to be analyzed. Values are separated by space.
If the Enable box in the Step Run option is checked, SPICE will perform parameter sweep. The parameter
definition is as below.
For Step Run:
Parameter Name of the parameter for Step Run. If the step run is NOT for a voltage or a current
source, or temperature, the box "PARAM" must be checked.
Sweep Type The sweep type can be: Octave, Decade, Linear, or List.
Parameters for the Octave and Decade options:
Start: Starting value.
End: Final value.
Points/oct (or dec): Number of points per octave or decade.
Parameters for the Linear option:
Start: Starting value.
End: Final value.
Step: Incremental step size.
Parameters for the List option:
List: A list of values to be analyzed. Values are separated by space.
Operating Point If the Enable box is checked, SPICE simulation will determine the dc operating point of
a circuit with inductors shorted and capacitors opened.
Thermal If the Enable box is checked, SPICE simulation will perform thermal analysis by
Analysis including the heating effect in device models. All CoolSPICE SiC and GaN models
(CoolSPICE support thermal analysis. With the thermal analysis, the extra node of SiC/GaN models
only) will show the junction temperature of the devices in oC. Note that this option is for
CoolSPICE simulation only.
Error Tolerance If the Enabled box is checked, error tolerances for SPICE simulation can be changed.
Option Otherwise, default values will be used. Error tolerances are:
RELTOL: Relative tolerance
TRTOL: Transient tolerance
VNTOL: Absolute voltage error tolerance
ABSTOL: Absolute current error tolerance
CHGTOL: Charge tolerance
The parameters in the Parameters tab are used in the simulation. The information in the Other Info tab, on the
other hand, is not used in the simulation. It is for reporting purposes only and will appear in the parts list in
View >> Element List in PSIM. Information such as device rating, manufacturer, and part number can be
stored under the Other Info tab.
The component color can be set in the Color tab.
Parameters under the Parameters tab can be a numerical value or a mathematical expression. A resistance, for
example, can be specified in one of the following ways:
12.5
12.5k
12.5Ohm
12.5kOhm
25./2.Ohm
R1+R2
R1*0.5+(Vo+0.7)/Io
where R1, R2, Vo, and Io are symbols defined either in a parameter file (see Section 4.1), or in a main circuit if
this resistor is in a subcircuit (see Section 6.3.4.1).
Power-of-ten suffix letters are allowed in PSIM. The following suffix letters are supported:
G 109
M 106
k or K 103
m 10-3
u 10-6
n 10-9
p 10-12
A mathematical expression can contain brackets and is not case sensitive. The following mathematical
functions are allowed:
+ addition
- subtraction
* multiplication
/ division
^ to the power of [i.e. 2^3 = 2*2*2]
** to the power of [i.e. 2**3 = 2*2*2]
sin(x) sine
cos(x) cosine
tan(x) tangent
asin(x) arcsine
arcsin(x) arcsine
acos(x) arccosine
arccos(x) arccosine
PSIM’s schematic program provides interactive and user-friendly interface for circuit schematic entry and
editing. The PSIM user interface consists of an integrated set of windows, tools, menus, toolbars, and other
elements that allow you to create, simulate, and refine your circuits in one places.
By default, the menu bar and the standard toolbar appear on top of the window, while the frequently used
element bar appears at the bottom, and the Project View is on the left hand side.
On the right hand side is the Design window. This is a graphic editor where users can build and editor their
simulation circuit schematics. User may arrange schematics in the Design window in tiles (as shown above), or
in tabs (as shown below).
Project
Study
Schematic
Main circuit
Subcircuit
Waveforms
In this example, the project is the buck converter. It contains one study. The main circuit is "buck -
main.psimsch", and the subcircuit is "buck - sub.psimsch". There are two simulation waveforms: I(S1.L1) and
Vo.
After the simulation is done, the waveforms I(S1.L1) and Vo can be loaded into Simview by simply double
clicking on the waveform names in Project View. The waveforms can also be embedded into the schematic by
In this example, we will create a new study called "buck - main1" and create a copy of the subcircuit. After
confirmation, the new study is created as shown below. The new files "buck - main1.psimsch" and "buck -
sub.psimsch" are placed in a newly created folder "buck - main\buck - main1".
Existing Study
New Study
To add an existing schematic file into the project as another study, right click on the project "buck - main" and
select Add Study. To save the project, right click on the project "buck - main" and select Save Project.
Place Once an element is selected from the menu, the image of the element will appear on the
screen and move with the mouse. Click the left button of the mouse to place the element at
desired location on schematic.
Select Element(s) To select an existing element on a schematic, click on the element. A rectangle will appear
around the element. To select a section of a circuit, keep the left button of a mouse
pressed and drag the mouse until the rectangle covers the selected area.
Rotate Before the element is placed, right click to rotate the element. After an element is
selected, select Edit >> Rotate to rotate the element.
Wire To connect a wire between two nodes, select Edit >> Wire. The image of a pen will
appear on the screen. To draw a wire, keep the left button of the mouse pressed and drag
the mouse. A wire always starts from and end at a grid intersection.
For easy inspection, a floating node is displayed as a circle, and a junction node is
displayed as a solid dot.
Label If two or more nodes are connected to the same label, they are connected. It is equivalent
as though they were connected by wire. Using labels will reduce the cross-wiring and
improve the schematic layout.
The text of a label can be moved. To select the text, left click on the label, then press the
Tab key.
Assign To assign the parameters of an element, double click on the element. A dialog box will
appear. Specify the values and hit the <Return> key or click on OK.
If the functions Set Size, Display Port, Edit Default Variable List, and Edit Image are performed in the main
circuit, they will be applied to the main circuit instead.
There are three types of subcircuit ports for signal interface with the main circuit: Bi-directional port for power
circuit and mechanical systems, and input signal and output signal ports for control circuit.
Even though bi-directional ports also work for control circuit, it is strongly recommended to use input or output
signal ports for control circuit for better clarity. Furthermore, if a subcircuit is involved in code generation, only
input or output signal ports can be used.
Either click the "Edit Subcircuit" menu or right click on top of a subcircuit block, and choose Attributes would
open the subcircuit property dialog window. There are three tabs: Change Subcircuit File, Subcircuit Variables,
Formula, and Color.
Change Subcircuit File Tab:
The name of the subcircuit can be edited in the Name box.
Click on the Change Subcircuit File button to change to a different subcircuit file. The selected subcircuit file
will be loaded instead.
Subcircuit Variables Tab:
In this tab, variables used in the subcircuit can be edited. For example, a resistor in the circuit has the resistance
defined as "Rparasitic", and for better clarity, this resistance is referred to as "Parasitic Resistance". Also, the
resistance has a value of 1mOhm. This variable will be entered as:
Variable Description:Parasitic Resistance
Variable Name:Rparasitic
The diamonds on the four sides represent the connection nodes and the positions of the subcircuit.
They correspond to the connection nodes of the subcircuit block on the right. There are no diamonds
at the four corners since connections to the corners are not permitted.
When a diamond is selected, it is colored red. By default, the left diamond at the top is selected and
marked with red color. Click on the desired diamond to select and to specify the port name.
In this example, in the main circuit “chop.sch”, there are four linking nodes, two on the left side and
two on the right side of the subcircuit block. The relative position of the nodes are that the upper two
nodes are 1 division below the top and the lower two nodes are 1 division above the bottom.
To specify the upper left linking node, click on the top diamond of the left side, and type “in+”. The
text “in+” will be within that diamond box and a port labelled with “in+” will appear on the screen.
Connect the port to the upper left node. The same procedure is repeated for the linking nodes “in-”,
“out+”, and “out-”.
- After the four nodes are placed, the node assignment and the subcircuit appear as shown below.
The creation of the subcircuit is now complete. Save the subcircuit, and go back to the main circuit.
File: sub.sch
File: main.sch
In the window, the diamonds marked red are the connection nodes of the subcircuit block, in exactly
the same positions as appearing in the main circuit.
- Use the drawing tool to create/edit the image for the subcircuit block. If the drawing tool is not
already displayed, go to the View menu and check Drawing Tools. Click on Zoom In and Zoom
Out icons on the toolbar to adjust the size of the image working area.
After the image is created, the pop-out window will appear as follows.
- Go back to the subcircuit window (“sub.sch” in this case), and save the subcircuit. The new
subcircuit block image should appear in the main circuit.
Gain of the
PI controller
- Place the cursor inside the input field of the dialog window for the gain, and change the gain either
by pressing on the upper/down arrow keys on the keyboard, or by entering a new value and then
clicking on Apply. Watch how the waveforms change as the gain is changed.
Other parameters, such as current reference, dc input voltage, inductance, capacitance, and load
resistance, can be changed in the similar way.
- Branch currents can also be displayed in the free-run mode. To display the inductor current, for
example, right click on top of the inductor, and a menu will appear. Choose Current Scopes and
the branch current name.
- An image of the current scope (similar to the voltage scope image, but without connection
terminals) will appear. Double click on the scope to expand and view the inductor waveform.
Below is how the window would look like with both the voltage scope and the current scope.
Other branch currents, such as capacitor current, load current, diode current, or MOSFET switch
current, can be displayed in the similar way.
Voltage scope
The Advanced tab contains these sections: Updates, Backup, Idle Time, Hardware Code Generation, SPICE,
Alternate PSIM Help File Path, and Parameter File Variables.
In the Updates section:
Check for software When this option is checked, if you have the valid software annual
updates maintenance, PSIM will automatically check for new updates on the Powersim
server. If a new update is available, you will be prompted to install the update.
Toolbar Predefined
icon area icon images
Icon
editing area
• Choose View >> Custom Toolbars. The Custom Toolbars dialog window will appear. Choose New
Toolbar, and the following window will appear.
• Specify the Toolbar Name as "new".
• Draw the AND gate icon in the icon editing area. Or if the icon is already available in the predefined icon
images, select the icon and copy it to the icon editing area.
• Under the Edit Command section, with the option Elements selected, highlight "AND Gate". Then click
on the Add Button. The icon will appear in the toolbar icon area. Click on OK to close the window, and
go back to the Custom Toolbars window.
• Choose View >> Custom Keyboard. The Custom Toolbars dialog window will appear. Choose New
Toolbar, and the following window will appear.
• In the section Add Shortcut Key, select the option Elements. Then find and highlight the element
"Resistor".
• Move the cursor into the input field of Press new shortcut key, and press the key "r" on the keyboard.
Then click on Assign.
• The key "r" will be assigned to the resistor, and the definition will appear in the Current Shortcut Key
list.
Parameter Tool It launches a parameter file window. One can load an existing parameter file, or
enter expressions for computation purposes.
Script Tool The script tool allows one to run a script.
s2z Converter This program converts a s-domain function to a z-domain function. This
program is part of the Digital Control Module option.
InstaSPIN Parameter This tool calculates parameters needed for InstaSPIN and generate the
Editor parameter files for InstaSPIN simulation and code generation.
SimCoupler Setup This will launch the program SetSimPath.exe that performs the setup for co-
simulation between PSIM and Matlab/Simulink. This function is part of the
SimCoupler Module.
Set Default PSIM Run this function to set this version of PSIM to be the default program to open
Program .psimsch, .sch, and .smv files when double clicking on these files in Windows
Explorer.
DSP Oscilloscope The DSP Oscilloscope function is available as part of the SimCoder Hardware
Targets. It is used together with the SCI functions to display DSP waveforms in
real time. For more information on how to use the DSP Oscilloscope, please
refer to the document "Tutorial -Using SCI for Waveform Monitoring.pdf".
Device Database The device database editor PcdEditor.exe for the Thermal Module.
Editor
Netlist name
Standard image
Secondary image
To share the secondary images that one creates with other people, one just has to send to them the secondary
image library file (with the .lib2 extension).
In this case, the inductance and capacitance values will be defined through the interface, and need to appear in
the property window of the new LC filter element. Therefore, the parameter value for the inductance needs to be
defined as a variable, in this case, L, and the value for the capacitance as C.
Then from Subcircuit >> Edit Default Variable List, add the variables L and C as the default variables. This
step is necessary as the new element obtains the parameter information from the default variable list. The
default variable list window should appears as follows.
Here Variable Label is the text that describes the parameter, Variable Name is the variable that is used as the
parameter value in the subcircuit, and Variable Value is the default value of the parameter. In the example, for
the inductor L, the Variable Label is Inductance, the Variable Name is L, and the Variable Value is 1m. For
the capacitor C, the Variable Label is Capacitance, the Variable Name is C, and the Variable Value is 100u.
After the file is created, place it in the "lib" sub-folder in the PSIM directory.
Step2: Add the New Element to the PSIM Library:
• Click on the buttons Save Image Library and Update Menu. The new element will appear in the library
and will be ready to use.
Name: Name of the new inductor element as it appears in the PSIM library
Description: Description of the new inductor element
File Path: The location of the DLL file "inductor_model.dll" that models the new inductor
element. The DLL file must be placed in the "lib" sub-folder in the PSIM
directory.
Input Nodes: Number of input terminals of the new element.
Output Nodes: Number of output terminals of the new element.
Hide (menu): Leave this box unchecked. If this box is checked, this element will not appear in
the library.
Help File: On-line help file associated with this element. This file must be placed in the
"help" sub-folder in the PSIM directory. When the Help button is clicked in the
property dialog window, this file will be displayed. This file can be a text file
(which can be opened by a text editor such as NotePad) or a HTML file.
• In the next dialog window, set the new element size as: Width = 5, and Height = 2. Then create an image
for this element, or accept the default image.
• Click on the buttons Save Image Library and Update Menu. The new element will appear in the library
and will be ready to use.
The information regarding the number of parameters and the parameter description for the new inductor
element is obtained from the DLL file automatically. In this case, the new element will have one parameter as
"Inductance".
• Click on the Pins tab. In this tab, the connection pins will be defined. Click on the Add button, and define
Location as "1 - Left", Name as "A", and Number as "1". Leave the boxes for Dot, clk, and Overline
unchecked.
If the boxes are checked, for Dot, there will be a circle between the connection pin and the block; for
clk, a symbol > will be added inside the block to indicate that it is a clock; and for Overline, an
overline will be added to the name.
• Click on the Add button, and define Location as "2 - Left", Name as "B", and Number as "2". Repeat the
same process for the rest of the pins. The dialog windows below show the definitions of all the connec-
tion pins.
SIMVIEW is PSIM’s waveform display and post-processing program. The following shows simulation
waveforms in the SIMVIEW environment.
SIMVIEW reads data either in ASCII text format or in SIMVIEW binary format. The following shows a sample
text data file:
Time Isa Isc Isb Tem_IM
5.000000000E-006 0.000000000E+000 0.000000000E+000 0.000000000E+000 7.145888260E-048
1.000000000E-005 0.000000000E+000 0.000000000E+000 0.000000000E+000 1.082981714E-046
1.500000000E-005 0.000000000E+000 0.000000000E+000 0.000000000E+000 5.408644357E-046
2.000000000E-005 1.139566166E-001 -2.279132474E-001 1.139566166E-001 1.613605209E-017
2.500000000E-005 5.072914178E-001 -1.014582858E+000 5.072914178E-001 3.598226665E-015
... ... ... ...
Memory
Expression
Result
One key feature of the calculator is that it provides 9 memory spaces. By double clicking on a number in the
Measure dialog window in Simview, the value will be automatically transferred to the calculator and stored in
one of the memory spaces, starting from the top. In this way, data can be directly transferred to this calculator
for calculation without the need to record them on a piece of paper.
The following figure shows a sine waveform is chosen as the X-axis versus a cosine waveform in the Y axis.
Edit Box
All the variables available for display are in the Variables Available box, and the variables currently being
displayed are in the Variables for Display box. After a variable is highlighted in the Variables Available box, it
The Curves and the Screen tabs of the properties dialog are shown below.
In the Curves tab, the curve properties, such as color, line thickness, marker symbol, and label, can be defined.
In the Screen tab, the screen properties, such as foreground/background colors, grid color, and font size/type,
can be defined. A dialog window is shown below.
x1*sin(x2)
x1*cos(x2)
m
0.8
V2real
m
V2imag
x1*sin(x2)
-30*pi/180
In this circuit, the real and imaginary parts of two vectors V1 and V2 are created. The amplitude of V1 is 1 and
the amplitude of V2 is 0.8. Vector V2 is leading V1 by 30 deg.
After simulation is completed, select Screen >> Plot Vector Diagram. In the dialog window, define the real
and imaginary parts for vectors V1 and V2. The dialog window will appear as follows:
Click on OK, and the vector plot will show as below on the right. The time-domain waveforms of the real and
0.5
-0.5
-1
0.5
-0.5
-1
There is a sliding bar at the bottom of the vector plot. By sliding it with the left mouse, one can replay the
drawing of the vector plot. The percentage shows the vector positions with respect to the final position of the
drawing. For example, in this case, the time is from 0 to 0.0167 sec. A sliding bar of 0% corresponds to the
moment at 0 sec., and 100% corresponds to the moment at 0.0167 sec.
The Measurement Dialog can perform the following functions. Each function, if selected (checked), would add
Next maximum value Find the next maximum of the selected curve.
Global minimum value Find the global minimum of the selected curve.
In the graph window, a dashed line indicates the location of the next maximum
value for the selected curve. The Measure window will show the values of all the
displayed curves at the location of the maximum value.
Next minimum value Find the next minimum of the selected curve.
In the graph window, a dashed line indicates the location of the next minimum
value for the selected curve. The Measure window will show the values of all the
displayed curves at the location of the minimum value.
1/ Δ Calculate the reciprocal value of the difference between the two marked positions.
Average Calculate the average of the selected waveform within the selected time interval.
RMS Calculate the rms value of the selected waveform within the selected time interval.
Absolute of the |x| Calculate the average of the absolute value of the selected waveform within the
selected time interval.
Power Factor Calculate the power factor of the two waveforms in display. The power factor is
defined as cos ( θ ) where θ is the angle difference between the first curve and the
second curve. Note that the screen must display two curves only when performing
this function.
Real Power Calculate the real power of the two waveforms in display. Note that the screen
must display two curves only when performing this function.
Apparent Power Calculate the apparent power of the two waveforms in display. Note that the
screen must display two curves only when performing this function.
THD Calculate the THD (total harmonic distortion) of the waveforms in display.
Copy All Copy all the data in the Measurement Dialog into clipboard.
Save As Save the data in the Measurement Dialog into a file of specific type.
All these functions apply to the time interval (X-axis range) currently being displayed on the screen.
By selecting Perform FFT, the harmonic spectrum (both the amplitudes and angle) of the time-domain
waveforms can be calculated and displayed. To display the angles of the FFT results, double click on top of the
screen (or click on the Add/Delete Curves icon). In the Select Curves tab, click on the Angle tab, and select the
angles. The name convention of angles is Angle(D)_{name} for the angle in deg., and Angle(R)_{name} for the
angle in rad., and name is the curve name in the time domain.
Note that, in order to obtain correct FFT results, the simulation must reach the steady state, and the data range
must be restricted (using the manual range setting in the X Axis function) to have the integer number of the
fundamental period. For example, for a 60-Hz fundamental frequency, the data length in display must be integer
multiples of 1/60 sec.
To draw a line, first select Line from the Label menu. Then click the left mouse at the position where the line
begins, and drag the mouse while keeping the left button pressed. Dotted lines and lines with arrows are drawn
in the same way.
If the option Redraw x-axis when loading new data is checked, the waveform will be redrawn with the new x-
axis range when new data is loaded. If this option is not checked, the x-axis range will be unchanged.
The following chapters provide the detailed information of the PSIM library elements.
This chapter focuses on the Power circuit components. PSIM library contains the following categories of power
circuit components:
• RLC Branches
• Switches
• Transformers
• Magnetic Elements
• Other
• Motor Drive Module
• MagCoupler Module
• MagCoupler-RT Module
• Mechanical Loads and Sensors
• Thermal Module
• Renewable Energy Module
Parameters Description
Resistance Resistance, in Ohm
Voltage Rating Voltage rating of the component, in V, for Level 2 model only.
Current Flag Flag for branch current waveform display.
If this flag is set 1, the current flowing through this component will be saved to
display in SIMVIEW and Runtime Graphs.
The current is positive when it flows into the dotted terminal of the branch.
Attributes of Level-2 Model:
Parameters Description
Resistance Resistance, in Ohm
Voltage Rating Voltage rating of the component, in V.
Parameters Description
Inductance Inductance, in H.
Initial Current Initial inductor current, in A
Current Flag Flag for branch current waveform display
Attributes of Level-2 Model
Parameters Description
Inductance Inductance, in H.
Peak Current Rating Peak current rating of the inductor, in A.
Series Resistance Equivalent series resistance (ESR), in Ohm.
Parallel Resistance Leakage resistance in parallel with the inductor, in Ohm.
Parallel Capacitance Parallel parasitic capacitance, in F.
Initial Current Initial inductor current, in A
Current Flag Flag for branch current waveform display.
Equivalent Circuit:
Level 2 Model
Level 1 Model
Rp
Parallel
Resistance
Cp
Parallel
Capacitance
L ESR
Parameters Description
Capacitance Capacitance, in F.
Initial Voltage Initial capacitor voltage, in V
Current Flag Flag for branch current display
Attributes of Level-2 Model:
Parameters Description
Capacitance Capacitance, in F.
Voltage Rating Voltage rating of the component, in V.
RMS Current Rating RMS current rating, in A.
Resistance ESR Equivalent series resistance (ESR), in Ohm.
Inductance ESL Equivalent series inductance (ESL), in H.
Leakage Resistance Leakage resistance, in Ohm.
Initial Voltage Initial capacitor voltage, in V
Current Flag Flag for branch current waveform display
Equivalent Circuit:
Level 1 Model Level 2 Model
Parallel
Rp
Resistance
Capacitor
ESR C ESL
Parallel
Rp Resistance
Capacitor (Electrolytic)
ESR C ESL
Parameters Description
Resistance Resistance, in Ohm
Inductance Inductance, in H
4.1.5 Rheostat
A rheostat is a resistor with a tap.
Image:
t
k m
Attributes:
Parameters Description
Total Resistance Total resistance of the rheostat R (between Node k and m), in Ohm
Tap Position (0 to 1) The tap position Tap. The resistance between Node k and t is: R × Tap .
Current Flag Flag for the current that flows into Node k.
Attributes:
Parameters Description
Current vs. Inductance Characteristics of the current versus the inductance (i1, L1), (i2, L2), etc.
Current Flag Flag for the current display
The nonlinear B-H curve is represented by piecewise linear approximation. Since the flux density B is
proportional to the flux linkage λ and the magnetizing force H is proportional to the current i, the B-H curve can
be represented by the λ-i curve instead, as shown below.
λ (B)
λ3
λ2 Inductance L = λ / i
λ1
i1 i2 i3 i (H)
The inductance is defined as: L = λ / i, the ratio of λ vs. i at each point. The saturation characteristics are defined
Attributes:
Parameters Description
Number of Turns Number of turns of the inductor winding
Winding Resistance Winding resistance, in Ohm
Core Cross Section Area Core cross section area, in m2
-Hc 0 Hc H
Parameters Description
Resistance Resistance, in Ohm
Inductance Inductance, in H
Capacitance Capacitance, in F
Current Flag_A; Current Current flags for Phase A, B, and C of three-phase branches, respectively.
Flag_B; Current Flag_C If this flag is set 1, the current flowing through this branch will be saved to the file
for display in SIMVIEW. It will also be available for display in the runtime graphs
(under Simulate >> Runtime Graphs).
The dot in the image indicates phase A. The current is positive when it flows into
the dotted terminal of the branch.
c
P Q
Attributes:
Parameters Description
Line-line Voltage Line-to-line voltage applied to this load, in V
Operation Frequency Operation frequency, in Hz
Voltage Tolerance Voltage tolerance, in %.
The P (real power in Watt) and Q (reactive power in Var) inputs at the bottom of the block accepts control
signals.
In the images, the small circle indicates the input terminal of inductor 1 while the small square, triangle, + sign,
x sign, and * sign indicate the input terminal of inductor 2, 3, 4, 5, and 6.
Attributes:
Parameters Description
Lkk (self) Self inductance of the inductor k, in H
Lkj (mutual) Mutual inductance between Inductor k and j, in H
Initial Current ik Initial current in Inductor k, in A
Current Flag_k Flag for the current printout in Inductor k
The following shows a coupled inductor with two branches.
+ v1 -
i1
i2
+ v2 -
Let L11 and L22 be the self-inductances of Branch 1 and 2, and L12 and L21 the mutual inductances, the branch
voltages and currents have the following relationship:
v1 L 11 L 12 d i
= ⋅ ----- 1
v2 L 21 L 22 dt i
2
The mutual inductances between two windings are assumed to be always equal, i.e., L12 = L21.
In the SPICE software, coupled inductors are defined by the self inductances and the coupling factors. For the
coupled inductor with two branches, the coupling factor K is defined as:
L 12 = K ⋅ L 11 ⋅ L 22
The coupling factor has a value between 0 and 1. When the coupling factor is 1, it is perfect coupling. Note that
in PSIM, perfect coupling is not allowed. That is, the coupling factor cannot be equal to 1.
Also, when the leakage inductances are ignored (i.e. the coupling factor is close to 1), the self inductances are
proportional to the turns ratio squared. That is, if Branch 1 has N1 turns, and Branch 2 has N2 turns:
2
L1 N
----- = -----12-
L2 N2
Example:
Two mutually coupled inductors have the self inductances and mutual inductance as: L11 = 1 mH, L22 = 1.1 mH,
and L12 = L21 = 0.9 mH. The coupling factor is: K = 0.86. The specification of this element will be:
L11 (self) 1m
L12 (mutual) 0.9m
L22 (self) 1.1m
A a
B b
C c
N n
Parameters Description
Cable Length Length of the cable, in m
Operating Frequency Operating frequency of the cable, in Hz
Resistance Rd Positive sequence resistance Rd of the cable, in Ohm/km
Reactance Xd Positive sequence reactance Xd of the cable, in Ohm/km
Capacitance Cd Positive sequence capacitance Cd of the cable, in F/km
Resistance Ro Zero sequence resistance Ro of the cable, in Ohm/km
Reactance Xo Zero sequence reactance Xo of the cable, in Ohm/km
Capacitance Co Zero sequence capacitance Co of the cable, in F/km
In the image, the bottom node N or n on each side of the cable is the cable screen. It is generally connected to
the ground on the side of the cable.
The cable parameters should be available from manufacturers’ datasheet. When they are not available,
Parameters Description
Number of Sections The number of sections. The parameters below are for each section.
Cable Length Length of the cable per section, in ft or in m.
DC resistance DC resistance per unit length (Rs), in Ohm
Inductance Inductance per unit length (Ls), in H
Phase-to-phase Phase-to-phase capacitance per unit length (Cph), in F
Capacitance
Ground Capacitance Phase-to-ground capacitance per unit length (Cgnd), in F
Shield DC Resistance Shield resistance per unit length (Rshield), in Ohm
The circuit schematic below illustrates the model principle for each section, and the definition of the parameters
in the above table.
Attributes:
For resistance-type elements:
Parameters Description
Expression f(i) or f(i,x) Expression of v in terms of i and x [v = f(i) or v = f(i,x)]
Expression df/di The derivative of the voltage v versus current i, i.e. df(i)/di
Initial Value io The initial value of the current i
Lower Limit of i The lower limit of the current i
Upper Limit of i The upper limit of the current i
For conductance-type elements:
Parameters Description
Expression f(v) or f(v,x) Expression of i in terms of v and x [i = f(v) or i = f(v,x)]
Expression df/dv Derivative of the current i versus voltage v, i.e. df(v)/dv
Initial Value vo The initial value of the voltage v
Lower Limit of v The lower limit of the voltage v
Upper Limit of v The upper limit of the voltage v
A good initial value and lower/upper limits will help the convergence of the solution.
Example: Nonlinear Diode
The nonlinear element (NONI) in the circuit above models a nonlinear diode. The diode current is expressed as
a function of the voltage as: i = 10-14 * (e 40*v-1). In PSIM, the specifications of the
nonlinear element will be:
4.2.1 Diode
The conduction of a diode or LED is determined by circuit operating conditions. A diode has the following
model levels:
• Ideal: An ideal diode is turned on when the positive bias voltage is greater than the threshold
voltage, and is turned off when the current drops to zero.
• Level-2: Includes leads parasitic inductance and reverse recovery parameters.
• SPICE Model: Diode model in SPICE netlist format
• SPICE Subcircuit: Diode model in SPICE subcircuit netlist format
Using SPICE models needs the SPICE Module in the license.
The attributes of ideal and Level-2 models are described below.
Image:
+ v -
Parameters Description
Forward Voltage Forward voltage Vd_th, in V. A diode starts to conduct when the positive bias
voltage is greater than Vd_th.
Resistance On-resistance Rd, in Ohm, after it starts to conduct.
Initial Position Flag for the initial diode position. If it is 0, the diode is off. If it is 1, the diode is on.
Current Flag Current flag for diode current display.
Attributes of the Level-2 Model:
Parameters Description
Forward Voltage Forward voltage Vd_th, in V. A diode starts to conduct when the positive bias
voltage is greater than Vd_th.
Resistance On-resistance Rd, in Ohm, after it starts to conduct.
Parasitic Inductance Series parasitic inductance, in H
Slope = 1/Rd
0 v
Vd_th
The reverse recovery time trr consists of two parts: ta and tb. During the period ta, the current increases from 0
to -Irm. Based on JEDEC (Joint Electron Device Engineering Council), tb is defined as the interval from the
time of -Irm to the time when the straight line from -Irm through -0.25*Irm (in red in the diagram) intersects
with the time axis.
For further information on how to use the Level-2 model, please refer to the tutorial "Tutorial - Diode model
with reverse recovery.pdf".
For further information on SPICE models and SPICE subcircuit models, please refer to the document "SPICE
User Manual.pdf".
Parameters Description
Forward Voltage LED forward threshold voltage Vd_th, in V. The LED starts to conduct and emit
light when the positive bias voltage is greater than Vd_th.
Resistance LED on-resistance Rd, in Ohm, after it starts to conduct.
Initial Position Flag for the initial LED position. If the flag is 0, the LED is off. If it is 1, the LED is
on.
Current Flag Current flag for LED current display.
4.2.3.1 Zener
A zener diode is modeled by a circuit as shown below.
Images:
Zener Circuit Model
A K A K
VB
Attributes:
Parameters Description
Breakdown Voltage Breakdown voltage VB of the zener diode, in V
Forward Threshold Threshold voltage of the forward conduction (from anode to cathode), in V
Voltage
Forward Resistance On resistance of the forward conduction, in Ohm
Current Flag Flag for zener current output (from anode to cathode)
When the zener diode is positively biased, it behaviors as a regular diode. When it is reverse biased, it will block
the conduction as long as the cathode-anode voltage VKA is less than the breakdown voltage VB. When VKA
exceeds VB, the voltage VKA will be clamped to VB.
Note that when the zener is clamped, since the diode is modelled with an on-resistance of 10μΩ, the cathode-
anode voltage will in fact be equal to: VKA = VB + 10μΩ * IKA. Therefore, depending on the value of IKA, VKA
will be slightly higher than VB. If IKA is very large, VKA can be substantially higher than VB.
4.2.3.2 DIAC
A DIAC is a bi-directional diode. A DIAC does not conduct until the breakover voltage is reached. After that,
the DIAC goes into avalanche conduction, and the conduction voltage drop is the breakback voltage.
Image:
Parameters Description
Breakover Voltage Voltage at which breakover occurs and the DIAC begins to conduct, in V
Breakback Voltage Conduction voltage drop, in V
Current Flag Current flag
A K
Gate
Gate
Attributes:
Parameters Description
Voltage Drop Thyristor conduction voltage drop, in V
Holding Current Minimum conduction current below which the device stops conducting and returns to
the OFF state (for thyristor only)
Latching Current Minimum ON state current required to keep the device in the ON state after the
triggering pulse is removed (for thyristor only)
Initial Position Flag for the initial switch position (for thyristor only)
Current Flag Flag for switch current output
Note that for the TRIAC device, the holding current and latching current are set to zero.
There are two ways to control a thyristor or TRIAC. One is to use a gating block, and the other is to use a switch
controller. The gate node of a thyristor or TRIAC must be connected to either a gating block or a switch
controller.
The following examples illustrate the control of a thyristor switch.
Examples: Control of a Thyristor Switch
Gating Block
Alpha
Controller
This circuit on the left uses a switching gating block. The switching gating pattern and the frequency are pre-
Attributes:
Parameters Description
Collector-emitter VCE The saturation voltage Vce_sat, in V. positive number for npn transistor and a
(sat) negative number for pnp transistor.
Initial Position Initial switch position flag (0: off; 1: on)
Current Flag Switch current flag (0: no display; 1: display)
Example: Control of a npn Bipolar Junction Transistor
The circuit on the left uses a gating block, and the one on the right uses an on-off switch controller.
If the switch is controlled by a control circuit signal, as shown in the circuit on the right side, an on-off switch
controller must be used at the gate node.
The following shows another example of controlling the BJT switch. The circuit on the left shows how a BJT
Parameters Description
DC Current Gain hFE Transistor current gain β, defined as: β=Ic/Ib
Base-emitter Voltage Base-emitter forward bias voltage, in V, between base and emitter. It is a positive
VBE (sat) number for npn transistor and a negative number for pnp transistor.
Collector-emitter VCE Saturation voltage, in V, between collector and emitter, in V. It is a positive
(sat) number for npn transistor and a negative number for pnp transistor.
Parameters Description
VCEO (breakdown Collector-emitter breakdown voltage, in V.
voltage)
VCBO (breakdown Collector-base breakdown voltage, in V.
voltage)
VEBO (breakdown Emitter-base breakdown voltage, in V.
voltage)
Collector-emitter Collector-emitter saturation voltage, in V
VCE(sat)
Base-emitter Voltage Base-emitter forward bias voltage, in V.
VBD(sat)
DC Current Gain hFE Current gain of the transistor
Collector ICE(sat) Collector-emitter saturation current, in A
Collector Resistance RC Collector-emitter resistance, in ohm.
Base Resistance RB Base-emitter resistance, in ohm.
Output Capacitance Cobo Output capacitance, in F
NPN_1
NPN_1
4.2.6 MOSFET
A MOSFET model has 6 levels:
• Ideal,
• Level 1,
• Level 2,
• SPICE Model,
• SPICE Subcircuit, SPICE Subcircuit (4-pin), and SPICE Subcircuit (5-pin).
• MOSFET RDS(on)
The ideal, Level 1, Level 2, and RDS(on) models are described in the sections below. For information regarding
SPICE model and subcircuit, please refer to the document "SPICE Module User Manual.pdf".
Images:
MOSFET p-MOSFET MOSFET p-MOSFET
(RDS(on)) (RDS(on))
Tj Tj
Parameters Description
On Resistance The on resistance Rds_on of the MOSFET, in Ohm
Diode Forward Anti-parallel diode forward threshold voltage, in V
Voltage
On-off Controller
The circuit on the left uses a gating block, and the one on the right uses an on-off switch controller. The gating
signal is determined by the comparator output.
Parameters Description
On Resistance RDS(on) On resistance RDS(on) of the MOSFET, in Ohm
Threshold Voltage Threshold voltage of the gate-to-source voltage, in V, beyond which the MOSFET
VGS(th) starts to conduct.
Transconductance Transconductance gm of the MOSFET.
Diode Forward Voltage Forward voltage of the anti-parallel diode, in V
Diode Resistance On resistance of the anti-parallel diode, in Ohm
A Level-1 MOSFET is a linear switch that can operate in three states: cut-off, active, or ohmic state.
A linear MOSFET device is controlled by the gate-to-source voltage Vgs. It can operate in one of the three
regions: cut-off (off state), active, and ohmic region (on state).
The properties of an n-channel MOSFET device in these regions are:
- Cut-off region: Vgs < Vgs(th); Id = 0
- Active region: Vgs > Vgs(th) and Vgs - Vgs(th) < Vds; Id = gm∗(Vgs - Vgs(th))
- Ohmic region: Vgs > Vgs(th) and Vgs - Vgs(th) > Vds; Id = Vds / RDS(on)
where Vgs is the gate-source voltage, Vds is the drain-source voltage, and Id is the drain current.
The properties of a p-channel MOSFET device in these regions are:
- Cut-off region: Vgs > Vgs(th); Id = 0
- Active region: Vgs < Vgs(th) and Vgs - Vgs(th) > Vds; Id = gm∗(Vgs - Vgs(th))
- Ohmic region: Vgs < Vgs(th) and Vgs - Vgs(th) < Vds; Id = Vds / RDS(on)
Parameters Description
Vbreakdown (drain- Maximum drain-source voltage without causing avalanche breakdown, in V.
source)
On Resistance RDS(on) On resistance RDS(on) of the MOSFET, in Ohm
Gate Threshold Voltage Threshold voltage of the gate-to-source voltage, in V, above which, the MOSFET
VGS(th) starts to conduct.
Internal Gate Resistance Internal gate resistance, in Ohm.
Transconductance Transconductance gm of the MOSFET.
Capacitance Cgs Gate-to-source intrinsic capacitance, in F.
Capacitance Cgd Gate-to-drain intrinsic capacitance, in F.
Capacitance Cds Output capacitance between drain and source, in F.
Diode Forward Voltage Forward voltage of the anti-parallel diode, in V
Diode Resistance On resistance of the anti-parallel diode, in Ohm
The Level 2 model is the same as Level 1 model but takes the intrinsic and parasitic components into
consideration. The capacitances Cgs, Cgd, and Cds are included.
In the Level-2 MOSFET model, the capacitances Cgs, Cgd, and Cds can be roughly calculated from the input
capacitance Ciss, Coss, and Crss from the datasheet as below:
Cgs = Ciss - Crss
Cgd = Crss
Cds = Coss - Crss
These capacitance values may need to be adjusted to obtain the desired transient response.
Note that the gate node is a power node, and must be connected to a power circuit component (such as a resistor
or a source). It can not be connected to a gating block or a switch controller.
Parameters Description
Tj at Test Junction temperature Tj_b at test, in oC
RDS(on) at Test On-resistance RDS(on)_b at test, in Ohm
Temperature Temperature coefficient KT of the on-resistance, in 1/oC
Coefficient
Diode Forward Anti-parallel diode forward threshold voltage, in V
Voltage
Diode Resistance Anti-parallel diode on resistance, in Ohm
Initial Position Initial switch position flag for the transistor only (0: off; 1: on)
Current Flag Switch current flag for the whole module (the transistor plus the diode)
R DS ( on ) = R DS ( on )_b ⋅ ( 1 + K T ⋅ ( T j – T j_b ) )
The gate node of a MOSFET RDS(on) switch must be connected to either a gating block or a switch controller,
the same way as described for the ideal model of MOSFET.
4.2.7 IGBT
An IGBT model has 3 levels:
• Ideal,
• Level 2,
• SPICE Subcircuit, SPICE Subcircuit (4-pin) and SPICE Subcircuit (5-pin).
The Ideal and Level-2 models are described in the sections below. For information regarding SPICE subcircuit,
please refer to the document "SPICE Module User Manual.pdf".
Image:
Parameters Description
Saturation Voltage Saturation voltage Vce_sat of the IGBT, in V
Transistor Resistance Transistor on resistance, in Ohm
Diode Forward Voltage Anti-parallel diode forward threshold voltage, in V
Diode Resistance Anti-parallel diode on resistance, in Ohm
Initial Position Initial switch position flag for the transistor only (0: off; 1: on)
Current Flag Switch current flag for the whole module (the transistor plus the diode)
Parameters Description
Maximum Vce Maximum collector-emitter voltage Vce rating, in V
Maximum Vec Maximum emitter-collector voltage Vec rating, in V.
If IGBT has an anti-parallel diode, this voltage will be the diode forward
conduction threshold voltage.
Gate Threshold Voltage Gate threshold voltage Vge_th, in V
Transconductance Transconductance of the IGBT, in S
Fall Time Fall time of the current when IGBT is turned off, in sec.
Capacitance Cies Input capacitance Cies, in F
Capacitance Coes Output capacitance Coes, in F
Capacitance Cres Reverse transfer capacitance Cres, in F
Rce_on Collector-emitter on resistance Rce_on, in Ohm
Vce_threshold Collector-emitter threshold voltage Vce_th, in V
Internal Gate Resistance Internal gate resistance Rgate, in Ohm
Current Flag Switch current flag for the whole module (the transistor plus the diode)
For more information on how to use this model, please refer to the tutorial "Tutorial - IGBT Level-2
model.pdf".
4.2.8 IGBT-RB
An IGBT-RB switch consist of an active switch with reverse blocking capability and without an anti-parallel
diode. It is turned on when the gating signal is high (when a voltage of 1V or higher is applied to the gate node)
and the switch is positively biased (collector-emitter voltage is positive). It is turned off whenever the gating
signal is low or the current drops to zero.
Two versions of IGBT-RB are provided: a single switch, and a dual package with two back-to-back switches.
Images:
1 2
Attributes:
Parameters Description
Saturation Voltage Saturation voltage Vce_sat of the IGBT, in V
Transistor Resistance Transistor on resistance, in Ohm
Initial Position Initial switch position flag for the switch, or in the case of the dual package,
or for Switch 1 or 2 (0: off; 1: on)
Initial Position 1 or 2
Current Flag Switch current flag for the whole module (the transistor plus the diode)
For the dual package, when the element is placed in the upright position, Switch 1 is on the left and Switch 2 is
on the right.
Attributes:
Parameters Description
Voltage Drop GTO conduction voltage drop, in V
Initial Position Initial switch position flag (0: off; 1: on)
Current Flag Switch current flag (0: no display; 1: display)
Attributes:
Parameters Description
Initial Position Initial switch position flag (for single switch only).
Initial Position (for Phase A/B/ Initial switch position for Phase A, or B, or C.
C)
Switch Position Switch position can be either "On" or "Off" (for push button switch only)
Current Flag Switch current flag (for single switch only)
Current Flag (for Phase A/B/C) Switch current flag for Phase A, or B, or C.
In the 3-phase switch image, the phase with a dot is Phase A.
For single and 3-phase bi-directional switches, they are on when the gating signal is high, and are off when the
gating signal is low, regardless of the voltage bias conditions. For the push button switch, the switch position is
set directly from the parameter input.
Attributes:
Parameters Description
Frequency Operating frequency of the switch or switch module connected to the gating block, in
Hz
No. of Points Number of switching points (for the Gating Block element only)
Switching Points Switching points, in deg. If the frequency is zero, the switching points is in second. (for
the Gating Block element only)
File for Gating Name of the file that stores the gating table (for the Gating Block (file) element only)
Table
The number of switching points is defined as the total number of switching actions in one period. Each turn-on
or turn-off action is counted as one switching point. For example, if a switch is turned on and off once in one
cycle, the number of switching points will be 2.
For the Gating Block (file) element, the file for the gating table must be in the same directory as the schematic
file. The gating table file has the following format:
n
G1
G2
... ...
Gn
where G1, G2, ..., Gn are the switching points.
Example:
Assume that a switch operates at 2000 Hz and has the following gating pattern in one period:
The specification of the Gating Block element for this switch will be:
Frequency 2000.
No. of Points 6
Switching Points 35. 92. 175. 187. 345. 357.
The gating pattern has 6 switching points (3 pulses). The corresponding switching angles are 35o, 92o, 175o,
187o, 345o, and 357o, respectively.
If the Gating Block (file) element is used instead, the specification will be:
Frequency 2000.
File for Gating Table test.tbl
Attributes:
Parameters Description
Diode Threshold Voltage Threshold voltage of the diode, in V
Diode Resistance On resistance of the diode, in Ohm
Init. Position_i Initial position for Switch i
Current Flag_i Current flag for Switch i
C 3
C 6
A6
Ct
Ct
Attributes:
Parameters Description
Voltage Drop Thyristor conduction voltage drop, in V
Init. Position_i Initial position for Switch i
Current Flag_i Current flag for Switch i
Node Ct at the bottom of the thyristor module is the gating control node for Switch 1. For the thyristor module,
only the gating signal for Switch 1 needs to be specified. The gating signals for other switches will be derived
internally in the program.
Similar to the single thyristor switch, a thyristor bridge can also be controlled by either a gating block or an
alpha controller, as shown in the following examples.
Examples: Control of a Thyristor Bridge
The gating signal for the circuit on the left is specified through a gating block, and the gating signal for the
circuit on the right is provided through an alpha controller. A major advantage of the alpha controller is that the
delay angle alpha of the thyristor bridge, in deg., can be directly controlled.
DC-
CSI3 CSI3
DC+
DC+ A 1 3 5
Ct
B A
B
C
DC- C
4 6 2
Ct DC-
Parameters Description
On Resistance On resistance of the MOSFET transistor, in Ohm
Diode Threshold Voltage Threshold voltage drop of the diode, in V
Diode Resistance On resistance of the diode, in Ohm
Init. Position_i Initial position for Switch i
Current Flag_i Current flag for Switch i
Parameters Description
Saturation Voltage Saturation voltage Vce_sat of the IGBT transistor, in Ohm
Transistor Resistance On resistance of the IGBT transistor, in Ohm
Diode Threshold Voltage Threshold voltage drop of the anti-parallel diode, in V
Diode Resistance On resistance of the anti-parallel diode, in Ohm
Init. Position_i Initial position for Switch i
Current Flag_i Current flag for Switch i
Parameters Description
Voltage Drop Forward conduction voltage drop of the switch, in V
Resistance Forward on resistance of the switch, in Ohm
Init. Position_i Initial position for Switch i
Current Flag_i Current flag for Switch i
Similar to single-phase modules, only the gating signal for Switch 1 need to be specified for three-phase
modules. Gating signals for other switches will be automatically derived. For the 3-phase half-wave thyristor
bridge, the phase shift between two consecutive switches is 120o. For all other bridges, the phase shift is 60o.
Thyristor bridges can be controlled by an alpha controller. Similarly, voltage/current source inverters can be
controlled by a PWM lookup table controller.
The following examples illustrate the control of three-phase thyristor and voltage source inverter modules.
Example: Control of 3-Phase Thyristor and VSI Modules
The thyristor circuit on the left uses an alpha controller. For a three-phase circuit, the zero-crossing of the
voltage Vac corresponds to the moment when the delay angle alpha is equal to zero. This signal is used to
provide synchronization to the controller.
The circuit on the right uses a PWM lookup table controller. The PWM patterns are stored in a lookup table in a
text file. The gating pattern is selected based on the modulation index. Other inputs of the PWM lookup table
controller include the delay angle, the synchronization, and the enable/disable signal. A detailed description of
the PWM lookup table controller is given in the Switch Controllers section.
DC+ DC+
A A
B B
C C
DC- DC-
Attributes:
Parameters Description
Shunt Resistance Shunt resistance, used to measure the current of the bottom half switch, in Ohm
The nodes marked with ha, hb, and hc are from the top of the shunt resistors. They are used to measure the
voltage across those shunt resistors.
3-ph Inverter
Attributes:
Parameters Description
Switch Resistance On-resistance for all transistors and diodes, in Ohm.
Current Flag Sxi Current flag for Switch i in phase x
Voltage Flag Sxi Voltage flag for Switch i in phase x
Input Sx_i These values are for Typhoon HIL. They are integer values from 1 to 64.
3-Level Flying Cap Inverter Leg 7-Level Flying Cap Inverter Leg
Attributes:
Parameters Description
Switch Resistance On-resistance for all transistors and diodes, in Ohm.
Capacitance Cpi The capacitance of each flying capacitors, in F.
Initial Cpi Voltage Initial voltage on each flying capacitors, in V
Voltage Flag Cpi Flags for the voltage across each flying capacitor.
Current Flag i Current flag for Switch i
Voltage Flag i Voltage flag for Switch i
Parameters Description
Switch Resistance On-resistance for all transistors and diodes, in Ohm.
Current Flag Sxi Current flag for Switch i in phase x
Voltage Flag Sxi Voltage flag for Switch i in phase x
Input Sx_i These values are for Typhoon HIL. They are integer values from 1 to 64.
Attributes:
Parameters Description
Switch Resistance On-resistance for all transistors and diodes, in Ohm.
Current Flag Sxi Current flag for Switch i in phase x
Voltage Flag Sxi Voltage flag for Switch i in phase x
Input Sx_i These values are for Typhoon HIL. They are integer values from 1 to 64.
Parameters Description
Rp (primary) Resistance of the primary winding, in Ohm.
Rs (secondary) Resistance of the secondary winding referred to the primary side, in Ohm.
Lp (pri. leakage) Leakage inductance of the primary winding, in Henry.
Ls (sec. leakage) Leakage inductance of the secondary winding referred to the primary side, in
Henry.
Np/Ns Ratio Transformer turns ratio.
Switch Resistance Rsw1 On-resistance for all the transistors and diodes in the front end DC-AC
converter, in Ohm. Current flag for Switch i in phase x
Switch Resistance Rsw2 On-resistance for all the transistors and diodes in the rear end AC-DC converter,
in Ohm.
Current Flag Sij Current flag for switch j in converter i
Voltage Flag Sij Voltage flag for switch j in converter i
Np Ns Np Ns
The winding with the larger dot is the primary, and the other winding is the secondary.
Attributes:
Parameters Description
Np (primary) No. of turns of the primary winding
Ns (secondary) No. of turns of the secondary winding
Since the turns ratio is the same as the ratio of the rated voltages, the number of turns can be replaced by the
rated voltage at each side.
p_2 s_3
In the images, p refers to primary, s refers to secondary, and t refers to tertiary. The winding marked with the
largest dot is the primary winding or first primary winding. For the multiple winding transformers, the sequence
of the windings is from the top to the bottom. For the transformers with 2 or 3 windings, the attributes are as
follows.
Parameters Description
Rp (primary); Resistance of the primary/secondary/tertiary winding, in Ohm
Rs (secondary);
Rt (tertiary)
Lp (pri. leakage); Leakage inductance of the primary/secondary/tertiary winding, in H (seen from the
Ls (sec. leakage); primary)
Lt (ter. leakage)
Lm (magnetizing) Magnetizing inductance, in H
Np (primary); No. of turns of the primary/secondary/tertiary winding
Ns (secondary);
Nt (tertiary)
All the resistances and inductances are referred to the primary winding side. If there are multiple primary
windings, they are referred to the first primary winding side.
For a transformer with more than 1 primary or more than 3 secondary windings, the attributes are as follows.
Attributes:
Parameters Description
Rp_i (primary i); Resistance of the ith primary/secondary/tertiary winding, in Ohm
Rs_i (secondary i)
Lp_i (pri. i leakage); Leakage inductance of the ith primary/secondary/tertiary winding, in H (referred to
Ls_i (sec. i leakage) the first primary winding)
All the resistances and inductances are referred to the first primary winding side.
Modeling of a Transformer:
A transformer is modeled as coupled inductors. For example, a single-phase two-winding transformer is
modeled as two coupled inductors. The equivalent circuit can be shown as:
Rp Lp Rs L s Np : Ns
Primary Lm Secondary
Ideal
In the circuit, Rp and Rs are the primary and secondary winding resistances; Lp and Ls are the primary and
secondary winding leakage inductances; and Lm is the magnetizing inductance. All the values are referred to the
primary side.
Example:
A single-phase two-winding transformer has a winding resistance of 0.002 Ohm and leakage inductance of 1
mH at both the primary and the secondary side (all the values are referred to the primary). The magnetizing
Rp (primary) 2m
Rs (secondary) 2m
Lp (primary) 1m
Ls (secondary) 1m
Lm (magnetizing) 100m
Np (primary) 220
Ns (secondary) 440
Images:
Y/Y Y/D D/D D/Y 6-winding (unconnected)
A a A a A a A a a+
a-
b b+ Winding 2
B B b B b B b b-
c+
C c C c C c c c-
C
N n N Winding 1 Winding 3
Y/Y/D (primary)
Y/D/D
n A+
a A-
a B+
A b B- Winding 4
A b C+
c
c C-
B B
aa aa
C C bb Winding 5
bb
cc cc
N N
4-winding (unconnected) Winding 6
3-winding (unconnected) a+
A+
2-winding (unconnected) A- a-
A+ a+ B+ b+
A+ a+ a- B- b-
A- C+ c+
A- a- B+ b+ C- c-
B+ b+ b-
B- AA+ aa+
B- b- C+ c+ AA- aa-
C+ c+ C- c- BB+
BB- bb+
C- c- bb-
CC+ cc+
CC- cc-
aa+ bb+ cc+
aa- bb- cc-
B b B b B b B b
C c C c C c C c
N N
Connection diagrams:
a a a a
b b b b
c c c c
Np Ns1 Ns2 Np Ns1 Ns2 Np Ns1 Ns2 Np Ns1 Ns2
Parameters Description
Rp (primary); Rs (secondary); Resistance of the primary/secondary/tertiary winding, in Ohm
Rt (tertiary)
Lp (pri. leakage); Ls (sec. leakage); Leakage inductance of the primary/secondary/tertiary winding, in H
Lt (ter. leakage)
Lm (magnetizing) Magnetizing inductance, in H (seen from the primary side)
Np (primary); Ns (secondary); No. of turns of the primary/secondary/tertiary winding
Nt (tertiary)
Parameters Description
Rp (primary); Rs1 (secondary 1); Resistance of the primary/1st secondary/2nd secondary winding, in
Rs2 (secondary 2) Ohm
In the images, P refers to primary, S refers to secondary, and T refers to tertiary. All resistances and inductances
are referred to the primary or the first primary winding side.
Three-phase transformers are modeled in the same way as single-phase transformers.
For the 3-phase phase-shifting transformers, let the angle δ be the phase difference between the secondary line
voltage Vab and the primary line voltage VAB. The relationship between the angle and the winding turns are:
For the Y/Z1 transformer:
o
N s2 sin ( 30 – δ ) o o
---------------------- = -----------------------------
o
-, 0 ≤ δ ≤ 30
N s1 + N s2 sin ( 30 + δ )
Np 1 V AB
---------------------- = --------------------------------- ⋅ --------
-
2 sin ( 30 + δ ) V ab
N s1 + N s2 o
Np 3 V AB
---------------------- = ---------------------- ⋅ ---------
N s1 + N s2 2 sin ( δ ) V ab
The table below shows typical transformer turns ratios and delay angles.
d Ns2/(Ns1+Ns2) Np/(Ns1+Ns2)*Vab/VAB
(deg) Y/Z1 Y/Z2 Δ/Z1 Δ/Z2 Y/Z1 Y/Z2 Δ/Z1 Δ/Z2
30 0 0.577
20 0.227 0.653
15 0.366 0.707
0 1 1 0 1 1 1
-15 0.366 0.366 0.707 1.225
-20 0.227 0.532 0.653 1.347
-30 0 1 1 0.577 1.732 1.732
-40 0.532 1.347
-45 0.366 1.225
-60 0 1
A+ a+
A- a-
B+ b+
B- b-
C+ c+
C- c-
en
Parameters Description
Operating Voltage Transformer primary side rms voltage per phase under the circuit operating
(phase) condition, in V
Operating Frequency Operating frequency of the transformer, in Hz
Rp (primary) Resistance of the primary winding, in Ohm
Lp (pri. leakage) Leakage inductance of the primary winding, in H
Rs (secondary) Resistance of the secondary winding, in Ohm (referred to the primary side)
Ls (sec. leakage) Leakage inductance of the secondary winding, in H (referred to the primary side)
Rm (core losses) Resistance that represents transformer core losses, in Ohm
Im vs. Lm Values of the magnetizing current Im (in A) vs. the magnetizing inductance Lm (in
H) that defines the magnetizing characteristics seen from the primary winding
Phase A Residual Flux Phase A residual flux, in per unit value
Phase B Residual Flux Phase B residual flux, in per unit value
Phase C Residual Flux Phase C residual flux, in per unit value
Np (primary) Number of turns of the primary winding
Ns (secondary) Number of turns of the secondary winding
All the resistances and inductances are referred to the primary side.
In the images, p refers to the primary side and s refers to the secondary side. The node en is a control node, to be
connected to a control logic signal. The moment when the signal changes from 0 to 1 indicates the moment that
the transformer is energized.
Note that the operating voltage refers to the voltage per phase in the actual operating condition, not necessarily
the rated voltage. For example, if a transformer rated at 63kV (primary side line-to-line rms) operates under the
rated condition, and if the primary winding is connected in Y, the operating voltage per phase will be 63,000/
3 V. If the primary winding is connected in delta, the operating voltage per phase will be 63,000V. If the same
transformer is connected in delta but the actual operating voltage is only 60,000V, for example, the operating
voltage per phase will be 60,000V instead.
4.4.1 Winding
A winding element provides the interface between the electric circuit and the magnetic equivalent circuit.
Image:
M1
E1
E2
M2
Attributes:
Parameters Description
Number of Turns No. of turns of the winding
Winding Resistance Winding resistance, in Ohm
This element represents a winding on a magnetic core. The two electric nodes (E1 and E2) are connected to an
electric circuit, while the two magnetic nodes (M1 and M2) are connected to other magnetic elements (such as
leakage flux path, air gap, and magnetic core).
M1 M2
Parameters Description
Inductance Factor AL Inductance factor AL, in H, defined as the inductance per turn squared
Resistance for Losses Resistance R, in Ohm, that represents the losses due to the leakage flux.
Current Flag Display flag of the current that flows through the resistor R
The resistance R represents the losses due to the leakage flux.
Assuming that the mmf (magnetomotive force) applied across the leakage flux path is F, the electric equivalent
circuit of the leakage flux path is as follows:
+ i
AL
F
R
-
The mmf, in the form of a voltage source, applies across the capacitor (the capacitance is AL) and the resistor R.
Let the current flowing through this branch be i, and the rms value be Irms, the relationship between the losses
due to the leakage flux and the resistance R is:
2
P loss = I rms ⋅ R
M1 M2
The input parameters of the air gap can be defined in two ways. One is to define the air gap length and the cross
section area, and the other is to define the inductance factor AL. They are as follows.
Attributes for Air Gap:
Parameters Description
Air Gap Length The length of the air gap, lg, in m
Parameters Description
Inductance Factor AL Inductance factor AL, in H, defined as the inductance per turn squared
Resistance for Losses Resistance R, in ohm, that represents the losses due to the air gap fringing effect
Current Flag Display flag of the current that flows through the resistor R
+ i
AL
F
R
-
The mmf, in the form of a voltage source, applies across the capacitor (the capacitance has the value of the
inductance factor AL) and the resistor R. For the element Air Gap, the inductance factor can be calculated from
the air gap length and the cross section area as:
μo ⋅ Ac
A L = ---------------
-
lg
where Irms is the rms value of the current i flowing through the resistor.
M1 M2
Attributes:
Parameters Description
Inductance Factor AL Inductance factor AL of the core, in H, defined as the inductance per turn squared
If the length of the core is Llength and the cross section area is Ac, the inductance factor AL is expressed as:
μo ⋅ μr ⋅ Ac
A L = -------------------------
L length
Parameters Description
Inductance Factor AL Inductance factor AL of the core, in H, defined as the inductance per turn squared
Resistance for Losses Resistance R, in Ohm, that represents the core losses
Coefficient phi_sat Coefficient Φsat for the core B-H curve, in Weber
Coefficient K1 Coefficient K1 for the core B-H curve
Coefficient Kexp1 Coefficient Kexp1 for the core B-H curve
Coefficient K2 Coefficient K2 for the core B-H curve
Coefficient Kexp2 Coefficient Kexp2 for the core B-H curve
Initial Flux phi_o Initial flux Φo of the core, in Weber
Current Flag Display flag of the electric current that flows through the resistor R. If the rms value
of the current is Irms, the core losses can be calculated as: Pcore_loss = Irms2 * R.
In the element image, the nodes M1 and M2 are the two nodes that connect the core to other magnetic elements
(such as winding, flux leakage path, air gap, etc.). The node marked with a dot is Node M2. Node C1 is a control
output node, which shows the flux (in Weber) flowing through the core, from Node M2 to M1.
The initial flux of the core, Φo, is the flux flowing from Node M2 to M1 at the beginning, corresponding to the
field intensity H = 0. The initial flux density Bo can be calculated as: Bo = Φo/Ac (where Ac is the core cross
section area), and the initial mmf Fo is: Fo = Φo/AL.
A differential voltage probe connected between Node M2 to M1 will measure the mmf (in ampere*turn) applied
to the core.
The coefficients Φsat, K1, Kexp1, K2, and Kexp2 are used to fit the B-H curve of an actual magnetic material. A
good initial guess of Φsat is the maximum flux of the B-H curve in deep saturation. To calculate this flux,
multiply the corresponding flux density B by the cross section area of the core. Coefficient K1 usually varies
between 0.7 and 1, depending on the core material. Coefficient Kexp1 mainly affects the rate of the core
saturation, and is in the range between 10 and 200 (10 for low permeability ferrite, and 200 for metglas).
The coefficients K2 and Kexp2 are used in very rare occasions, such as for ferroresonant regulators. They are
normally set as follows to keep them from affecting the B-H curve:
K2 > 2
Kexp2 > 20
A tutorial on how to define the core coefficients is provided in the "doc" sub-folder in the PSIM directory. Also,
a program is provided to plot the B-H curve of the core given a set of coefficients. To launch this program, in
PSIM, go to Utilities >> B-H Curve.
V+ Ro
gnd
where
V+; V- - noninverting and inverting input voltages
Vo - output voltage
Ao - op. amp. dc gain (Ao is set to 100,000.)
Ro - output resistance (Ro is set to 80 Ohms)
Attributes:
Parameters Description
Voltage Vs+ Upper voltage source level of the op. amp.
Voltage Vs- Lower voltage source levels of the op. amp.
The difference between the element Op. Amp. and Op. Amp. (ground) or Op. Amp. (ground/inverted) is that, for
the Op. Amp. element, the reference ground of the op. amp. model is connected to the power ground, whereas
for Op. Amp. (ground) or Op. Amp. (ground/inverted), the reference ground node of the model is accessible and
can be floating.
Note that the image of an op. amp. is similar to that of a comparator. For the op. amp., the inverting input is at
the upper left and the noninverting input is at the lower left. For the comparator, it is the opposite.
Example: A Boost Power Factor Correction Circuit
The figure below shows a boost power factor correction circuit. The PI regulators of both the inner current loop
and the outer voltage loop are implemented using op. amp.
Attributes:
Parameters Description
Input Resistance Rin Input resistance of the op. amp., in Ohm
DC Gain Ao DC gain of the op. amp.
Unit Gain Frequency Frequency at which the op. amp. gain is 1, in Hz.
Output Resistance Ro Output resistance of the op. amp., in Ohm
Maximum Output Maximum current that the op. amp. output can provide, in A
Current
Voltage Vs+ Upper voltage source level of the op. amp.
Voltage Vs- Lower voltage source levels of the op. amp.
Open-Loop
Gain Av Ao
(dB)
Unit gain frequency
0
f (Hz)
Cathode
Reference
Anode
The TL431 regulator maintains the reference node voltage to be around 2.495V. In this model, the limited
bandwidth of the TL431 is modelled. That is, the ac frequency response of the TL431 model resembles the
following figure from the datasheet.
Test Circuit
4.5.3 Opto-Coupler
The image and parameters of a opto-coupler are shown below.
Image:
id ic
Parameters Description
Current Transfer Ratio The current transfer ratio CTR between the transistor current ic and the diode
current id, that is, CTR = ic/id.
Diode Resistance Diode resistance Rd, in Ohm. Note that the resistance must be greater than 0.
Diode Threshold The forward diode threshold voltage Vd_th, in V
Voltage
Transistor Vce_sat The transistor saturation voltage Vce_sat, in V
Transistor-side Capacitance Cp across the collector and emitter of the transistor, in F
Capacitance
These parameters can either be read directly from the manufacturer datasheet, or can be calculated from the
datasheet information. Take the Motorola optocoupler 4N25 as an example. From the datasheet, we can read the
current transfer ratio and the transistor saturation voltage as:
CTR = 70% = 0.7; Vce_sat = 0.15 V
From the "LED Forward Voltage versus Forward Current" characteristics on the datasheet, one can calculate the
diode resistance Rd and the threshold voltage Vd_th. We assume that the diode forward voltage is approximated
by a straight line. That is,
vd = Vd_th + Rd * id
With TA = 25oC, we can obtain two readings from the curve: id = 10 mA and vd = 1.15 V; id = 40 mA and vd =
1.3 V. Based on these two points, we can calculate Rd and Vd_th as: Rd = 5 Ohm; Vd_th = 1.1 V.
The optocoupler model does not take into account the delay, but it does model the turn-on/turn-off transient
through the capacitor Cp across the collector and emitter of the transistor. The capacitance value can be obtained
from the fall time tfall and the switching time test condition as:
t fall
C p = -----------------
-
2.2 ⋅ R L
where RL is the load resistor in the switching time test circuit. For 4N25, for example, from the datasheet, we
can obtain: tfall = 1.3 μs, and RL = 100 Ohm. The capacitance is calculated as: Cp = 6 nF.
The output of the dv/dt block is equal to the derivative of the input voltage versus time. It is calculated as:
V in ( t ) – V in ( t – Δt )
V o = ---------------------------------------------
-
Δt
where Vin(t) and Vin(t-Δt) are the input values at the current and previous time step, and Δt is the simulation time
step.
Attributes:
Parameters Description
Rated Coil Voltage Rated voltage of the relay coil, in V
Coil Resistance Resistance of the coil, in Ohm
Operate Voltage Voltage at which the relay will operate, in V
Release Voltage Voltage at which the relay will return to the default position, in V
Operate Time Time from the moment the operate voltage is reached to the moment the switches
operate, in sec.
Release Time Time from the moment the release voltage is reached to the moment the switches
return to the default positions, in sec.
The relays have one normally open switch and one normally closed switch. When a dc voltage is applied to the
relay coil in the polarity as shown in the image, if the voltage reaches the Operate Voltage, after a time delay
defined by the Operate Time, the NO switch will be closed, and the NC switch will be opened.
When the coil voltage reduces to the Release Voltage, after a time delay defined by the Release Time, the two
switches will return to their default positions.
The system consists of two induction machines, IM1 and IM2, connected back-to-back. One operates as a
motor, and the other as a generator. From the point of view of the first machine IM1, the mechanical equation
can be written as:
dω
( J 1 + J 2 ) ⋅ ---------m- = T em1 – T em2
dt
where J1 and J2 are the moment of inertia, and Tem1 and Tem2 are the developed torques of the machine IM1 and
IM2, respectively.
From the point of view of the second machine IM2, however, the mechanical equation can be written as:
dω
( J 1 + J 2 ) ⋅ ---------m- = T em2 – T em1
dt
These two equations are equally valid, but will produce opposite mechanical speed.
In order to avoid this ambiguity, in PSIM, the concept "reference direction" is used in the mechanical system so
that the mechanical equation can be uniquely defined.
In a mechanical system, one element is designated as the master unit (this element is considered to operate in
the master mode), and the rest of the elements are in the slave mode. Elements that can be master units are:
Electric machines, mechanical-to-electrical interface blocks, and gear boxes.
The master unit defines the reference direction of the mechanical system. The direction is define as the direction
from the shaft node of the master unit, along the shaft, to the rest of the mechanical system.
Once the reference direction of the mechanical system is defined, the speed and torque reference of the
mechanical system can be defined. For example, if we use the right-hand method, with the thumb pointing in
the reference direction of the mechanical system, by rotating the right hand, the fingers will point to the positive
direction of the speed and the torque.
Moreover, each mechanical element has its own reference direction. The following diagram shows the reference
direction of each mechanical element, as indicated by the arrow:
The reference direction of each element and the reference direction of the overall mechanical system determine
how the element interacts with the mechanical system.
For example, if the reference direction of a machine is along the same direction as the reference direction of the
mechanical system, the developed torque of the machine will contribute to the shaft rotation in the positive
direction. However, if the reference direction of the machine is opposite to that of the mechanical system, the
developed torque will contribute to the shaft rotation in the negative direction.
In the two-machine example above, using the notation of the "reference direction", if we define the machine
IM1 as the master unit, the reference direction of the overall mechanical system will be from left to right, as
shown below. Based on this direction, the machine IM1 will be along the reference direction, and the machine
IM2 will be opposite to the reference direction. This leads to the equivalent circuit of the mechanical system as
shown on the right.
Equivalent Circuit
Reference direction
Master Unit (J1+J2)*dWm/dt = Tem1 - Tem2
Similarly, if we define the machine IM2 as the master unit, the reference direction of the overall mechanical
system will be from right to left, as shown below. Based on this direction, the machine IM1 will be opposite to
the reference direction, and the machine IM2 will be along the reference direction. This leads to the equivalent
circuit of the mechanical system as shown on the right.
Master Unit
Equivalent Circuit
The following shows another mechanical system with sensors and loads connected in different ways.
In this mechanical system, the machine on the left is the master unit. The reference direction of the mechanical
system is from left to the right along the mechanical shaft. Comparing this direction with the reference direction
of each element, Load 1, Speed Sensor 1, and Torque Sensor 1, will be along the reference direction, and Load
2, Speed Sensor 2, and Torque Sensor 2 will be opposite to the reference direction of the mechanical system.
Therefore, if the speed of the machine is positive, Speed Sensor 1 reading will be positive, and Speed Sensor 2
reading will be negative.
Similarly, the two constant-torque mechanical loads, with the amplitudes of TL1 and TL2, interact with the
machine in different ways. Load 1 is along the reference direction, and the loading torque of Load 1 to the
master machine will be TL1. On the other hand, Load 2 is opposite to the reference direction, and the loading
torque of Load 2 to the machine will be -TL2.
Attributes:
Parameters Description
Rs (stator) Stator winding resistance, in Ohm
Ls (stator) Stator winding leakage inductance, in H
Rr (rotor) Rotor winding resistance referred to the stator side, in Ohm
Lr (rotor) Rotor winding leakage inductance referred to the stator side, in H
Lm (magnetizing) Magnetizing inductance, in H
Ns/Nr Turns Ratio Stator and rotor winding turns ratio (for wound-rotor machine only)
No. of Poles Number of poles P of the machine (an even integer)
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Torque Flag Output flag for internal torque Tem
Master/Slave Flag Master/slave flag of the machine (1: master; 0: slave)
All the parameters are referred to the stator side.
For more details on the definition and use of the master/slave flag, refer to Section 4.6.1.
The models of the squirrel-cage induction machine with and without the neutral are the same internally.
The operation of a 3-phase induction machine is described by the following equations:
d d
v abc, s = R s ⋅ i abc, s + L s ⋅ ----- i abc, s + M sr ⋅ ----- i abc, r
dt dt
d T d
v abc, r = R r ⋅ i abc, r + L r ⋅ ----- i abc, r + M sr ⋅ ----- i abc, s
dt dt
where
v a, s v a, r i a, s i a, r
v abc, s = v b, s v abc, r = v b, r i abc, s = i b, s i abc, r = i b, r
v c, s v c, r i c, s i c, r
For squirrel-cage machines, va,r = vb,r = vc,r= 0. The parameter matrices are defined as:
Rs 0 0 Rr 0 0
Rs = 0 Rs 0 Rr = 0 Rr 0
0 0 Rs 0 0 Rr
2π 2π
cos θ cos θ + ------ cos θ – ------
3 3
2π cos θ + 2π
M sr = M sr ⋅ cos θ – ------ cos θ
------
3 3
2π 2π
cos θ + ------ cos θ – ------ cos θ
3 3
where Msr is the mutual inductance between the stator and rotor windings, and θ is the mechanical angle. The
mutual inductance is related to the magnetizing inductance as:
3
L m = --- M sr
2
The mechanical equation is expressed as:
dω
J ⋅ ---------m- = T em – T L
dt
where the developed torque Tem is defined as:
P T d
T em = --- ⋅ i abc, s ⋅ ------ M sr ⋅ i abc, r
2 dθ
For a symmetrical squirrel-cage induction machine, the steady state equivalent circuit is shown below. In the
figure, s is the slip.
Rs Ls Rr Lr
Lm Rr(1-s)/s
Parameters Description
Rs (stator) Stator winding resistance, in Ohm
Ls (stator) Stator winding leakage inductance, in H
Rr (rotor) Rotor winding resistance referred to the stator side, in Ohm
Lr (rotor) Rotor winding leakage inductance referred to the stator side, in H
Ns/Nr Turns Ratio Stator and rotor winding turns ratio (for wound-rotor machine only)
No. of Poles Number of poles P of the machine (an even integer)
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Torque Flag Output flag for internal torque Tem
Master/Slave Flag Master/slave flag of the machine (1: master; 0: slave)
Im vs. Lm (Im1,Lm1) ... Characteristics of the magnetizing current Im versus the magnetizing inductance
[(Im1,Lm1) (Im2,Lm2) ...] where Im is in A and Lm is in H.
cos θ cos θ – 2π
------ cos θ + 2π
------ 1 –1 --- –1
---
3 3 2 2
2π
λ abc, s = M sr ⋅ cos θ + ------ cos θ cos θ – 2π
------ ⋅ i abc, s + M sr ⋅ – 1
--- 1 –1
--- i abc, r
3 3 2 2
2π 2π 1 1
cos θ – ------ cos θ + ------ cos θ – --- – ---
2 2
1
3 3
In this case, the inductance Msr is no longer constant, but a function of the magnetizing current Im. The
magnetizing current Im and inductance Lm are defined by a series of data points in pair, for example, "(0, 0.041)
(5, 0.035) (20, 0.03)". Between two data points, the inductance Lm is interpolated linearly. When the
magnetizing current is less than the minimum or greater than the maximum, the inductance will be clamped to
the value at the first point or the last point.
as
bs
cs
Attributes:
Parameters Description
Rs (stator) Stator winding resistance, in Ohm
Ls (stator) Stator winding leakage inductance, in H
Rr (rotor) Rotor winding resistance referred to the stator side, in Ohm
Lr (rotor) Rotor winding leakage inductance referred to the stator side, in H
No. of Poles Number of poles P of the machine (an even integer)
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Cg (winding-ground) Capacitance representing the winding-to-ground distributed capacitance, in F.
Rg (winding-ground) Dissipative effects in motor frame resistance, in Ohm.
Re (eddy current) Resistance representing eddy currents inside the magnetic core and the motor frame,
in Ohm.
Rt (skin effect) Resistance representing skin effect for high frequency responses, in Ohm,.
Lt (skin effect) Inductance representing skin effect for high frequency responses, in H.
Ct (skin effect) Capacitance representing skin effect for high frequency responses, in F.
Master/Slave Flag Master/slave flag of the machine (1: master; 0: slave)
All the parameters are referred to the stator side.
The machine model is symmetrical and the stator windings are connected in Y with a neutral terminal. The
equations that describe the machine operations are the same as the linear induction machines.
Circuit Model:
The parameters related to high frequency responses are defined in the circuit model below. This schematic
illustrate only one phase of the model. The parameters are the same for all three phases.
+
Armature
Shaft Node
Winding
-
+
Field
Winding
-
Attributes:
Parameters Description
Ra (armature) Armature winding resistance, in Ohm
La (armature) Armature winding inductance, in H
Rf (field) Field winding resistance, in Ohm
Lf (field) Field winding inductance, in H
Moment of Inertia Moment of inertia of the machine, in kg*m2
Vt (rated) Rated armature terminal voltage, in V
Ia (rated) Rated armature current, in A
n (rated) Rated mechanical speed, in rpm
If (rated) Rated field current, in A
Torque Flag Output flag for internal torque Tem
Master/Slave Flag The master/slave flag of the machine (1: master; 0: slave)
When the torque flag is set to 1, the internal torque generated by the machine will be saved to the output file for
display.
For more details on the definition and use of the master/slave flag, refer to Section 4.6.1.
The operation of a dc machine is described by the following equations:
di
v t = E a + i a ⋅ R a + L a ------a-
dt
di f
v f = i f ⋅ R f + L f ------
dt
Ea = k ⋅ φ ⋅ ωm
T em = k ⋅ φ ⋅ i a
dω
J ⋅ ---------m- = T em – T L
dt
where vt, vf, ia, and if are the armature and field winding voltage and current, respectively; Ea is the back emf,
E a = L af ⋅ i f ⋅ ω m
T em = L af ⋅ i f ⋅ i a
where Laf is the mutual inductance between the armature and the field windings. It can be calculated based on
the rated operating conditions as:
( Vt – Ia ⋅ Ra )
L af = -----------------------------
-
If ⋅ ωm
Note that the dc machine model assumes magnetic linearity. Saturation is not considered.
Speed
Sensor
Armature current
Constant-
Torque
Load Speed (in rpm)
b Shaft Node
n sa sb sc
6-pulse Hall Effect Position Sensor
Parameters Description
R (stator resistance) Stator phase resistance R, in Ohm
L (stator self ind.) Stator phase self inductance L, in H
M (stator mutual ind.) Stator mutual inductance M, in H
The mutual inductance M is a negative value. Depending on the winding
structure, the ratio between M and the stator self inductance L is normally
between -1/3 and -1/2. If M is unknown, a reasonable value of M equal to -0.4*L
can be used as the default value.
Vpk / krpm Peak line-to-line back emf constant, in V/krpm (mechanical speed)
Vrms / krpm RMS line-to-line back emf constant, in V/krpm (mechanical speed).
The values of Vpk/krpm and Vrms/krpm should be available from the machine
data sheet. If these values are not available, they can be obtained through
experiments by operating the machine as a generator at 1000 rpm and measuring
the peak and rms values of the line-to-line voltage.
No. of Poles P Number of poles P
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Shaft Time Constant Shaft time constant τshaft
theta_0 (deg.) Initial rotor angle θr, in electrical deg.
The initial rotor angle is the rotor angle at t=0. The zero rotor angle position is
defined as the position where Phase A back emf crosses zero (from negative to
positive) under a positive rotation speed.
theta_advance (deg.) Position sensor advance angle θadvance, in electrical deg.
The advance angle is defined as such that, for a brushless dc machine with a 120o
trapezoidal back emf waveform, if the advance angle is 0, the leading edge of the
Phase A hall effect sensor signal will align with the intersection of the rising
ramp and the flat-top of the back emf trapezoidal waveform.
Conduction Pulse Width Position sensor conduction pulse width, in electrical deg.
Positive conduction pulse can turn on the upper switch and negative pulse can
turn on the lower switch in a full bridge inverter. The conduction pulse width is
120 electrical deg. for 120o conduction mode.
Torque Flag Output flag for internal developed torque Tem
Master/Slave Flag Master/slave flag of the machine (1: master; 0: slave)
Attributes based on manufacturer datasheet information:
Parameters Description
Resistance (phase-phase) Phase-to-phase (or line-to-line) resistance, in Ohm
Inductance (phase-phase) Phase-to-phase (or line-to-line) inductance, in H
Speed Constant Speed constant Kv, defined as the ratio between the speed and the applied voltage,
in rpm/V
Torque Constant Torque constant Kt, defined as the ratio between the generated torque and the
applied current, in N*m/A
E b = k e_b ⋅ ω m
E c = k e_c ⋅ ω m
The coefficients ke_a, ke_b, and ke_c are dependent on the rotor angle θr. In this model, an ideal trapezoidal
waveform profile is assumed, as shown below for Phase A. Also shown is the Phase A hall effect sensor signal
Sa.
ke_a
Sa
Kpk
o
180
o θr
360
-Kpk
α
pk V ⁄ krpm 1
where Kpk is the peak trapezoidal value, in V/(rad./sec.), which is defined as: K pk = ------------------------
- ⋅ --------------------------------- .
2 1000 ⋅ 2π ⁄ 60
Given the values of Vpk/krpm and Vrms/krpm, the angle α is determined automatically in the program.
The shaft time constant τshaft, therefore, reflects the effect of the friction and windage of the machine. Note that
when the shaft time constant is set to 0, the friction term is B*ωm is ignored.
To better understand the definition of the shaft time constant, we can represent the mechanical equation with the
following equivalent circuit:
ωm
1/B Tload
Tem J (or τshaft/J)
This circuit shows that the shaft time constant τshaft is equal to the RC time constant of the resistor 1/B and the
capacitor J. Therefore, the shaft time constant can be measured by the following test:
- Connect the machine to an external mechanical source. With the stator side in open circuit, drive the
machine to a certain speed.
- Remove the mechanical source. The shaft time constant will be equal to the time that it takes the
machine to decelerate to 36.8% of its initial speed.
More Explanation on the Hall Effect Sensor:
A hall effect position sensor consists of a set of hall switches and a set of trigger magnets.
The hall switch is a semiconductor switch (e.g. MOSFET or BJT) that opens or closes when the magnetic field
is higher or lower than a certain threshold value. It is based on the hall effect, which generates an emf
proportional to the flux-density when the switch is carrying a current supplied by an external source. It is
common to detect the emf using a signal conditioning circuit integrated with the hall switch or mounted very
closely to it. This provides a TTL-compatible pulse with sharp edges and high noise immunity for connection to
the controller via a screened cable. For a three-phase brushless dc motor, three hall switches are spaced 120
electrical deg. apart and are mounted on the stator frame.
The set of trigger magnets can be a separate set of magnets, or it can use the rotor magnets of the brushless
motor. If the trigger magnets are separate, they should have the matched pole spacing (with respect to the rotor
magnets), and should be mounted on the shaft in close proximity to the hall switches. If the trigger magnets use
the rotor magnets of the machine, the hall switches must be mounted close enough to the rotor magnets, where
they can be energized by the leakage flux at the appropriate rotor positions.
Example: Defining Brushless DC Motor Parameters from Manufacturer Datasheet
This example illustrates how to define brushless dc motor parameters from manufacturer datasheet. Below is
the information provided on the datasheet of the brushless dc motor Maxon EC-22-16730 (32V, 50W) from
Maxon Motor.
Brushless DC Motor
Speed
Tem
3-phase currents
b Shaft Node
c
n
field+ field-
Attributes:
Parameters Description
Rs (stator) Stator winding resistance, in Ohm
Ls (stator) Stator leakage inductance, in H
Ldm (d-axis mag. ind.) d-axis magnetizing inductance, in H
Lqm (q-axis mag. ind.) q-axis magnetizing inductance, in H.
Rf (field) Field winding resistance referred to the stator side, in Ohm
Lfl (field leakage ind.) Field winding leakage inductance referred to the stator side, in H
Rdr (damping cage) Rotor damping cage d-axis resistance referred to the stator side, in Ohm
Ldrl (damping cage) Rotor damping cage d-axis leakage inductance referred to the stator side, in H
Rqr (damping cage) Rotor damping cage q-axis resistance referred to the stator side, in Ohm
Lqrl (damping cage) Rotor damping cage q-axis leakage inductance referred to the stator side, in H
Ns/Nf (effective) Stator-field winding effective turns ratio
Number of Poles P Number of Poles P
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Torque Flag Output flag for internal developed torque Tem
Master/slave Flag Master/slave flag of the machine (1: master; 0: slave)
All the parameters are referred to the stator side.
For more details on the definition and use of the master/slave flag, refer to Section 4.6.1.
L 11 L 12
L = T
L 12 L 22
and
L 2π L 2π
L s + L o + L 2 cos ( 2θ r ) – ----o- + L 2 cos 2θ r – ------ – ----o- + L 2 cos 2θ r + ------
2 3 2 3
L 2π 2π L
L 11 = – ----o- + L 2 cos 2θ r – ------ L s + L o + L 2 cos 2θ r + ------ – ----o- + L 2 cos ( 2θ r )
2 3 3 2
L 2π L
– ----o- + L 2 cos 2θ r + ------ – ----o- + L 2 cos ( 2θ r ) L s + L o + L 2 cos 2θ r – 2π
------
2 3 2 3
L f L fdr 0
L 22 = L fdr L dr 0
0 0 L qr
N
L sq = -----q- L qm
Ns
L fl = L f – L dm
L qrl = L qr – L qm
L drl = L dr – L dm
Where Nd and Nq are the effective number of turns for the rotor damping cage d-axis and q-axis windings.
Parameters Description
Rs (stator resistance) Stator winding resistance, in Ohm
Ld (d-axis ind.) Stator d-axis inductance, in H
Lq (q-axis ind.) Stator q-axis inductance, in H.
The d-q coordinate is defined such that the d-axis passes through the center of the
magnet, and the q-axis is in the middle between two magnets. The q-axis is leading
the d-axis.
va Rs 0 0 ia λa
d
vb = 0 Rs 0 ⋅ ib + ----
- λ
dt b
vc 0 0 Rs ic λc
where va, vb, vc, and ia, ib, and ic, and λa, λb, λc are the stator phase voltages, currents, and flux linkages,
respectively, and Rs is the stator phase resistance. The flux linkages are further defined as:
cos ( θ r )
λa L aa L ab L ac ia 2π
cos θ r – ------
λ b = L ba L bb L bc ⋅ i b + λ pm ⋅ 3
λc L ca L cb L cc ic
cos θ r + 2π
------
3
where θr is the rotor electrical angle, and λpm is the peak stator phase flux linkage defined as:
60 ⋅ V pk ⁄ krpm
λ pm = --------------------------------------
-
3 ⋅ π ⋅ P ⋅ 1000
where P is the number of poles.
The stator self and mutual inductances are rotor position dependent, and are defined as:
L aa = L s + L o + L 2 ⋅ cos ( 2θ r )
L bb = L s + L o + L 2 ⋅ cos 2θ r + 2π
------
3
2π
L cc = L s + L o + L 2 ⋅ cos 2θ r – ------
3
L
L ab = L ba = – ----o- + L 2 ⋅ cos 2θ r – 2π
------
2 3
L
L ac = L ca = – ----o- + L 2 ⋅ cos 2θ r + 2π
------
2 3
2π 2π
cos ( θ r ) cos θ r – ------ cos θ r + ------
3 3
xd xa
2
xq = --- ⋅ – sin ( θ ) – sin θ – 2π 2π ⋅ x
------ – sin θ r + ------
3 r r 3 3
b
x0 xc
1 1 1
--- --- ---
2 2 2
The d-axis and q-axis inductances are associated with the inductances in the abc frame as follows:
3 3
L d = L s + --- L o + --- L 2
2 2
3 3
L q = L s + --- L o – --- L 2
2 2
The developed torque can be expressed as:
sin ( 2θ r ) sin 2θ r – 2π
------ sin 2θ r + 2π
------ sin ( θ r )
3 3
ia
P P sin θ r – 2π
------
T em = – --- ⋅ L 2 ⋅ i a i b i c ⋅ sin 2θ r – 2π 2π
------ sin 2θ r + ------ sin ( 2θ r ) ⋅ i b – --- ⋅ λ pm ⋅ i a i b i c ⋅ 3
2 3 3 2
ic
2π 2π sin θ r + 2π
------
sin 2θ r + ------ sin ( 2θ r ) sin 2θ r – ------ 3
3 3
dθ r P
-------- = --- ⋅ ω m
dt 2
where B is a coefficient, Tload is the load torque, and P is the number of poles. The coefficient B is calculated
from the moment of inertia J and the shaft time constant τshaft as below:
J -
B = -----------
τ shaft
Parameters Description
Rs (stator resistance) Stator winding resistance, in Ohm
Ls (stator leakage ind.) Stator d-axis inductance, in H
Vpk / krpm Peak line-to-line back emf constant, in V/krpm (mechanical speed).
This value should be available from the machine data sheet. If not, it can be obtained
through experiment by operating the machine as a generator at 1000 rpm and
measuring the peak line-to-line voltage.
No. of Poles P Number of poles P
L d = L s + L dm
L q = L s + L qm
where Ls is the stator leakage inductance. Since Ls is normally very small, Ld can be considered equivalent to
Ldm, and Lq can be considered equivalent to Lqm.
The Transformation Flag defines the transformation convention between the abc frame and the dq frame. When
the Transformation Flag is 0:
cos ( θ r ) cos θ r – 2π
------ cos θ r + 2π
------ ia
Id 2 3 3
= --- ⋅ ⋅ ib
Iq 3
– sin ( θ r ) – sin θ r – 2π
------ – sin θ r + 2π
------ ic
3 3
2 2
Im = Id + Iq
θ m = atan 2 ( I q, I d )
2π 2π
cos ( θ r ) cos θ r – ------ cos θ r + ------ ia
Id 2 3 3
= --- ⋅ ⋅ ib
Iq 3 2π 2π
– sin ( θ r ) – sin θ r – ------ – sin θ r + ------ ic
3 3
2 2 2
Im = --- ⋅ I d + I q
3
θ m = atan 2 ( – I d, I q )
Parameters Description
Rs (stator resistance) Stator winding resistance, in Ohm
Ld (d-axis ind) Stator d-axis inductance, in H
Lq (q-axis ind.) Stator q-axis inductance, in H
Vpk / krpm Peak line-to-line back emf constant, in V/krpm (mechanical speed).
This value should be available from the machine data sheet. If not, it can be obtained
through experiment by operating the machine as a generator at 1000 rpm and
measuring the peak line-to-line voltage.
No. of Poles P Number of poles P
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Shaft Time Constant Shaft time constant τshaft, in sec. It is associated with the friction coefficient B as: B
= J / τshaft.
b+
b- Shaft Node
c+
c-
Parameters Description
Resistance Stator phase resistance R, in Ohm
Inductance Lmin Minimum phase inductance Lmin, in H
Inductance Lmax Maximum phase inductance Lmax, in H
Theta_min (deg.) Duration of the interval θmin where the inductance is at the minimum, in deg.
Theta_max (deg.) Duration of the interval θmax where the inductance is at the maximum, in deg.
Stator Pole Number Number of stator poles (teeth)
Rotor Pole Number Number of rotor poles (teeth)
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Torque Flag Output flag for internal developed torque Tem
Master/Slave Flag Master/slave flag of the machine (1: master; 0: slave)
For more details on the definition and use of the master/slave flag, refer to Section 4.6.1.
The node assignments are: Nodes a+, a-, b+, b-, c+, c-, etc. are the stator winding terminals for Phase a, b, c, d,
and e, respectively. The shaft node is the connecting terminal for the mechanical shaft. They are all power nodes
and should be connected to the power circuit.
The equation of the switched reluctance machine for one phase is:
L
θmax
Lmax
Lmin
θrf θmin
The rotor angle is defined such that, when the stator and the rotor teeth are completely aligned, θ = 0. The value
of the inductance can be in either rising stage, flat-top stage, falling stage, or flat-bottom stage.
If we define the constant k as the rising slope of the inductance from Lmin to Lmax (which is the same as the
falling slope from Lmax to Lmin), and the interval of the rising/falling slope is θrf, we can express the inductance
L as a function of the rotor angle θ (from 0 to 180o) as follows:
max θ
L = L max for 0 ≤ θ ≤ ----------
2
-
θ max θ θ
L = L max – k ⋅ θ – ----------
max max
- for ----------
- ≤ θ ≤ ----------
- + θ rf
2 2 2
θ
max θ
max
L = L min - + θ rf ≤ θ ≤ ----------
for ---------- - + θ rf + θ min
2 2
θ max θ max θ max
L = L min + k ⋅ θ – ----------
- – θ rf – θ min for ----------
- + θ rf + θ min ≤ θ ≤ ----------
- + 2θ rf + θ min
2 2 2
θ
max
L = L max - + 2θ rf + θ min ≤ θ ≤ 180 o
for ----------
2
The developed torque of the machine per phase is:
1 2 dL
T em = --- ⋅ i ⋅ ------
2 dθ
Based on the inductance expression, we have the developed torque in each stage as:
Tem = i2*k / 2 [rising stage]
Tem = 0 [flat-top stage]
Tem = - i2*k / 2 [falling stage]
Tem = 0 [flat-bottom stage]
b+
b- Shaft Node
c+
c-
Parameters Description
Resistance Stator phase resistance R, in Ohm
Stator Pole Number Number of stator poles (teeth) Ns_pole
Rotor Pole Number Number of rotor poles (teeth) Nr_pole
Number of Turns The number of turns of the stator winding
Moment of Inertia Moment of inertia J of the machine, in kg*m2
Initial Rotor Angle Initial rotor mechanical angle θ, in degree.
Torque Flag Output flag for internal developed torque Tem
Master/Slave Flag Master/slave flag of the machine (1: master; 0: slave)
The nonlinear characteristic data must be provided in the tabs Flux Table and the Torque Table. The
information required are:
Parameters Description
File The name of the external file containing the data
Display When this box is checked, the file name is displayed in the schematic
Rows The number of rows of the table.
Columns The number of columns of the table.
Open File... Open the external file and load the data.
Reload Data If the data are modified but the modifications are unwanted, reload the data from the
original file into the table
Save As... To save the table data into an external file
Those data may be entered into the tables directly after the numbers of rows and columns are set. They may also
be defined in external files. When the file name is empty, the internal table data is used. If an external text file is
defined and its name is entered, the external file takes the precedence and will overwrite the internal data.
The Flux Table file has the following format:
m, n
θ1, θ2, ..., θm
I1, I2, ..., In
Because of the half-wave symmetry, only flux and torque values from θ=0 to 180o/(Nr_pole/2) need to be
provided. Note that the row vector and column vector must be monotonically increasing.
The equation of a nonlinear switched reluctance machine for one phase is:
d(L ⋅ i)
v = i ⋅ R + -----------------
dt
where v is the phase voltage, i is the phase current, R is the phase resistance, and L is the phase inductance
which depends on both the rotor angle and the current as defined by the lookup table.
The developed torque is calculated from the lookup table.
Parameters Description
Ld (d-axis inductance) d-axis inductance of the PMSM machine, in H
Lq (q-axis inductance) q-axis inductance of the PMSM machine, in H
Vpk / krpm Peak line-to-line back emf constant of the machine, in V/krpm (mechanical speed)
Number of Poles Number of poles of the machine
Maximum Inverter Maximum inverter output current amplitude (peak), in A
Current
Parameters Description
Maximum Inverter Maximum inverter output current amplitude (peak), in A
Current
Parameters Description
Rs (stator resistance) Stator winding resistance of the machine, in Ohm
Ld (d-axis inductance) d-axis inductance of the PMSM machine, in H
Lq (q-axis inductance) q-axis inductance of the PMSM machine, in H
Vpk / krpm Peak line-to-line back emf constant of the machine, in V/krpm (mechanical speed)
Number of Poles Number of poles of the machine
Maximum Inverter Maximum inverter output current amplitude (peak), in A
Current
Maximum Inverter Maximum inverter output voltage amplitude (phase peak), in V
Voltage
Base Voltage Value System base voltage value, in V
Base Current Value System base current value, in A
Base Mechanical Speed System base mechanical speed, in rad/sec
The field weakening (IPM) control block accepts the following input signals, all in per-unit value.
Is: Inverter current amplitude reference
Vdc: DC bus voltage feedback
Wm: Motor mechanical speed, in rad/sec.
It has the following output signals, all in per-unit value:
Id: d-axis current reference
Iq: q-axis current reference
This block is for the control of linear PMSM machines only. When the machine speed is higher than a certain
value, the machine will not be able to provide the maximum amount of torque. Instead, it will be limited by the
machine power rating. Given the current amplitude reference, dc bus voltage, and the motor speed, the field
weakening block will calculate the d-axis and q-axis current references Id and Iq to achieve a maximum power
operation.
This block requires the parameters of the PMSM controlled and the inverter voltage and current ratings.
Parameters Description
Number of Poles Number of poles of the machine
Maximum Inverter Maximum inverter output current amplitude (peak), in A
Current
Maximum Inverter Maximum inverter output voltage amplitude (phase peak), in V
Voltage
Base Voltage Value System base voltage value, in V
Base Current Value System base current value, in A
Base Mechanical Speed System base mechanical speed, in rad/sec
The block has the following inputs and outputs, all in per unit value except Ld, Lq, and Lambda. If base voltage
value Vb, Ib, and Wmb are all set to 1, all input and output quantities are in true values.
Input Signals:
Is: Inverter current amplitude reference.
Ld: d-axis inductance at the rated operating conditions, in real value in H
Lq: q-axis inductance at the rated operating conditions, in real value in H
Lambda: Peak stator phase flux linkage at the rated operating conditions, in real value in Weber
Vdc: DC bus voltage feedback
Wm: Motor mechanical speed in
Output Signals:
Id: d-axis current reference.
Iq: q-axis current reference.
This block is for the control of nonlinear interior PMSM (IPM) machines only. It is not for surface mounted
PMSM (SPM) machines.
When the machine speed is higher than a certain value, the machine will not be able to generate the maximum
torque. Instead, it will be limited by the machine power rating. Given the current amplitude reference, dc bus
voltage, and the motor speed, the field weakening control block will calculate the d-axis and q-axis current
references Id and Iq to operate in the constant power region.
Attributes for Field Weakening (SPM):
Parameters Description
Ld (d-axis inductance) The inductance on d-axis, in H
Vpk/krpm The ratio of peak voltage versus speed. in V/krpm
Number of Poles Number of poles of the machine
Maximum Inverter Current Maximum inverter output current amplitude (peak), in A
Maximum Inverter Voltage Maximum inverter output voltage amplitude (phase peak), in V
Base Voltage Value System base voltage value, in V
Base Current Value System base current value, in A
Base Mechanical Speed System base mechanical speed, in rad/sec
The block has the following inputs and outputs, all in per unit value. If base values Vb, Ib, and Wmb are all set
at 1, input and output quantities are in real values.
Input Signals:
Is: Inverter current amplitude reference
Vdc: DC bus voltage feedback
Parameters Description
Rs (stator) Stator winding resistance of the machine, in Ohm
Lls (stator leakage) Stator leakage inductance of the PMSM machine, in H
Rr (rotor) Rotor winding resistance of the machine, in Ohm
Llr (rotor leakage) Rotor leakage inductance of the machine, in H
Lm (magnetizing) Magnetizing inductance, in H
Number of Poles Number of poles of the machine
Rated Speed (rpm) Rated speed of the machine, in rpm
AC Source Frequency AC source frequency, in Hz
AC Voltage (line-line rms) AC source voltage, line-to-line rms, in V
Base Voltage Value System base voltage value, in V
Base Current Value System base current value, in A
The block has the following inputs and outputs, all in per unit value. If base values Vb, Ib, and Wmb are all set
at 1.0, all input and output quantities are in real values.
Input Signals:
Vdc: DC bus voltage
We: Stator electrical speed (in per unit, with the base value of Wmb)
Output Signal:
Id: d-axis current reference
This block is for the control of linear induction machines only.
When the machine speed is higher than a certain value, the machine will not be able to generate the maximum
torque. Instead, it will be limited by the machine power rating. Given the dc bus voltage and the stator speed,
the field weakening control block will calculate the d-axis current reference Id to operate in the constant power
region.
Attributes:
Parameter Description
Netlist XML File The file defines the interface between PSIM and JMAG. The file extension is .xml.
JMAG Input File The JMAG input data file. It has the .jcf extension. Note that the .xml and .jcf files
must be in the same directory.
JMAG Case Text Comments for the JMAG circuit
Terminal Names Terminal names of the block
The power circuit nodes and mechanical shaft nodes, as well as the rest of the interface between PSIM and the
JMAG data files, are defined in the Netlist XML File. This file is in XML format, and is generated by JMAG. To
specify this file, click on the browse button at the right of the edit field.
When a specific XML is selected, the .jcf data file will be read, and the terminals (nodes) of the block will be
Parameter Description
dt_of_JMAG Time step used in JMAG.
Ir Rated current. It is used in JMAG
dl_threshold Current threshold. It is used in JMAG
dr_threshold Displacement threshold. It is used in JMAG
Moment of Inertia Moment of inertia of the machine, in kg*m2.
Shaft Time Constant Shaft time constant of the machine, in sec.
Back emf Flag Display flag for all FEM coil currents (1: display; 0: no display)
Rotor Angle Flag Display flag for all shaft angles
Speed Flag Display flag for all shaft speeds
Torque Flag Display flag for all developed torques
shaft1 Master Flag Master/slave flag of the machine (1: master; 0: slave)
Please consult JMAG manuals and documents on how to set up the co-simulation on the JMAG side.
Attributes:
Parameter Description
Link Table File The XML file that defines the interface between PSIM and JMAG. It has the .xml
extension.
JMAG Input File The JCF input data file for JMAG. It has the .jcf extension. Note that the .xml file and
the .jcf file must be in the same directory.
JMAG Case Text Comments for the JMAG circuit
IN Nodes Nodes that pass the values from PSIM to JMAG
OUT Nodes Nodes that pass the values from JMAG to PSIM
The setup process of calling JMAG in PSIM through the MagCoupler block is as follows.
In JMAG:
• In the JMAG circuit, connect a voltage function to the right of the FEM coil. Under Electrical Potential
in the property window, choose Constant Value, and set Constant Value [V] to 0.
• Connect a current probe to the left of the FEM coil.
• Connect another voltage function to the left of the current probe (the circuit will look like what is shown
above). In the property window, choose Cooperates with an external circuit simulator.
• Highlight the inductor structure window. Go to the menu Conditions >> Create Conditions. From the
Conditions List, highlight Coupled External Circuit Simulator, and click Modify.
• On the Coupled External Circuit Simulator dialog window, there are two lists. The list on the right,
called JMAG, contains all the functions that can be used to interface with PSIM. The list on the left,
called External Circuit Simulator, contains the functions that are selected to interface with PSIM. In
this case, there are two items in the JMAG list, one is the Voltage Function, and the other is the Current
Probe.
• Highlight the Voltage Function, and click on the <- button to move the item from the list on the right to
the list on the left. Repeat the same step to the Current Probe. Now both items should appear in the list on
the left.
• Highlight the Voltage Function, and change the terminal name to VL. Also, change the Current Probe ter-
minal name to iL. Close the dialog window.
• Go to the menu File >> Export and select JCF.... With the JCF file name defined as "inductor", the JCF
file "inductor.jcf" and the link table file "inductor_csl.xml" will be generated.
• Copy the JCF file "inductor.jcf" and the link table file "inductor_csl.xml" to the folder containing the
PSIM schematic file "inductor_jmag.sch". Rename the link table file to "inductor_jmag.xml". Note that
the XML file does not have to be renamed, and both the JCF and XML files do not have to be moved to
the folder of the schematic file. They are done here for the simplicity of file management
M- M+ M- M+
M- M+ M- M+
Attributes:
Parameter Description
Netlist XML File The XML file that defines the interface between PSIM and JMAG-RT. It has the .xml
extension.
JMAG-RT Input File The JMAG-RT data file. It has the .rtt extension. Note that the .xml file and the .rtt
file must be in the same directory.
JMAG Case Text Comments for the JMAG-RT circuit
Terminal Names Terminal names of the block
In the MagCoupler-RT block images, the power circuit nodes (such as A, B, C, A+, A-, B+, B-, C+, C-, D+, and
D- as shown above) are placed at the top of the block, arranged from the left to the right. The mechanical shaft
nodes are placed on the left and right of the block, with the first shaft node (such as M+ as shown above) on the
right, and the second shaft node (such as M-) on the left.
The electric nodes and rotor shaft nodes, as well as the rest of the interface between PSIM and the JMAG-RT
data files (.rtt file), are defined in the Netlist XML File. This file is in XML format, and is generated by the
JMAG-RT Manager. To specify this file, click on the browse button at the right of the edit field.
Note that for each type of MagCoupler-RT block, the "NetlistElement" must be the same as the predefined
name. The predefined names are:
- "PM Synchronous Machine" for 3-phase PMSM
- "Step Machine" for 2-phase step machine
- "Linear Synchronous Machine" for linear synchronous machine
- "Linear Solenoid" for linear solenoid
For example, the first several lines of a netlist XML file for a PMSM may look like the following:
<?xml version="1.0" encoding="UTF-8"?>
<CircuitElement file="imp.rtt" name="MagCoupler-RT">
<NetlistElement type="JMAGRT" element="PM Synchronous Machine" pole_number="4">
... ... ...
The JMAG-RT Input File is the JMAG-RT data file for the device modeled. The file has the .rtt extension and is
defined in the netlist XML file. Note that the .rtt file and the .xml file must be in the same directory.
The JMAG Case Text is a text identifying the specific JMAG-RT study case. It can be any text.
The Terminal Names are the names of the interface nodes.
Parameter Description
shaft1_MomentofInertia Moment of inertia of the machine, in kg*m2
shaft1_ShaftTimeConstant Shaft time constant of the machine, in sec.
RU_resistance Resistance of Phase U, in Ohm
RV_resistance Resistance of Phase V, in Ohm
RW_resistance Resistance of Phase W, in Ohm
OffsetAngle Initial rotor angle, in mechanical deg.
coef_inductance Inductance coefficient (used in JMAG-RT)
coef_flux Flux coefficient (used in JMAG-RT)
coef_torque Torque coefficient (used in JMAG-RT)
coef_magnet Magnet coefficient (used in JMAG-RT)
coef_material Material coefficient (used in JMAG-RT)
turns_coil1 Coil 1 turns (used in JMAG-RT)
turns_coil2 Coil 2 turns (used in JMAG-RT)
Current Flag Display flag for 3-phase FEM coil currents (1: display; 0: no display)
Note: When iron loss is present, this current is only the current flowing through
the FEM coil. The total phase current will be the sum of this current and the
current through the iron loss resistor Rloss. To view the total phase current, use
an ammeter externally.
Back emf Flag Display flag for 3-phase FEM coil back emf
Rotor Angle Flag Display flag for the rotor angle in mechanical deg.
Speed Flag Display flag for the shaft mechanical speed in rad./sec.
Torque Flag Display flag for the developed torque in N*m
Power Loss Flag Display flag for the power loss if iron loss is present. When the flag is set, the
eddy current loss Ploss_eddy and hysteresis loss Ploss_hys will be displayed.
shaft1 Master Flag Master/slave flag of the machine (1: master; 0: slave)
The parameters of a 2-phase step machine is shown below:
Parameter Description
RA+ Resistance of Phase A+, in Ohm
RA- Resistance of Phase A-, in Ohm
RB+ Resistance of Phase B+, in Ohm
RB- Resistance of Phase B-, in Ohm
MomentofInertia Moment of inertia of the machine, in kg*m2
ShaftTimeConstant Shaft time constant of the machine, in sec.
OffsetAngle Initial rotor angle, in mechanical deg.
turns_coil2 Coil 2 turns (used in JMAG-RT)
coef_inertia1 Inertia 1 coefficient (used in JMAG-RT)
Parameter Description
RA Resistance of the solenoid, in Ohm
Mass Mass of the solenoid, in kg
ShaftTimeConstant Shaft time constant of the solenoid, in sec.
SpringConstant Spring constant of the solenoid (used in JMAG-RT)
DispLimitMax Maximum limit of the displacement of the solenoid, in m
DispLimitMin Minimum limit of the displacement of the solenoid, in m
OffsetDisp Initial displacement, in m
turns_coil2 Coil 2 turns (used in JMAG-RT)
coef_mass1 Mass 1 coefficient (used in JMAG-RT)
coef_mass2 Mass 2 coefficient (used in JMAG-RT)
Current Flag Display flag for 3-phase FEM coil currents (1: display; 0: no display)
Back emf Flag Display flag for 3-phase FEM coil back emf
Position Flag Display flag for the solenoid position in m
Velocity Flag Display flag for the solenoid velocity in m/sec.
Force Flag Display flag for the developed force in N
mass1 Master Flag Master/slave flag of the solenoid (1: master; 0: slave)
The parameters of a linear synchronous machine is shown below:
Parameter Description
RU Resistance of Phase U, in Ohm
RV Resistance of Phase V, in Ohm
RW Resistance of Phase W, in Ohm
Mass Mass of the machine, in kg
ShaftTimeConstant Shaft time constant of the solenoid, in sec.
OffsetDisp Initial displacement, in m
coef_inductance Inductance coefficient (used in JMAG-RT)
coef_flux Flux coefficient (used in JMAG-RT)
coef_force Torque coefficient (used in JMAG-RT)
Parameters Description
Tc Constant torque term
k1 (coefficient) Coefficient for the linear term
Parameters Description
Maximum Torque Maximum torque Tmax of the load, in N*m
Base Speed Base speed nbase of the load, in rpm
Moment of Inertia Moment of inertia of the load, in kg*m2
The torque-speed curve of a constant-power load is shown below:
Tmax
Torque
(N*m)
When the mechanical speed is less than the base speed nbase, the load torque is:
T L = T max
When the mechanical speed is above the base speed, the load torque is:
P-
T L = ---------
ωm
Parameters Description
Constant Torque Torque constant Tconst, in N*m
Moment of Inertia Moment of inertia of the load, in kg*m2
If the reference direction of a mechanical system enters the dotted terminal, the load is along the reference
direction, and the loading torque to the master machine is Tconst. Otherwise the loading torque will be -Tconst.
See Section 2.6.1 for more detailed explanation on the reference direction.
Parameters Description
Constant Speed (rpm) Speed constant, in rpm
Moment of Inertia Moment of inertia of the load, in kg*m2
A constant-speed mechanical load defines the speed of a mechanical system, and the speed will remain
constant, as defined by the speed constant.
Parameters Description
Speed Flag Flag for speed dependency
Flag = 0: The load is frictional and is always against the rotational direction;
Flag = 1: The load is independent of the rotational direction.
Moment of Inertia Moment of inertia of the load, in kg*m2
An externally-controlled mechanical load is used to define a load of an arbitrary load profile.
The value of the mechanical load is defined by the voltage value at the control node (1V corresponds to 1 N*m).
This node is a control circuit node.
Attribute:
Parameter Description
Master/Slave Flag Flag for the master/slave mode (1: master, 0: slave)
Similar to electric machines, the mechanical-electrical interface block can be used to define the reference
direction of a mechanical system through the master/slave flag. When the interface block is set to the master
mode, the reference direction is along the mechanical shaft, away from the mechanical node, and towards the
rest of the mechanical elements.
Let’s assume that a drive system consists of a motor (with a developed torque of Tem and a moment of inertia of
J1) and a mechanical load (with a load torque of Tload and a moment of inertia of J2). The equation that
describes the mechanical system is:
dω
( J 1 + J 2 ) ⋅ ---------m- = T em – T load
dt
where ωm is the shaft mechanical speed.
Tem J1 J2 Tload
In this circuit, the two current sources have the values of Tem and Tload, and the capacitors have the values of J1
and J2. The node-to-ground voltage (speed node voltage) represents the mechanical speed ωm. This is
analogous to C*dV/dt = i for a capacitor where C = J1+J2, V = ωm, and i = Tem-Tload.
In PSIM, mechanical equivalent circuits for motors and mechanical loads all use the capacitor-based circuit
model. The mechanical-electrical interface block provides the access to the internal mechanical equivalent
circuit. If the mechanical side of an interface block (with the letters “M”) is connected to a mechanical shaft, the
electrical side (with the letters “E”) will be the speed node of the mechanical equivalent circuit. One can thus
connect any electrical circuits to this node.
With this element, users can connect built-in motors or mechanical loads with user-defined load or motor
models.
Example: An induction machine with a custom mechanical load model
The figure below shows an induction machine connected to a user defined mechanical load model through the
mechanical-electrical interface block. As explained above, the voltage at the electrical side represents the shaft
mechanical speed. A current source flowing out of this node represents a mechanical load, and a capacitor
connected to this node represents the load moment of inertia.
Wm
Mechanical
speed
This block is used in situations where both mechanical systems have a device in the master mode, and they must
be connected together to form one system. Based on the connection convention in PSIM, a mechanical system
can have only one master device. In this case, the mechanical coupling block can be inserted in between, and the
mechanical system on each side of the coupling block can have its own device in the master mode.
Shaft 1
Shaft 2
Attribute:
Parameter Description
Gear Ratio The gear ratio a
Shaft 1 Master/Slave Flag Master/slave flag for Shaft 1
Shaft 2 Master/Slave Flag Master/slave flag for Shaft 2
The shaft with the bigger dot is Shaft 1.
If the numbers of teeth of the first gear and the second gear are n1 and n2, respectively, the gear ratio a is defined
as: a = n1 / n2. Let the radius, torque, and speed of these two gears be: r1, r2, T1, T2, ω1, and ω2, we have: T1 /
T2 = r1 / r2 = ω2 / ω1= a.
The two shafts of the gear box can be in either master mode or slave mode. For more information on the
definition and use of the master/slave flag, refer to Section 4.6.1.
Attribute:
Parameter Description
Gain Gain of the sensor
The output of the speed sensor is in rpm.
The torque sensor measures the torque difference between the dotted side of the sensor and the undotted side.
To understand the physical meaning of the torque sensor measurement, we use the diagram below as an
illustration.
The figure on the left shows a torque sensor connected with a 10-N*m mechanical load, and the reference
direction of the mechanical system is from left to right. Based on the reference direction, if we use the right-
hand method, by pointing the thumb in the reference direction and rotating the right hand, the direction of the
fingers will show the direction of the positive speed and torque. The physical interpretation of the system is
shown on the right.
10 Wm Load
10
Torque sensor
In this case, the direction of the positive speed and torque is in the clockwise direction. The dotted side of the
sensor is on the left, and the load is in such a way that it tries to slow down the shaft (the load torque is in the
counter-clockwise direction).
The physical meaning of the torque sensor is that, if the dotted side of the sensor is fixed, the sensor will
measure the torque tension on the undotted side of the sensor, and a positive sensor output would mean that the
torque is opposite to the direction of the speed reference. Therefore, for the example above, the positive speed
reference is in the clockwise direction, and the load torque is in the counter-clockwise direction. This will give a
torque sensor reading of 10 N*m.
Similarly, if the undotted side of the sensor is fixed, the sensor will measure the torque tension on the dotted
side of the sensor, in the positive direction of the speed reference. For example, in the system below, the torque
sensor is flipped with the dotted side on the right. If the undotted side is fixed, the load torque is applied to the
dotted side of the sensor, in the opposite direction of the speed reference. The torque sensor output will be -10
N*m instead.
10 Wm Load
10
Torque sensor
Load 1 Load 2
Sensor 1 Sensor 2
The system consists of one machine, 2 torque sensors, and 2 mechanical loads. The torques and moment of
inertia for the machine and the loads are as labelled in the diagram. The reference direction of this mechanical
system is from left to right. The equation for this system can be written as:
dω
( J + J L1 + J L2 ) ⋅ ---------m- = T em – T L1 – T L2
dt
The equivalent electrical circuit of the equation is shown below:
Sensor 1 Sensor 2
ωm
The node voltage in the circuit represents the mechanical speed ωm. The current probe on the left represents the
reading of the Torque Sensor 1. Similarly, the current probe on the right represents the reading of the Torque
Sensor 2. Note that the second current probe is from right to left since Sensor 2 is opposite to the reference
direction of the mechanical system.
The equivalent circuit also illustrates how mechanical power is transferred. The multiplication of the current to
the voltage, which is the same as the torque times the mechanical speed, represents the mechanical power. If the
power is positive, it is transferred in the direction of the speed ωm.
Parameter Description
Initial Position (deg.) Initial shaft position, in deg.
No. of Bits of Resolution Number of Bits of resolution N
The encoder output resolution is determined by the number of bits N. The encoder has two outputs: one is the
number of counts (the range is from 0 to 2N-1), and the other is the position, in mechanical deg. (the range is
from 0 to 360o).
An example of a PMSM drive system using the absolute encoder is given in the sample file "Absolute Encoder
PMSM Drive.sch".
Attribute:
Parameter Description
Initial Position (deg.) Initial shaft position, in deg.
No. of Lines Number of lines that are in the code pattern of the code disk of the encoder
The two quadrature outputs are A and A (A is the inverse of A), and B and B. They are offset by 90o. In
addition, the encoder provides separate index signal output Z and Z that provide one count per revolution.
An example of an induction motor drive system using the incremental encoder is given in the sample file
"Incremental Encoder INDM Drive.sch".
4.9.6.3 Resolver
A resolver is essentially a rotary transformer with one rotor winding and two stator windings. These two stator
windings, referring to as the COS winding and SIN winding, are located 90o apart.
As the shaft rotates, the output voltages of the COS and SIN windings vary as the cosine and sine functions of
the shaft angle.
Image:
cos+
sin+
cos-
sin-
Parameter Description
Initial Position (deg.) Initial shaft position, in deg.
No. of Poles Number of poles of the resolver
The resolver has four outputs: cos+, cos- (the inverse of cos+), sin+, and sin- (the inverse of sin+). The peak
amplitude of all the outputs is 1.
An example of a PMSM drive system using the resolver is given in the sample file "Resolver PMSM
Drive.sch".
Attribute:
Parameter Description
Initial Position (deg.) Initial shaft position, in deg.
No. of Poles Number of poles of the sensor
The hall effect sensor provides three logic signal outputs A, B, and C, which are spaced 120 electrical deg.
apart.
The hall effect sensor is the same as the built-in hall effect sensor in the brushless dc machine.
Examples of BDCM motor drive systems using the hall effect sensor are given in the "examples" sub-folder of
the PSIM directory.
In the images, beside the diode module terminals, there is one extra node. The node is for the diode total losses.
Parameters Description
Device The specific device selected from the device database
Number of Parallel Devices The number of identical devices connected in parallel
Frequency Frequency, in Hz, under which the losses are calculated
Pcond Calibration Factor Calibration factor Kcond of the conduction loss Pcond
Psw Calibration Factor Calibration factor Ksw of the switching loss Psw
Initial Tj Initial junction temperature, in oC
Operation Mode This flag is only used for three types Dual package.
0: For symmetrical operation, the power losses are shared equally by the
two devices, and the junction temperature of both devices are considered
the same.
1: For individual operation. The power losses and the junction temperature
of each device is simulated separately.
For all other packages, Operation Mode=0 only.
Tj Flag Flag for monitoring junction temperature of the diode
Pcond Flag Flag for monitoring conduction loss of the diode
Psw Flag Flag for monitoring switching losses of the diode.
P_total Flag Flag for monitoring the total power loss
Parameter Frequency refers to the frequency under which losses are calculated. For example, if the device
operates at the switching frequency of 10 kHz, and Frequency is also set to 10 kHz, the losses will be the value
for one switching period. However, if Frequency is set to 60 Hz, the losses will be the value for a period of 60
Hz.
Parameter Pcond Calibration Factor is the correction factor for the conduction loss. For the example, if the
calculated conduction loss before the correction is Pcond_cal, then
Pcond = Kcond * Pcond_cal
Similarly, Parameter Psw Calibration Factor is the correction factor for the switching loss. For the example, if
the calculated switching loss before the correction is Psw_cal, then
Psw = Ksw * Psw_cal
When several identical diodes are in parallel, one should have just one device in the schematic, and set the
correct number of devices in the parameter input. This is because when several identical devices are in parallel
in the schematic, the device currents may not be exactly equal due to small differences in the simulation. When
the number of parallel devices is greater than one, the total current through the group of the parallel devices will
be equally divided among the devices. The total losses are then obtained by multiplying the losses in each
device by the number of parallel devices. The currents flowing out of Nodes Pcond and Psw are the total losses of
all the parallel devices combined.
The voltage at the conduction loss node Pcond or the switching loss node Psw represents the calculated junction
temperature Tj of the diode, and this junction temperature is used when the database curves are used for loss
calculation. If the calculated Tj is between the junction temperatures of two curves, interpolation will be used. If
the calculated Tj is lower than the lowest Tj or higher than the highest Tj in the curves, the curve corresponding
to the lowest or highest Tj will be used. If there is only one curve, that curve is used regardless of the calculated
Tj.
Speed
Sensor
Parameters Description
Device The specific device selected from the device database
Number of Parallel Devices Number of identical devices in parallel
Frequency Frequency, in Hz, under which the losses are calculated
VGG+ (upper level) Upper level of the gate source voltage, in V
VGG- (lower level) Lower level of the gate source voltage, in V
Rg_on (turn-on) Gate resistance during turn-on
Rg_off (turn-off) Gate resistance during turn-off. In most cases, the turn-on gate resistance Rg_on
and the turn-off gate resistance Rg_off are identical.
RDS(on) Calibration Factor The calibration factor of the on-state resistance RDS(on)
gfs Calibration Factor Calibration factor of the forward transconductance gfs
Pcond_Q Calibration Factor Calibration factor Kcond_Q of the transistor conduction losses Pcond_Q
Psw_Q Calibration Factor Calibration factor Ksw_Q of the transistor switching losses Psw_Q
Pcond_D Calibration Factor Calibration factor Kcond_D of the diode conduction losses Pcond_D
Psw_D Calibration Factor Calibration factor Ksw_D of the diode switching losses Psw_D
Initial Tj Initial junction temperature, in oC
Tj_Q Flag Flag for monitoring junction temperature of the transistor
Tj_D Flag Flag for monitoring junction temperature of the diode
Pcond_Q Flag Flag for monitoring conduction loss of the transistor
Psw_Q Flag Flag for monitoring switching losses of the transistor.
Pcond_D Flag Flag for monitoring conduction loss of the diode
Psw_D Flag Flag for monitoring switching losses of the diode.
P_total Flag Flag for monitoring the total power loss
Parameters Description
Device The specific device selected from the device database
Number of Parallel Devices Number of identical devices in parallel
Frequency Frequency, in Hz, under which the losses are calculated
Rg_on (turn-on) Gate resistance during turn-on
Rg_off (turn-off) Gate resistance during turn-off. In most cases, the turn-on gate resistance Rg_on
and the turn-off gate resistance Rg_off are identical.
Pcond_Q Calibration Factor The calibration factor Kcond_Q of the transistor conduction losses Pcond_Q
Psw_Q Calibration Factor The calibration factor Ksw_Q of the transistor switching losses Psw_Q
Pcond_D Calibration Factor The calibration factor Kcond_D of the diode conduction losses Pcond_D
Psw_D Calibration Factor The calibration factor Ksw_D of the diode switching losses Psw_D
Initial Tj Initial junction temperature, in oC
Tj_Q Flag Flag for monitoring junction temperature of the transistor
Tj_D Flag Flag for monitoring junction temperature of the diode
Pcond_Q Flag Flag for monitoring conduction loss of the transistor
Psw_Q Flag Flag for monitoring switching losses of the transistor.
Pcond_D Flag Flag for monitoring conduction loss of the diode
Psw_D Flag Flag for monitoring switching losses of the diode.
P_total Flag Flag for monitoring the total power loss
Parameter Frequency refers to the frequency under which the losses are calculated. For example, if the device
operates at the switching frequency of 10 kHz, and Frequency is also set to 10 kHz, the losses will be the values
for one switching period. However, if Frequency is set to 60 Hz, then the losses will be the value for a period of
60 Hz.
Parameter Pcond_Q Calibration Factor is the correction factor for the transistor conduction loss. For the
example, if the calculated conduction loss before the correction is Pcond_Q_cal, then
Pcond_Q = Kcond_Q * Pcond_Q_cal
Similarly, Parameter Psw_Q Calibration Factor is the correction factor for the transistor switching loss. For the
example, if the calculated switching loss before the correction is Psw_Q_cal, then
Psw_Q = Ksw_Q * Psw_Q_cal
Parameters Pcond_D Calibration Factor and Psw_D Calibration Factor work in the same way. except that they
are for the diode losses.
When several identical MOSFET devices are in parallel, one should have just one device in the schematic, and
set the correct number of devices in the parameter input. This is because when several identical devices are in
parallel in the schematic, the device currents may not be exactly equal due to small differences in the
simulation. When the number of parallel devices is greater than one, the total current through the group of the
parallel devices will be equally divided among the devices. The total losses are then obtained by multiplying the
losses in each device by the number of parallel devices. The currents flowing out of Nodes Pcond_D, Psw_D,
Pcond_Q, and Psw_Q are the total losses of all the parallel devices combined.
The voltage at the diode loss node Pcond_D or Psw_D of the MOSFET image represents the calculated junction
The base values are normally obtained at the test conditions of 25oC. Using the normalized value of RDS(on)
based on the base value, we have:
R ( DS )on_normalized – 1
K T = -----------------------------------------------
T j – 25
The on-resistance RDS(on) is calculated at every time step and is used in the simulation.
Also, the forward conduction voltage drop Vd of the diode changes depending on the current. The new
conduction voltage value is used in the simulation.
Attributes:
Parameters Description
Device The specific device selected from the device database
Number of Parallel Devices The number of devices connected in parallel
Frequency Frequency, in Hz, under which the losses are calculated
Rg_on (turn-on) Gate resistance during turn-on
Pcond_Q
Psw_Q
Pcond_D
Psw_D
The calculated junction temperatures Tj_Q and Tj_D are used when the database curves are used for loss
calculation. If the calculated junction temperature is between the junction temperatures of two curves,
interpolation will be used. If the calculated junction temperature is lower than the lowest junction temperature
or higher than the highest junction temperature in the curves, the curve corresponding to the lowest or highest
junction temperature will be used. If there is only one curve, that curve is used regardless of the calculated
junction temperature.
Conduction Loss:
The transistor conduction loss is calculated as:
Pcond_Q = Vce(sat) * Ic
where Vce(sat) is the transistor collector-emitter saturation voltage, and Ic is the collector current. When the
transistor is conducting periodically with an on duty cycle of D, the conduction loss is calculated as:
Pcond_Q = Vce(sat) * Ic * D
Switching Loss:
The transistor turn-on loss is calculated as:
Psw_Q_on = Eon * f * Vcc / Vcc_datasheet
where Eon is the transistor turn-on energy loss, f is the frequency as defined in the input parameter Frequency,
Vcc is the actual dc bus voltage, and Vcc_datasheet is the dc bus voltage in the Eon and Eoff characteristics of the
datasheet, defined as "DC bus voltage (V)" in the test conditions.
The transistor turn-off loss is calculated as:
Psw_Q_off = Eoff * f * Vcc / Vcc_datasheet
where Eoff is the transistor turn-off energy loss.
To calculate Eon, the collector current Ic and the junction temperature Tj are used to obtain Eon from the Eon vs.
Ic curve. This value is then scaled based on the Eon vs. RG curve and the actual gate resistance Rg_on. The
losses Eoff and Err are calculated in a similar way.
The loss calculation for the anti-parallel diode or free-wheeling diode is the same as described in the section for
the diode device.
The losses Pcond_Q, Psw_Q, Pcond_D, and Psw_D, in watts, are represented in the form of currents which flow out
of these nodes. Therefore, to measure and display the losses, an ammeter should be connected between the
nodes and the ground. When they are not used, these nodes cannot be floating and must be connected to ground.
In the images, beside the IGBT terminal nodes, there is an extra node. They are the nodes for transistor
conductor loss Pcond_Q (the node with a circle), and transistor switching loss Psw_Q.
Attributes:
Parameters Description
Device The specific device selected from the device database
Frequency Frequency, in Hz, under which the losses are calculated
Number of Parallel Devices Number of identical RB-IGBT devices in parallel
Rg_on (turn-on) Gate resistance during turn-on
Rg_off (turn-off) Gate resistance during turn-off. In most cases, the turn-on gate resistance Rg_on
and the turn-off gate resistance Rg_off are identical.
Pcond_Q Calibration Factor Calibration factor Kcond_Q of the transistor conduction losses Pcond_Q
Psw_Q Calibration Factor Calibration factor Ksw_Q of the transistor switching losses Psw_Q
Initial Tj Initial junction temperature, in oC
Tj Flag Flag for monitoring junction temperature of the transistor
Pcond Flag Flag for monitoring conduction loss of the transistor
Psw Flag Flag for monitoring switching losses of the transistor.
P_total Flag Flag for monitoring the total power loss
Parameter Frequency refers to the frequency under which the losses are calculated. For example, if the device
operates at the switching frequency of 10 kHz, and Frequency is also set to 10 kHz, the losses will be the values
for one switching period. However, if Frequency is set to 60 Hz, then the losses will be the value for a period of
60 Hz.
Parameter Pcond_Q Calibration Factor is the correction factor for the transistor conduction loss. For the
example, if the calculated conduction loss before the correction is Pcond_Q_cal, then
Pcond_Q = Kcond_Q * Pcond_Q_cal
Similarly, Parameter Psw_Q Calibration Factor is the correction factor for the transistor switching loss. For the
example, if the calculated switching loss before the correction is Psw_Q_cal, then
Psw_Q = Ksw_Q * Psw_Q_cal
When several identical RB-IGBT devices are in parallel, one should have just one device in the schematic, and
set the correct number of devices in the parameter input. This is because when several identical devices are in
Attributes:
Parameters Description
Device The specific inductor selected from the device database.
Frequency Fundamental frequency of the inductor, in Hz.
Temperature Flag Flag for core temperature definition. It can be either Calculated or Fixed. If
it is Calculated, the core temperature will be calculated based on circuit
operating conditions and this temperature will be used for loss calculation.
If it is Fixed, the core temperature will be specified by users. This will give
users a clear idea the losses at a specific temperature.
Ambient Temperature Ambient temperature of the inductor, in oC.
Convection Type of cooling. It can be Forced for forced convection or Natural for
natural convection.
Device
database
files
Device
information
Device
list
Thermal
characteristics
On the left are the device database files that are loaded into the database editor, and the list of the devices. The
devices can be displayed based on either Device Type or Manufacturer. Also, the device list can be sorted by
Part Number, Voltage rating, or Current rating, by clicking on the title bars of the list.
To create a new device file, choose File >> New Device File.
To load a device files into the editor, choose File >> Open Device File.
To unload a device file from the editor, choose File >> Close Device File.
On the right is the information of each device. In general, the following information is required to define a
switching device for thermal simulation:
- Manufacturer and Part Number
- Package type and style
- Absolute maximum ratings
- Electrical characteristics
- Thermal characteristics
- Dimension and weight
The following information are required to define a database inductor for thermal simulation.
- Manufacturer and Part Number
- Package type and style
- Maximum ratings
- Electrical characteristics
- Core, winding, and gap information
Graph
wizard
icons
Help area
X and Y
axis settings
Data area
X/Y axis
multiplying
factor
Graph area
• Click on the Conditions tab and enter the Junction Temperature as 25 oC.
Alternatively, the graph can be defined in this case using the Graph Wizard.
To Define the Graph Using the Graph Wizard:
• Click on the Add Curve button. Then click on the forward wizard icon to start the Graph Wizard.
• lick on the forward wizard icon to paste the screen image into the graph window in the database editor.
Position the graph image properly in the graph window by dragging the left mouse so that the com-
plete graph is displayed within the window.
• If the graph image is either too large or too small, go back to the previous step by clicking on the back-
ward wizard icon. Then resize the image of the graph in the Adobe Acrobat, and copy the screen
image to the clipboard again.
• The graph dialog window should look something like follows. Click on the forward wizard icon to move
on to the next step.
Opposite
end of the
origin
Origin
of the
graph
Data
Points
Then click on the forward wizard icon to move on to the next step.
• In this step, the x and y axis settings will be defined. Enter the settings as follows:
X0: 1
Xmax: 1000
Y0: 0.6
Ymax: 2.6
X in log: checked
• Leave the checkbox Invert graph unchecked since the diode forward current IF is in the x-axis in this
case. But in other situations, if the current is in y-axis, check the Invert graph checkbox.
• Enter the junction temperature as 25 oC. Click on the forward wizard icon to move on to the next step.
• Left click on top of the graph to capture the data points. In this case, for example, four data points at the
current values of around 1A, 10A, 100A, and 280A are captured. Again, right click to zoom in.
You can capture as many data points as desired.
• As data points are captured, red lines will appear that will connect the data points.
• To see the x and y axis values of a particular data point on the graph, place the cursor inside the graph
area. The cursor image will change to a cross image, and the x and y coordinates of the cursor will
be displayed at the upper right corner of the dialog window. Place the cursor on top of the curve to
read the x and y axis readings.
• If there are multiple curves for different junction temperatures, repeat the same process and enter the
junction temperature value for each curve accordingly. Use the drop-down menu at the upper right
corner of the dialog window to show one particular curve, or to show all the curves at the same
time.
• With the same process, define the reverse recovery characteristics trr vs. IF, Irr vs. IF, and Qrr vs. IF.
• Enter the Thermal Characteristics as:
Rth(j-c): 0.6
Rth(c-s): 0.4
Also, select the thermal model type: Cauer or Foster, as well as the number of the stage of the thermal
circuit. The equivalent circuit of the two types of the thermal characteristics are shown below. For
this example, the number of stage is 2.
In the image, The nodes marked with the "+" and "-" signs are the positive and negative terminals. The node on
the top is theoretical maximum power (in W) given the operating conditions.
While the positive and negative terminal nodes are power circuit nodes, the other nodes are all control circuit
nodes.
Attributes:
Parameter Description
Open Circuit Voltage Voc Voltage measured when solar cell terminals are open circuit, in V.
Short Circuit Current Isc Current measured when the solar cell terminals are short circuited, in A.
Maximum Power Voltage Vm Solar cell terminal voltage when the output power is at the maximum, in V
Maximum Power Current Im Solar cell terminal current when the output power is at the maximum, in A
Using the four input parameters, the functional model will create the i-v curve of the solar cell. The figure
below shows the i-v and p-v curves of a typical solar cell.
Voltage
In the image, The nodes with the "+" and "-" signs are the positive and negative terminals. The node with the
letter "S" refers to the light intensity input (in W/m2), and The node with the letter "T" refers to the ambient
temperature input (in oC). The node on the top is theoretical power (in W) given the operating conditions.
While the positive and negative terminal nodes are power circuit nodes, the other nodes are all control circuit
nodes.
Attributes
Parameter Description
Number of Cells Ns Number of cells Ns of the solar module. A solar module consists of Ns solar
cells in series.
Standard Light Intensity S0 Light intensity S0 under the standard test conditions, in W/m2. The value is
normally 1000 W/m2 in manufacturer datasheet.
Ref. Temperature Tref Temperature Tref under the standard test conditions, in oC
Series Resistance Rs Series resistance Rs of each solar cell, in Ohm
Shunt Resistance Rsh Shunt resistance Rsh of each solar cell, in Ohm
Short Circuit Current Isc0 Short circuit current Isc0 of each solar cell at the reference temperature Tref,
in A
Saturation Current Is0 Diode saturation current Is0 of each solar cell at the reference temperature
Tref, in A
Band Energy Eg Band energy of each solar cell, in eV. It is around 1.12 for crystalline silicon,
and around 1.75 for amorphous silicon.
Ideality Factor A Ideality factor A of each solar cell, also called emission coefficient. It is
around 2 for crystalline silicon, and is less than 2 for amorphous silicon.
+
id ir +
iph vd v/Ns
Rsh
--
--
Some of the parameters of the physical model can be obtained from manufacturer datasheet, and the rest of the
parameters can be obtained by trial-and-error. A utility tool Solar Module (physical model) under the Utilities
T T
In the image, the nodes marked with the "+" and "-" signs are the positive and negative terminals. The node with
the letter "S" refers to the light intensity input (in W/m2), and The node with the letter "T" refers to the ambient
temperature input (in oC).
While the positive and negative terminal nodes are power circuit nodes, the other nodes are all control circuit
nodes.
Attributes:
Parameter Description
Maximum Power Solar cell maximum output power, in W.
Maximum Power Voltage Solar cell terminal voltage when the output power is at the maximum, in V
Test Condition Temperature Test condition temperature, in degree C.
The current-voltage characteristic of cSi and thin-film models equations are:
( Vpv + IpvRs ) ⁄ ( mVr )
I pv = I ph – I 0 ( e – 1 ) – ( V pv + I pv R s ) ⁄ R p
Where,
– Vpv
----------
3 Vr
I0 = C 0 T mod e
and
kT mod
V T = -------------
-
e0
Linear temperature model for the module temperature:
c
T mod = T + ------------------- G
W
1000 -----2-
m
In the above equations:
Ipv Module current
I0 Diode saturation current
Iph Photo current (source current)
V mppSTC
-------------------
V ocSTC 0.8 0.72 < 1%
I mppSTC
------------------
I scSTC 0.9 0.8 < 1%
Where the temperature of the PV generator should follow the ambient conditions as follows:
k
T PV = T amb + T 0 + ------------------ ⋅ G
1+τ⋅s
where
Voltage ratio from VMPP at an irradiance of 200W/m2 to VMPP at an irradiance of 1000W/m2 is given as:
V MPP 2
G = 200 ( W ⁄ m )
V L2H = ----------------------------------------------
V MPP 2
G = 1000 ( W ⁄ m )
The parameters of the PV generator model must be set as listed in the table below:
CV 8.593E-02 8.419E-02 -
α 0.04 0.02
β -0.4 -0.2
Wind Turbine
Wind Speed
Pitch Angle
Attributes:
Parameter Description
Nominal Output Power The maximum output power of the wind turbine, in W, at 0o pitch angle. This
power is considered as the maximum power operating point of the turbine, and
it should not exceed the rated power of the generator.
Base Wind Speed The base wind speed that would produce the nominal output power, in m/s
Base Rotational Speed The base rotational speed of the turbine that would produce the nominal output
power, in rpm
Initial Rotational Speed The initial rotational speed of the turbine, in rpm
Moment of Inertia Moment of inertia of the wind turbine blade, in kg*m2
Torque Flag Flag to display the internal torque of the wind turbine (0: no display; 1:
display)
Master/Slave Flag Master/slave flag for the connected mechanical system (0: slave; 1: master)
In the image, the node with the letter "w" is for the wind speed input in m/s, and the node with the letter "p" is
for the blade pitch angle input in deg. Both nodes are control circuit nodes.
The power generated by a wind turbine can be expressed as:
1 3
P = --- ⋅ A ⋅ v wind ⋅ ρ ⋅ C p
2
where A is the area of the rotor blade (in m2), vwind is the wind speed (in m/sec.), ρ is the air density (it is
approximately 1.225 kg/m3), and Cp is the power coefficient. The power coefficient Cp is a function of the tip
speed ratio λ and the blade pitch angle β. It can be expressed as [Heier1]:
x –c6
Cp = c1 ⋅ ( c2 – c3 β – c4 β – c5 ) ⋅ e + c7
where c1 = 0.5, c2 = 116*λ', c3 = 0.4, c4 = 0, c5 = 5, c6 = 21*λ', c7 = 0.01*λ, and
ω m ⋅ R blade
λ = -------------------------
-
v wind
′ 1 0.035
λ = ----------------------- – ---------------
λ + 0.08β β 3 + 1
where ωm is the rotor rotational speed (in rad/sec.) and Rblade is the radius of the rotor blade (in m).
1. S. Heier and R. Waddington, Grid Integration of Wind Energy Conversion Systems, Wiley, 2006
Cp 0.20 β=10ο
0.10
0.0
The figure shows that the power coefficient Cp reaches the maximum of 0.49 when the tip speed ratio λ is 8.18.
We choose the values of Cp and λ at the maximum as the nominal values, i.e., Cp_nom = 0.49, λnom = 8.18. One
way to control the wind turbine, therefore, is to maintain the tip speed ratio at or close to the nominal value so
that the power that the wind turbine generates is at the maximum.
Several examples related to wind power generation are provided in the folder "examples\Renewable
Energy\Wind Power".
SOC
Attributes:
Parameter Description
No. of Cells in Series Number of cells Ns in series of a battery pack
No. of Cells in Parallel Number of cells Np in parallel of a battery pack
Voltage Derating Factor Voltage derating factor Ks, from 0 (100% derating) to 1 (no derating)
Capacity Derating Factor Capacity derating factor Kp, from 0 (100% derating) to 1 (no derating)
Rated Voltage Rated voltage Erated of the battery cell, in V
Discharge Cut-off Voltage Battery voltage Ecut corresponding to the maximum capacity, in V
Rated Capacity Rated capacity Qrated of the battery cell, in Ah
Internal Resistance Internal resistance Rbattery of the battery cell, in Ohm
Discharge Current Discharge current of the curve under which model parameters are obtained, in A
Capacity Factor Capacity factor
Full Voltage Full (or maximum) voltage Efull of the battery cell, in V
Exponential Point Voltage Battery voltage Etop at the end of the exponential region in the discharge curve,
in V
Nominal Voltage Battery voltage Enom at the end of the nominal region in the discharge curve, in V
Maximum Capacity Maximum capacity Qmax of the battery cell, in Ah
Exponential Point Capacity Battery capacity Qtop at the end of the exponential region in the discharge curve,
in Ah
Nominal Capacity Battery capacity Qnom at the end of the nominal region in the discharge curve, in
Ah
Initial State of Charge Initial state of charge (SOC) (from 0 to 1)
In the images, the extra node at the top of the battery image or at the side of the battery cell symbol image is for
the SOC output. It is a control circuit node.
Parameter Erated, Ecut, and Qrated can be directly read from manufacturer datasheet. Some other parameters can
be obtained from the battery discharge curve.
Exponential Efull
Region
Etop
Enom
Nominal
Region
Ecut
Q0 Capacity (Ah)
0 Qtop Qnom Q
max
The capacity factor is roughly the ratio between Q0 (the capacity at 0V) and Qmax. It is a value close to 1, and it
needs to be adjusted such that the battery voltage is equal to Ecut when SOC = 0.
Note that the battery parameters are all for one battery cell, while the model can be used to define a battery pack
where the number of cells in series or in parallel is not 1. For a battery pack, all voltages need to be multiplied
by Ns*Ks, all capacities by Np*Kp, and the resistance by Ns/Np. For example, for the entire battery pack:
E rated_total = N s ⋅ K s ⋅ E rated
E cut_total = N s ⋅ K s ⋅ E cut
E full_total = N s ⋅ K s ⋅ E full
E top_total = N s ⋅ K s ⋅ E top
E nom_total = N s ⋅ K s ⋅ E nom
Q rated_total = N p ⋅ K p ⋅ Q rated
Q max_total = N p ⋅ K p ⋅ Q max
Q top_total = N p ⋅ K p ⋅ Q top
Q nom_total = N p ⋅ K p ⋅ Q nom
N
R battery_total = ------s ⋅ R battery
Np
For a detailed description on how to define and use the lithium-ion battery model, please refer to the document
"Tutorial - How to use Lithium-Ion battery model.pdf".
Attributes:
Parameter Description
No. of Cells in Series Number of cells Ns in series of a battery pack
No. of Cells in Parallel Number of cells Np in parallel of a battery pack
Voltage Derating Factor Voltage derating factor Ks, from 0 (100% derating) to 1 (no derating)
Capacity Derating Factor Capacity derating factor Kp, from 0 (100% derating) to 1 (no derating)
Maximum Capacity Maximum capacity Qmax of the battery cell, in Ah
Initial State of Charge Initial state of charge (SOC) (from 0 to 1)
OCV-SOC Table Table of the open circuit voltage (OCV) vs. the state of charge (SOC)
Rin-SOC Table (discharge) Table of the internal resistance Rin vs. SOC during the discharge process
Rin-SOC Table (charge) Table of the internal resistance Rin vs. SOC during the charge process
In the image, the extra node at the top of the battery image is for the SOC output. It is a control circuit node.
Note that the battery parameters are all for one battery cell, while the model can be used to define a battery pack
where the number of cells in series or in parallel is not 1. For a battery pack, all voltages need to be multiplied
by Ns*Ks, all capacities by Np*Kp, and the resistance by Ns/Np.
The equivalent circuit of the battery is shown below.
Rin
OCV
For the internal resistance Rin, two tables can be defined: one during the discharge process, and another during
the charge process.
Below is the procedure to obtain the lookup tables from manufacture datasheet:
• From the Utilities menu, select Curve Capture Tool, and capture two discharge curves of the battery
voltage versus the discharge capacity from the datasheet at different discharge currents.
• Load the file "Extracting OCV and Rin_discharge.psimsch" (in "examples\batteries\lookup table"). Set
the discharge currents and use the tables from the previous step. Run simulation, and display OCV and
Rin_discharge separately with SOC as the x-axis variable. In Simview, select File >> Save Display As
and save the curve to a text file. Open the file with a text editor and remove the first line. The OCV and
Rin_discharge tables are ready to use by the model.
• From the Utilities menu, select Curve Capture Tool, and capture the charge curves of the battery volt-
age, charge current, and charge capacity versus time.
Attributes:
Parameter Description
No. of Cells in Series Number of cells Ns in series of a battery pack
No. of Cells in Parallel Number of cells Np in parallel of a battery pack
Voltage Derating Factor Voltage derating factor Ks, from 0 (100% derating) to 1 (no derating)
Capacity Derating Factor Capacity derating factor Kp, from 0 (100% derating) to 1 (no derating)
Maximum Capacity Maximum capacity Qmax of the battery cell, in Ah
Discharge Capacity SOC=1 Discharge capacity of the battery cell Qext1 corresponding to the state of
charge SOC=1.
Discharge Capacity SOC=0 Discharge capacity of the battery cell Qext0 corresponding to SOC=0
Initial State of Charge Initial state of charge (SOC) (from 0 to 1)
OCV-SOC Table Table of the open circuit voltage (OCV) vs. the state of charge (SOC)
Rin-SOC Table (discharge) Table of the internal resistance Rin vs. SOC during the discharge process
Rin-SOC Table (charge) Table of the internal resistance Rin vs. SOC during the charge process
In the image, the extra node at the top of the battery image is for the SOC output. It is a control circuit node.
Note that the battery parameters are all for one battery cell, while the model can be used to define a battery pack
where the number of cells in series or in parallel is not 1. For a battery pack, all voltages need to be multiplied
by Ns*Ks, all capacities by Np*Kp, and the resistance by Ns/Np.
The equivalent circuit of the battery is shown below.
Rin
OCV
SOC=1
SOC=0
Qext1 Qext0
Below is the procedure to obtain the lookup tables from manufacture datasheet:
• From the Utilities menu, select Curve Capture Tool, and capture two discharge curves of the battery
voltage versus the discharge capacity from the datasheet at different discharge currents.
• Load the file "Extracting OCV and Rin_discharge.psimsch" (in "examples\batteries\lookup table
(SOC)"). Set the discharge currents and use the tables from the previous step. Run simulation, and dis-
play OCV and Rin_discharge separately with SOC as the x-axis variable. In Simview, select File >>
Save Display As and save the curve to a text file. Open the file with a text editor and remove the first
line. The OCV and Rin_discharge tables are ready to use by the model.
• From the Utilities menu, select Curve Capture Tool, and capture the charge curves of the battery volt-
age, charge current, and charge capacity versus time.
• Load the file "Extracting Rin_charge.psimsch" (in "examples\batteries\lookup table (SOC)"). Use the
tables from the previous step. Run simulation, and display Rin_charge with SOC as the x-axis variable.
In Simview, select File >> Save Display As and save the curve to a text file. Open the file with a text
editor and remove the first line. The Rin_charge table is ready to use by the model.
Parameter Description
No. of Cells in Series Number of cells Ns in series of a battery pack
No. of Cells in Parallel Number of cells Np in parallel of a battery pack
Voltage Derating Factor Voltage derating factor Ks, from 0 (100% derating) to 1 (no derating)
Capacity Derating Factor Capacity derating factor Kp, from 0 (100% derating) to 1 (no derating)
Maximum Capacity Maximum capacity Qmax of the battery cell, in Ah
Discharge Capacity SOC=1 Discharge capacity of the battery cell Qext1 corresponding to the state of
charge SOC=1.
Discharge Capacity SOC=0 Discharge capacity of the battery cell Qext0 corresponding to SOC=0
Initial State of Charge Initial state of charge (SOC) (from 0 to 1)
OCV-Qdischarge Table Table of the open circuit voltage (OCV) vs. the discharge capacity Qdischarge
Rin-Qdischarge Table Table of the internal resistance Rin vs. Qdischarge during the discharge
process
Rin-Qcharge Table Table of the internal resistance Rin vs. the charge capacity Qcharge during the
charge process
In the image, the extra node at the top of the battery image is for the SOC output. It is a control circuit node.
Note that the battery parameters are all for one battery cell, while the model can be used to define a battery pack
where the number of cells in series or in parallel is not 1. For a battery pack, all voltages need to be multiplied
by Ns*Ks, all capacities by Np*Kp, and the resistance by Ns/Np.
The equivalent circuit of the battery is shown below.
Rin
OCV
For the internal resistance Rin, two tables can be defined: one during the discharge process, and another during
the charge process.
For a discharge curve, typically SOC is defined such that when the discharge capacity is 0 (at the beginning of
the discharge), SOC=1; and when the discharge capacity is Qmax, SOC=0. However, in this model, one has the
option to define where the points for SOC=0 and SOC=1 are, as shown in the figure below.
In this model, SOC can be less than 0 or greater than 1.
Note that the three lookup tables OCV, Rin (discharge), and Rin (charge) are all obtained with the traditional
SOC definition. That is, SOC=1 when the discharge capacity is 0, and SOC=0 when the discharge capacity is
Qmax.
Below is the procedure to obtain the lookup tables from manufacture datasheet:
• From the Utilities menu, select Curve Capture Tool, and capture two discharge curves of the battery
voltage versus the discharge capacity from the datasheet at different discharge currents.
• Load the file "Extracting OCV and Rin_discharge.psimsch" (in "examples\batteries\lookup table (Q)").
Set the discharge currents and use the tables from the previous step. Run simulation, and display OCV
and Rin_discharge separately with the discharge capacity as the x-axis variable. In Simview, select File
Attributes:
Parameter Description
Number of Cells in Series Number of cells in series
Number of Cells in Parallel Number of cells in parallel
Capacitance per Cell Nominal capacitance per cell, in F.
Coefficient Kv Voltage coefficient
Resistance R1 Resistance coefficient R1, in Ohm
Capacitance C1 Capacitance coefficient C1, in F
Resistance R2 Resistance coefficient R2, in Ohm
Capacitance C2 Capacitance coefficient C2, in F
Resistance R3 Resistance coefficient R3, in Ohm
Capacitance C3 Capacitance coefficient C3, in F
Resistance R4 Resistance coefficient R4, in Ohm.
Maximum Voltage Maximum voltage rating per cell, in V
Initial Voltage Initial capacitor voltage per cell, in V
Parameters Kv, R1, and C1 are associated with the capacitor response in the short term (in seconds.).
Parameters R2 and C2 are associated with the response in the medium term (in minutes. Parameters R3 and C3
are associated with the response in the long term (in hundreds of minutes). The parameter R4 is associated with
capacitor losses due to self-discharge.
For further information on how to use the model, please refer to the tutorial "Tutorial - Ultracapacitor
model.pdf".
This chapter provides descriptions for the components in PSIM’s element library.
The elements included in the Control category are numeral. The often-used control function blocks are listed
directly under the Control category. Other elements are sorted into the following subfolders:
• Filters
• Computational Blocks
• Other Function Blocks
• Logic Elements
• Digital Control Module
• SimCoupler Module
• ModCoupler Modules
• PIL Module
• Design Suite Blocks
• PLL Blocks
Attribute:
Parameter Description
Gain Gain k of the transfer function
5.1.1.2 Integrator
There are three types of integrators:
• regular integrator,
• external resettable integrator, and
• internal resettable integrator.
Images:
Regular Integrator External Resettable Integrator Internal Resettable Integrator
Parameters Description
Time Constant Time constant T of the integrator, in sec.
Initial Output Value Initial value of the output
Reset Flag Reset flag (0: edge reset; 1: level reset). For External
Resettable type.
Lower Output Limit Lower limit of the output
Upper Output Limit Upper limit of the output
Φ
0 ω
-90o
Note:
The output of the integrator block is limited to the upper and lower limits. The anti-windup is implemented
automatically. When the integrator's output reaches the limit, the integrator will stop integrating to prevent
integral windup. If the limit is set as infinite (-inf or inf), the anti-windup is removed.
However, the parameter Upper (Lower) Output Limit has different meaning for the Internal Resettable
Integrator. It means the output of the integrator is reset to the value of Lower (Upper) limit when the output
exceeds either the lower or the upper output limit.
The output of the external resettable integrator can be reset by an external control signal (at the bottom of the
block). For the edge reset (reset flag = 0), the integrator output is reset to zero at the rising edge of the control
signal. For the level reset (reset flag = 1), the integrator output is reset to zero as long as the control signal is
high (1).
Example:
The following circuit illustrates the use of the external resettable integrator. The input of the integrator is a dc
quantity. The control input of the integrator is a pulse waveform which resets the integrator output at the end of
each cycle. The reset flag is set to 0.
vctrl
5.1.1.3 Differentiator
The transfer function of a differentiator is:
G ( s ) = sT
Attribute:
Parameter Description
Time Constant Time constant T of the differentiator, in sec.
Since sudden changes of the input will generate spikes at the output, it is recommended that a low-pass filter be
placed at the input of the differentiator.
Attributes:
Parameters Description
Gain Gain k of the PI controller
Time Constant Time constant T of the PI controller
Lower Output Limit Lower limit of the output
Upper Output Limit Upper limit of the output
|G| -20dB/dec
0 ω (rad/sec)
1/T
Φ
0 ω
-90o
Note:
The output of the integrator block is limited to the upper and lower limits. The anti-windup is implemented
automatically. When the integrator's output reaches the limit, the integrator will stop integrating to prevent
integral windup. If the limit is set as infinite (-inf or inf), the anti-windup is removed.
Attributes:
Parameters Description
Gain Gain k of the controller
Pole Frequency Frequency of the pole fc, in Hz
where ω c = 2πf c .
The Bode plot of the amplitude |G| and the phase angle Φ of the single-pole controller is shown as below:
|G|
-20dB/dec
0 ωc ω (rad/sec)
Φ
0 ω
-90o
Attributes:
Parameters Description
Gain Gain k of the PI controller
Time Constant Time constant T of the PI portion of the controller
Pole Frequency Frequency of the pole fc, in Hz
1
- and ω c = 2πf c .
where T c = -----
ωc
The Bode plot of the amplitude |G| and the phase angle Φ of the PI controller is shown as below:
|G| -20dB/dec
0 ω (rad/sec)
1/T 1/Tc -20dB/dec
Φ
0 ω
-90o
Attributes:
Parameters Description
Gain Gain k of the PI controller
Frequency fz1 Frequency fz1 of the first zero, in Hz
Frequency fz2 Frequency fz2 of the second zero, in Hz
Frequency fp1 Frequency fp1 of the first pole, in Hz
Frequency fp2 Frequency fp2 of the second pole, in Hz
1 1 1 1
where T z1 = ------------ , T z2 = ------------ , T p1 = ------------
- , and T p2 = ------------- .
2πf z1 2πf z2 2πf p1 2πf p2
The Bode plot of the amplitude |G| and the phase angle Φ of the Type-3 controller is shown as below:
0 ω (rad/sec)
1/Tz1 1/Tz2 1/Tp1 1/Tp2
90o
Φ
0 ω
-90o
5.1.2 Summers
The input of a one-input summer or two-input summer can be either a scalar or a vector. The input of a three-
input summer can only be a scalar.
Images:
1-input 2-input 2-input 3-input
Input 1
Input 1 Input 1
Input 2
Attribute:
Parameter Description
Gain_i Gain ki for the ith input
For the three-input summer, the input with a dot is the first input.
If the inputs are scalar, the output of a summer with n inputs is defined as:
V o = k 1 V 1 + k 2 V 2 + ... + k n V n
If the input is a vector, the output of a two-input summer will also be a vector, which is defined as:
V1 = [a1 a2 ... an]
V2 = [b1 b2 ... bn]
Vo = V1 + V2 = [a1+b1 a2+b2 ... an+bn]
The output of a one-input summer, however, will still be a scalar which is equal to the summation of the input
vector elements, that is, Vo = a1 + a2 + ... an.
5.1.3 Comparators
The following comparator blocks are available in PSIM library:
• Comparator
• Comparator (deadtime)
• Comparator (hysteresis)
Note that the comparator image is similar to that of the op. amp. For the comparator, the noninverting input is at
the upper left and the inverting input is at the lower left. For the op. amp., however, it is the opposite.
5.1.3.1 Comparator
The output of a comparator is high when the positive input is higher than the negative input. When the positive
input is lower, the output is zero. If the two input are equal, the output is undefined and it will keep the previous
value.
Parameter Description
Upper Output Level Output level high, in V.
Lower Output Level Output level low, in V
Deadtime Dead time between Vo and Vo_n, in second and can be set to zero
The output of the comparator Vo is high (Upper Output Level) when the positive input (+) is higher than the
negative input (-). When the positive input is lower, the output Vo is low (Lower Output Level). If the two input
are equal, the output is undefined and it will keep the previous value.
The output Vo_n is the complementary of Vo with a deadtime defined by the parameter "Deadtime".
1.5
0.5 Vlower
0
-0.5
1
Vout
Vo
0.8
0.6
0.4
0.2
0 0.0002 0.0004 0.0006 0.0008 0.001 0.0012 0.0014 0.0016 0.0018 0.002
Time (s)
Attributes:
Parameters Description
Lower Limit Lower limit Vlower of the limiter
Upper Limit Upper limit Vupper of the limiter
For a lower/upper limiter, or lower limiter, or upper limiter, the output of the limiter is clamped to the upper or
lower limit whenever the input exceeds the limiter range. If the input is within the limit, the output is equal to
the input.
A range limiter limits the output vo between the lower limit and the upper limit, that is:
V lower ≤ v o < V upper
Let the range of the upper limit and the lower limit be Vrange. When the output is equal to or greater than the
upper limit, the output is subtracted by the range Vrange until it is within the range. When the output is below the
lower limit, it is added by range Vrange until it is within the range. When the input is within the limit, the output
is equal to the input.
Attributes:
Parameters Description
Carrier Frequency The frequency of the triangular carrier wave, in Hz. Must be greater than 0.
Peak Value Peak value of the triangular wave, In the figure below, the peak value is b.
Bottom Value Bottom value of the triangular wave, In the figure below, the bottom value is a.
Duty Cycle Duty cycle of the rising slope interval. Must be in the range between 0 and 1.
Phase Delay Phase delay of the triangular waveform, in degree. When the value is 0, the wave
starts at the bottom of the rising slope, as shown in the figure below.
Dead Time The dead time between the output Q and Qn, in second.
5.2 Filters
Four second-order filters and one first-order filter are provided as built-in blocks in PSIM.
Images:
2nd-order low-pass 2nd-order high-pass 2nd-order band-pass 2nd-order band-stop 1st-order low-pass
Parameters Description
Gain Gain k
Damping Ratio Damping ratio ξ
Cut-off Frequency ω
Cut-off frequency fc ( f c = -----c- ) for low-pass and high-pass filters, in Hz
2π
Center Frequency ω
Center frequency fo ( f o = -----o- ) for band-pass and band-stop filter, in Hz
2π
Passing Band; B
Frequency width fb ( f b = -----
- ) of the passing/stopping band for band-pass/band-
Stopping Band 2π
stop filters, in Hz
Attributes for first-order low-pass filter:
Parameters Description
Gain Gain k
Cut-off Frequency ω
Cut-off frequency fc ( f c = -----c- ) of the low-pass filter, in Hz
2π
The transfer function of these filters are listed below.
For second-order low-pass filter:
2
ωc
G ( s ) = k ⋅ --------------------------------------
2
-
2
s + 2ξω c s + ω c
For second-order high-pass filter:
Multiplier Divider
Numerator
Denominator
For the divider, the dotted node is for the numerator input.
The input of a multiplier can be either a vector or a scalar. If the two inputs are vectors, their dimensions must
be equal. Let the two inputs be:
V1 = [a1 a2 ... an]
V2 = [b1 b2 ... bn]
The output, which is a scalar, will be:
Vo = V1 * V2T = a1*b1 + a2*b2 + an*bn
Input in deg.
Input in rad.
If the input of a block has the letter "r", it is in radian. If the input has the letter "u", it is in per unit. Otherwise it
is in deg.
In the arctangent and arctangent 2 blocks, the input node marked with x is the real part, and the other input node
marked with y is the imaginary part. If the output has the letter "u", the output is in per unit.
The output of the arctangent and arctangent 2 blocks is the inverse tangent of the ratio between the imaginary
y
part y and the real part x, i.e. θ = tg -- . The output of the arctangent block is in degree, and the range is from
–1
x
0 to 360o. On the other hand, the output of the arctangent 2 block is in radian, and the range is from -π to +π.
The arctangent 2 block behaves in the same way as the function atan2(y,x) in the C language.
Parameters Description
Coefficient k1 Coefficient k1
Coefficient k2 Coefficient k2
For example, if k1 = 1, k2 = 2.718281828, and Vin = 2.5, then Vo = e2.5 where e is the base of the natural
logarithm.
The output of a power function block is defined as:
k2
V o = k 1 ⋅ V in
The function block LOG gives the natural logarithm (base e) of the input, and the block LOG10 gives the
common logarithm (base 10) of the input.
Attribute:
Parameter Description
Base frequency Base frequency fb, in Hz
Attributes:
Parameters Description
Number of Inputs Number of inputs
Block Function Type Function type of the block. It can be either Maximum or Minimum.
The number of inputs can be changed through the drop-down menu.
The block has two inputs: the numerator input Vin_n on the top left (with the letter "n"), and the denominator
input Vin_d on the bottom left (with the letter "d").
The block gives the remainder of the division Vin_n / Vin_d. For example, if Vin_n = 10.1 and Vin_d = 2, the
output will be 0.1.
Input
Control
The difference between this block and the zero-order hold block (ZOH) in Digital Control Module is that this
block is treated as a continuous element and sampling moments can be controlled externally; whereas the zero-
order hold block is a discrete element and the sampling moments are fixed and of equal distance.
For a discrete system, the zero-order hold block should be used.
Example:
In this example, a sinusoidal input is sampled. The control signal is a square wave voltage source with an
amplitude of 1.
vin
vo
vctrl
Parameters Description
Rising Angle theta Rising angle θ, in deg.
Peak Value Peak value Vpk of the waveform
Parameter Description
Pulse Width (deg.) Pulse width θ in half cycle, in deg.
The input vin is in degree, and can be in the range of -360o to 360o. Both waveforms are half-wave and quarter-
wave symmetrical. The output waveforms of these two blocks are shown below.
Vpk 1
o vin θ vin
180
0 0 o o
o
360 180 360
-Vpk -1
θ
v in ( n ) – v in n + ---- ⋅ e
N
v o = ---- ⋅
N 2
n=0
Image:
Amplitude
Phase Angle
Attributes:
Parameters Description
No. of Sampling Points No. of sampling points N
Fundamental Frequency Fundamental frequency fb, in Hz.
v1
vin vamp v1
vin
v5 Angle
v7 vamp
Angle
V 2
V rms – V 12
THD = -----h = --------------------------
-
V1 V1
where V1 is the fundamental component (rms), Vh is the harmonic rms value, and Vrms is the overall rms value
of the waveform. The THD block is modelled as shown below.
Image:
Vrms Vh
THD vin(t) THD
vin(t)
v1(t) V1
v1(t)
A second-order band-pass filter is used to extract the fundamental component. The center frequency and the
passing band of the band-pass filter need to be specified.
Parameters Description
Fundamental Frequency Fundamental frequency of the input, in Hz
Passing Band Passing band of the band-pass filter, in Hz
Example:
In the single-phase thyristor circuit below, a THD block is used to measure the THD of the input current. The
delay angle of the thyristor bridge is chosen as 30o. For the THD block, the fundamental frequency is set at 60
Hz and the passing band of the filter is set at 20 Hz. The simulation results are shown on the right.
vs
alpha=30 deg.
is THD
is1
One of the THD block output is the input current fundamental component is1. By comparing the phase
difference between the input voltage vs and the current is1, one can calculate the input displacement power
factor. This, together with the THD value, can be used to calculate the input power factor.
Attributes:
Parameters Description
Order n Order n of the transfer function
Gain Gain k of the transfer function
Coeff. Bn...Bo Coefficients of the numerator (from Bn to Bo)
Coeff. An...Ao Coefficients of the denominator (from An to Ao)
Initial Values xn..x1 Initial values of the state variables xn to x1 (s-domain Transfer Function (initial
value) only)
x1 0 0 0 ... 0 –A0 ⁄ An x1 B0 – A0 ⋅ Bn ⁄ An
x2 1 0 0 ... 0 –A1 ⁄ An B1 – A1 ⋅ Bn ⁄ An
x2
d k
----- x = 0 1 -----
0 ... 0 – A 2 ⁄ A n ⋅ x 3 + A ⋅ B2 – A2 ⋅ Bn ⁄ An ⋅u
dt 3 n
... ... ... ... ... ... ... ... ...
xn 0 0 0 ... 1 – A n – 1 ⁄ A n xn Bn – 1 – An – 1 ⋅ Bn ⁄ An
The initial values of the state variables xn to x1 can be specified as the inputs in the element s-domain Transfer
Function (initial value).
Example:
The following is a second-order transfer function:
3
400.e
G ( s ) = 1.5 ⋅ ---------------------------------------------------
2
-
3
s + 1200 ⋅ s + 400.e
In PSIM, the specification will be:
Order n 2
Gain 1.5
Coeff. Bn...Bo 0. 0. 400.e3
Coeff. An...Ao 1. 1200. 400.e3
Attribute:
Parameter Description
Delay Time Delay time, in sec. (for the Time Delay block only)
A time delay block delays the input signal by a specified amount of time interval. The input signal can be an
analog signal or logic signal. For example, it can be used to model the propagation delay of a logic element.
A unit time delay block delays the input signal by just one simulation time step. If the simulation time step is
changed, the delay time will be changed accordingly.
Note that this Unit Time Delay block is a continuous element for analog systems. For discrete systems, the Unit
Delay block in Digital Control Module should be used. The difference between the two block is that the Unit
Time Delay block delay time is one simulation time step while the Unit Delay block delay time is equal to the
Attributes:
Parameters Description
No. of Digits No. of digits N after the decimal point
Truncation Flag Truncation flag (1: truncation; 0: round-off)
Let the input of the round-off block be Vin. The input is first scaled based on the following expression:
N
V in, new = V in ⋅ 10
If the truncation flag is 1, the output will be equal to Vin,new truncated, and then divided by 10N. Otherwise, the
output will be equal to Vin,new rounded off to the nearest integer, and then divided by 10N.
Examples:
If Vin = 34.5678, N = 0, truncation flag = 0, then we have the output Vout = 35. Similarly, if Vin = 34.5678, N = 0,
truncation flag = 1, then Vout = 34.
If Vin = 34.5678, N = 1, truncation flag = 1, then Vout = 34.5. If Vin = 34.5678, N = -1, truncation flag = 1, then
Vout = 30.
Attribute:
Parameter Description
dv/dt Limit Limit of the rate of change (dv/dt) of the input
5.4.9 Multiplexers
The output of a multiplexer is equal to a selected input depending on the control signal. Three types of
multiplexers are provided:
• binary control inputs,
• individual control inputs
• Single control inputs
In the images, d0...d7 are the data inputs; and s0..s2 are the control inputs. The truth tables of the multiplexers
are as follows.
For multiplexers with binary control inputs:
2-Input 4-Input 8-Input
s0 Y s1 s0 Y s2 s1 s0 Y
0 d0 0 0 d0 0 0 0 d0
1 d1 0 1 d1 0 0 1 d1
1 0 d2 0 1 0 d2
1 1 d3 0 1 1 d3
1 0 0 d4
1 0 1 d5
1 1 0 d6
1 1 1 d7
For multiplexers with individual control inputs:
3-Input 4-Input
s1 s0 Y s2 s1 s0 Y
x 1 d0 x x 1 d0
1 0 d1 x 1 0 d1
otherwise d2 1 0 0 d2
otherwise d3
For multiplexers with single control input, the value of input s is rounded to the nearest integer:
4-Inputs 8-Input
s Y s Y
0 d0 0 d0
1 d1 1 d1
d2 2 d2
d3 3 d3
4 d4
5 d5
6 d6
7 d7
Note that the data input could be either an analog or digital signal.
Example:
The following circuit selects the maximum value out of two inputs. When Va is greater than Vb, the comparator
When a 3-phase sinusoidal signal is applied to the inputs of the block, the output waveforms are shown below.
Va Vb Vc
1. 5
0. 5
0
Inputs
-0. 5
-1
-1. 5
Vao Vbo Vco
1. 5
Outputs
0. 5
-0. 5
-1
-1. 5
0 0.0 05 0.0 1 0.015 0. 02 0 .025 0. 03
T ime (s)
The fundamental component of the output is 1.155 times the value of the input.
beta
When two sinusoidal signals, with the beta input lagging the alpha input by 90 deg., are applied to the inputs of
the block, the output waveforms are shown below.
0. 5
0
Inputs
-0. 5
-1
-1. 5
Vao Vbo Vco
1. 5
Outputs
0. 5
-0. 5
-1
-1. 5
0 0.0 05 0.0 1 0.015 0. 02 0 .025 0. 03
T ime (s)
The fundamental component of the output is 1.155 times the value of the input.
Parameter Description
DLL File Name of the DLL file that defines the functionality and the interface of the block
Number of Nodes Total number of input and output nodes
An Embedded Software Block has similar functionality as a general external DLL block. However, unlike the
general DLL block whose connection nodes are predefined as either inputs or outputs, the Embedded Software
Block allows the node types to be programmed as needed. Also, additional information, such as the exact
instant at which the state of a variable changes, can be calculated and passed to and from PSIM.
The Embedded Software Block is a control circuit element, and can be used in the control circuit only.
For more information on how to use the Embedded Software Block, please refer to the document "Help
Embedded Software Block.pdf".
Attribute:
Parameter Description
Trigger Flag Trigger flag (0: edge-triggered; 1: level-triggered)
An edge-triggered flip-flop only changes the states at the rising edge of the set/reset input. The truth table of an
edge-triggered flip-flop is:
S R Q Q
0 0 no change
0 ↑ 0 1
↑ 0 1 0
↑ ↑ not used
A level-triggered flip-flop, on the other hand, changes the states based on the input level. The truth table of a
level-triggered set-reset flip-flop is:
S R Q Q
0 0 no change
0 1 0 1
1 0 1 0
1 1 not used
5.5.4 D Flip-Flops
Two types of D flip-flops are provided: One without the set/reset inputs, and the other with the set input (S) and
reset input (R). For the element without the set and reset inputs, it is assumed that both set/reset inputs are high
(1).
Images:
Attribute:
Parameter Description
Pulse Width On-time pulse width, in sec.
The input node at the bottom of the controlled monostable block is for the pulse width input.
Attribute:
Parameter Description
Delay Time Delay time, in second
Input
>>
Bit input b
The lower left input node with the letter b is for the bit input. If the bit input is not an integer, it is rounded to the
nearest integer.
When the bit input is positive, the block performs left shift. For example, if the bit input is 3, the output is equal
to the input multiplied by 23.
When the bit input is negative, the block performs right shift. For example, if the bit input is 3, the output is
equal to the input divided by 23.
Preset Enable
Preset Value
Clock Output
Up/Down
Reset
Attribute:
Parameter Description
No. of Bits Number of bits N
When the Up/Down input is 0, the counter decrements, and when the Up/Down input is 1, the counter
increments.
The Reset input resets the counter to 0 when it is high (1). The Preset Enable input sets the counter to the preset
value when it is high.
The truth table of the counter is:
Up/Down Preset Enable Reset Clock Action
x 0 0 x No count
1 0 0 ↑ Count up
0 0 0 ↑ Count down
x 1 0 x Preset
x x 1 x Reset
x: Do not care
Vin Vo Vin Vo
Clock
Let N be the number of bits. The output of the A/D converter is calculated as:
N
2
V o = --------- ⋅ V in
V ref
Attributes:
Parameters Description
Upper Limit Maximum ramp output, in per unit.
Lower Limit Minimum ramp output, in per unit
Step Duration Number of sampling period N at each step. It must be an integer equal to or greater
than 1.
Step Size Maximum ramp step change Vstep at the output, in per unit.
Sampling Frequency Sampling frequency, in Hz
In the image, the output node with a small dot is the ramp output, and the other output node is the flag indicating
that the output equals the input.
If the input is greater than the output, the output will increment by Vstep after a duration of N sampling periods.
If the input is less than output, the output will decrement by Vstep after a duration of N sampling periods. If the
input is equal to the output, the flag will be set to 1. Otherwise it will be 0.
Parameters Description
Base Frequency Base frequency FBI, in Hz.
Sampling Frequency Sampling frequency, in Hz
In the image, the first input is the Gain; the second input is the Offset; and the third input is the desired
frequency freq for output ramp.
The ramp output waveform is shown below.
The output ramp frequency is the multiple of the input value and the base frequency FBI. The output range is
limited from -1 to +1. Therefore, the range of Offset and Gain must be limited as: Offset + Gain <= 1.
Attributes:
Parameters Description
Base Voltage Motor base phase voltage, in V
Base Current Motor base phase current, in A
Stator Resistance Motor stator resistance, in Ohm
Stator Inductance Motor stator inductance, in H
Gain Kissed Sliding mode control gain
Gain Keels Sliding mode control filter gain
Coefficient E0 Coefficient to limit the error integral saturation. The default value is 0.5.
Sampling Frequency Sampling frequency, in Hz
Wr
rpm
Attributes:
Parameters Description
Base Frequency FBI Base frequency, in Hz
Cut-off Frequency First-order low-pass filter cut-off frequency, in Hz
Number of Poles Number of poles of the motor
Sampling Frequency Sampling frequency, in Hz
The input signal theta is the motor rotor electrical angle, in per unit. The output War is the estimated motor
speed, in per unit. The output rpm is the estimated motor speed, in rpm. A first-order low-pass filter is used at
the output variables.
5.6.1.5 Encoder
This block provides the function of the encoder with the ABZ signals.
Image:
Attributes:
Parameters Description
Counting Direction Counting direction (0: counting up; 1: counting down)
Z Signal Polarity Trigger polarity of the Z signal (0: active high; 1: active low)
Encoder Resolution Resolution of the encoder. If it is 0, the encoder counter will keep on counting and
will not reset. If, for example, the resolution is 4096, the counter will be reset to 0
after it reaches 4095.
Sampling Frequency Sampling frequency, in Hz
The output of the encoder gives the counter value.
Attributes:
Parameters Description
Carrier Frequency The frequency of the triangular carrier wave, in Hz. Must be greater than 0.
Peak Value Peak value of the triangular wave, In the figure below, the peak value is b.
Bottom Value Bottom value of the triangular wave, In the figure below, the bottom value is a.
Duty Cycle Duty cycle of the rising slope interval. Must be in the range between 0 and 1.
Phase Delay Phase delay of the triangular waveform, in degree. When the value is 0, the wave
starts at the bottom of the rising slope, as shown in the figure below.
Dead Time The dead time between the output Q and Qn, in second.
Working Principle:
The input signal is Uref in the figure above. This controller is to sample the input signal, to compare it with a
triangular wave, and to generate the gate signals for a pair of interlocked switches.
The sampling frequency is independent of the switching frequency.
The outputs are:
Q: The "Upper switch pulse" as indicated in the figure above.
Qn: The compliment of Q with the deadtime set in the parameters.
Vcr: The carrier waveform
Attributes:
Parameters Description
Sampling Frequency Sampling frequency, in Hz. Must be greater than 0.
Working Principle:
Parameters Description
Phase Delay The delay of the pulses from the sampling point. The definition is θ shown in the
figure below, in degree.
Sampling Frequency The sampling frequency (the same as the switching frequency), in Hz. Must be
greater than 0.
Working Principle:
Parameters Description
Proportional Gain Kp The proportional gain Kp. Refer to the block diagram of 1-ph PLL
Integral Gain Ki The integral gain Ki. Refer to the block diagram of 1-ph PLL.
Rated Input Frequency Rated frequency of the input signal, in Hz
Coefficient Lambda A positive constant to reduce frequency swings. Used in enhanced PLL only.
Sampling Frequency The input signal is sampled at this frequency, in Hz
Working Principle:
Parameters Description
Proportional Gain Kp The proportional gain Kp. Refer to the block diagram of 3-ph PLL
Integral Gain Ki The integral gain Ki. Refer to the block diagram of 3-ph PLL.
Rated Input Frequency Rated frequency of the input signal, in Hz
Rated Input Amplitude Rated amplitude of the input signal
(peak)
Coefficient Lambda A positive constant to reduce frequency swings. Used in enhanced PLL only.
Sampling Frequency The input signal is sampled at this frequency, in Hz
Working Principle:
The PLL-3ph block accepts three-phase balanced or near balanced input. The ePLL-3ph can processes general
three-phase signals regardless of being balanced or unbalanced. It is able to decompose the signal into its
positive-sequence, negative-sequence and zero-sequence components. Furthermore, it provides all signal
attributes of those components including their magnitudes, and phase angles. It eliminates the errors caused by
the presence of negative-sequence or zero-sequence components.
For power system applications, the coefficient Lambda is suggested to be selected in the range
0 < Lambda < 20
Larger Lambda value means stronger suppression of frequency swings.
The outputs of this block are:
y: unitary output signal synchronous with the input
yq: unitary output signal 90-degree delayed version of y(t)
freq: estimated frequency, in Hz,
phi: estimated angle, in degree
ud: d-axis component of the input
uq: q-axis component of the input
uo: o-axis component of the input
Attribute:
Parameter Description
Sampling Frequency Sampling frequency of the zero-order hold, in Hz
Like all other discrete elements, the zero-order hold has a free-running timer which determines the moment of
sampling. The sampling moment is synchronized with the origin of the simulation time. For example, if the
zero-order hold has a sampling frequency of 1000 Hz, the input will be sampled at 0, 1 msec., 2 msec., 3 msec.,
and so on.
The block ZOH (variable sampling) has an extra input for the sampling position. The top input is the input
signal to be sampled. The bottom input is the sampling position. This position determines where in the duty
cycle is the sampling done.
Example:
In the following circuit, the zero-order hold sampling frequency is 1000 Hz. The input and output waveforms
are shown on the left.
Note that in above circuit, a continuous-domain integrator is also connected to the input sine source. This makes
it a mixed continuous-discrete circuit, and a simulation time step selected for the continuous circuit will be
used. With this time step, the familiar staircase-like waveform can be observed at the zero-order hold output.
Without the integrator, the circuit becomes a discrete circuit. Since only the calculation at the discrete sampling
points is needed, the simulation time step will be equal to the sampling period, and only the results at the
sampling points are available. The waveforms, as shown below, appear continuous. In fact the waveforms are
discrete, and the connection between two sampling points makes it look like continuous.
Attribute:
Parameter Description
Initial Output Value Initial value of the output of the block
Sampling Frequency Sampling frequency, in Hz
The difference between the unit delay block and the time delay block is that the unit delay block is a discrete
element and it delays the sampled points by one sampling period, whereas the time delay block is a continuous
element and it delays the whole waveform by the delay time specified.
If a0 = 1, the expression Y(z) = H(z) * U(z) can be expressed in difference equation as:
y ( n ) = b 0 ⋅ u ( n ) + b 1 ⋅ u ( n – 1 ) + ... + b N ⋅ u ( n – N ) –
[ a 1 ⋅ y ( n – 1 ) + a 2 ⋅ y ( n – 2 ) + ... + a N ⋅ y ( n – N ) ]
Image:
Attributes:
Parameters Description
Order N Order N of the transfer function
Coeff. b0...bN Coefficients of the numerator (from b0 to bN)
Coeff. a0...aN Coefficients of the denominator (from a0 to aN)
Sampling Frequency Sampling frequency, in Hz
Order N 2
Coeff. b0...bN 0. 0. 400.e3
Coeff. a0...aN 1. 1200. 400.e3
Sampling Frequency 3000.
5.6.6.1 Integrator
There are three types of integrators: regular integrator, external resettable integrator, and internal resettable
integrator.
Images:
Regular Integrator External Resettable Integrator Internal Resettable Integrator
Attribute:
Parameters Description
Algorithm Flag Flag for integration algorithm
0: trapezoidal rule
1: backward Euler
2: forward Euler
Initial Output Value Initial output value
Reset Flag Reset flag (0: edge reset; 1: level reset) (for external resettable integrator only)
Lower Output Limit Lower limit of the output (for internal resettable integrator only)
Upper Output Limit Upper limit of the output (for internal resettable integrator only)
Sampling Frequency Sampling frequency, in Hz
The output of an external resettable integrator can be reset by an external control signal (at the bottom of the
block). With the edge reset (reset flag = 0), the integrator output is reset to zero at the rising edge of the control
signal. With the level reset (reset flag = 1), the integrator output is reset to zero as long as the control signal is
high (1).
The output of an internal resettable integrator is reset to 0 whenever the output reaches either the lower limit or
the upper limit. The integrator works in the same way as the external resettable integrator with the edge reset,
except that users do not need to set up the external reset circuit in this case.
If we define u(t) as the input, y(t) as the output, Ts as the sampling period, and H(z) as the discrete transfer
function, the input-output relationship of an integrator can be expressed under different integration algorithms
as follows.
With trapezoidal rule:
Ts z + 1
H ( z ) = ----- ⋅ -----------
2 z–1
y ( n ) = y ( n – 1 ) + Ts ⋅ u ( n )
y ( n ) = y ( n – 1 ) + Ts ⋅ u ( n – 1 )
5.6.6.2 Differentiator
Image:
Attribute:
Parameter Description
Sampling Frequency Sampling frequency, in Hz
The transfer function of a discrete differentiator is:
1 z–1
H ( z ) = ----- ⋅ -----------
Ts z
where Ts is the sampling period. The input-output relationship can be expressed in difference equation as:
1
y ( n ) = ----- ⋅ ( u ( n ) – u ( n – 1 ) )
Ts
Attribute:
Parameters Description
Gain Gain k of the PI controller
Time Constant Time constant T of the PI controller
Lower Output Limit Lower limit V_lower of the output
Upper Output Limit Upper limit V_upper of the output
Sampling Frequency Sampling frequency fs, in Hz
Attribute:
Parameters Description
Sampling Frequency Sampling frequency, in Hz
Proportional Gain Proportional loop gain Kp
Integral Gain Integral gain Ki
Derivative Gain Derivative gain Kd
Integral Correction Gain Integral correction gain Kc
Upper Saturation Maximum output limit, in per unit
Lower Saturation Minimum output limit, in per unit
In the image, the input with "r" is for the reset signal. The other input, please note, is the error between the
reference and the feedback. When the value of the input Reset is greater than 0.5, integral output is clamped to
zero. This function is useful to prevent the integrator from entering saturation before the feedback signal is
available.
In the PID controller, the differential equation is transformed to the difference equation by means of the
backward Euler approximation.
Let the sampling period be Ts, the integral gain and derivative gain are defined as:
T
K i = -----s
Ti
T
K d = ----d-
Ts
Attributes:
For 1st-order low-pass filter and 2nd-order low-pass filter:
Parameters Description
Gain Gain k of the filter
ω
Cut-off Frequency Cut-off frequency fc ( f c = -----c- ), in Hz
2π
Damping Ratio Damping ratio ξ of the filter (for 2nd-order low-pass filter only)
Sampling Frequency Sampling frequency fs, in Hz
For General Digital Filter or FIR Filter that reads the coefficients directly:
Parameters Description
Order N Order N of the transfer function
Coeff. b0...bN Coefficients of the numerator (from b0 to bN)
Coeff. a0...aN Coefficients of the denominator (from a0 to aN)
Sampling Frequency Sampling frequency fs, in Hz
Parameters Description
File for Coefficients Name of the file storing the filter coefficients
Sampling Frequency Sampling frequency fs, in Hz
If a0 = 1, the output y and input u can be expressed in difference equation form as:
y ( n ) = b 0 ⋅ u ( n ) + b 1 ⋅ u ( n – 1 ) + ... + b N ⋅ u ( n – N ) –
[ a 1 ⋅ y ( n – 1 ) + a 2 ⋅ y ( n – 2 ) + ... + a N ⋅ y ( n – N ) ]
If the denominator coefficients a0..aN are not zero, this type of filter is called infinite impulse response (IIR)
filter.
The transfer function of a FIR filter is expressed in polynomial form as:
–1 –( N – 1 ) –N
H ( z ) = b0 + b1 ⋅ z + ... + b N – 1 ⋅ z + bN ⋅ z
If a0 = 1, the output y and input u can be expressed in difference equation form as:
y ( n ) = b 0 ⋅ u ( n ) + b 1 ⋅ u ( n – 1 ) + ... + b N ⋅ u ( n – N )
The coefficient file for block Digital Filter (file) and FIR Filter (file) has the following format:
For FIR Filter (file):
N
b0
b1
... ... ...
bN
Example:
To design a 2nd-order low-pass Butterworth digital filter with the cut-off frequency fc = 1 kHz, assuming the
sampling frequency fs = 10 kHz, using MATLAB, we have:
Nyquist frequency fn = fs / 2 = 5 kHz
Normalized cut-off frequency fc* = fc/fn = 1/5 = 0.2
[B,A] = butter (2, fc*)
which will give:
B = [0.0201 0.0402 0.0201 ] = [b0 b1 b2]
A = [ 1 -1.561 0.6414 ] = [a0 a1 a2]
The transfer function is:
–1 –2
H ( z ) = 0.0201 + 0.0402 ⋅ z + 0.0201 ⋅ z
------------------------------------------------------------------------------------
–1 –2
-
1 – 1.561 ⋅ z + 0.6414 ⋅ z
Order N 2
Coeff. b0...bN 0.0201 0.0402 0.0201
Coeff. a0...aN 1. -1.561 0.6414
Sampling Frequency 10000.
If the coefficients are stored in a file, the file content will be:
2
0.0201
0.0402
0.0201
1.
-1.561
0.6414
Or the file can also have the content as follows:
2
0.0201, 1
0.0402, -1.561
0.0201, 0.6414
Attributes:
Parameters Description
No. of Bits Number of bits N
Vin_min Lower limit of the input value Vin,min
Vin_max Upper limit of the input value Vin,max
Vo_min Lower limit of the output value Vo,min
Vo_max Output value Vo,max that corresponds to the input value Vin,max
Sampling Frequency Sampling frequency, in Hz
To understand how the quantization blocks work, we will look at a special case where N = 3, Vin,min = 0, and
Vin,max = 1. The input will be divided into 23 (or 8) stages. Depending on the input level, the output will be one
of the 3-bit discrete numbers 000, 001, 010, 011, 100, 101, 110, and 111. The output will have 23 (or 8) levels,
and 23-1 (or 7) steps. If the binary number 000 corresponds to the decimal number 0, and the binary number 111
corresponds to the decimal number 0.875, and Vo,min = 0, and Vo,max = 1, we can plot the waveforms of the
input, output, and the quantization error Vin-Vo of the two quantization blocks as below.
(110) (110)
(101) (101)
(100) (100)
(011) (011)
(010) (010)
(001) (001)
(000) (000)
As shown from the waveforms on the left, the quantization error of the quantization block is from 0 to 1 LSB
(least significant bit), or 1/23 (or 0.125).
For the quantization block with offset, a value of 0.5*LSB is added to the input before performing the
quantization. This reduces the quantization error to -0.5 LSB to +0.5 LSB (except when the input is close to the
maximum value), as shown from the waveforms on the right.
The figure below shows the input-output relationship of a general quantization block with offset.
Vo,max N
2 Binary numbers
Actual output limit N
2 -1
ΔVo
Vo
1
Vo,min
0
Vin,min Vin,max
Vin ΔVin
The number of bits determines the quantization resolution. The input range, Vin,max - Vin,min, is divided into 2N
stages, with the width of each stage as:
V o = V o, min + ( k – 1 ) ⋅ ΔV o
Attributes:
Parameters Description
Buffer Length The length of the buffer
Sampling Frequency Sampling frequency, in Hz
A circular buffer stores data in a buffer. When the pointer reaches the end of the buffer, it will start again from
the beginning.
The circular buffer with single output is a type of first-in-first-out memory storage device, and the output is
equal to the value being pushed out.
The output of the circular buffer with vector output is a vector array with the length equal to the buffer length.
To access each memory location, use the memory read block.
where
ci = Σ[ ak+1 * bj-k], k=0, ..., m+n-1; j=0, ..., m+n-1; i=1, ..., m+n-1
Example:
If A = [1 2 3] and B = [4 5], we have m = 3; n = 2; and the convolution of A and B is: C = [4 13 22 15].
Attribute:
Parameter Description
Memory Index Offset Offset from the starting memory location
A memory read block allows one to access the memory location of elements such as convolution block, vector
array, and circular buffer. The index offset defines the offset from the starting memory location.
Attributes:
Parameters Description
Array Length Length of the data array N (for the element Array only)
Values Values of the array (for the element Array only)
File for Coefficients Name of the file storing the array (for the element Array (file) only)
If the array is read from a file, the file will have the following format:
N
a1
... ... ...
aN
where N is the length of the array, and a1..aN are the array values.
Example:
To define an array A = [2 4 6 8], we will have: Array Length = 4; Values = 2 4 6 8. If the array is to be read from
a file, the file will be:
4
2.
4.
6.
8.
5.6.12 Stack
A stack is a first-in-last-out register.
Image:
Vin
push Vo
pop
Attribute:
Parameter Description
Stack Depth Stack depth
The rising edge triggers the push or pop action. When a pop action is performed and the stack is empty, the
output remains unchanged. When a push action is performed and the stack is already full, the data at the bottom
of the stack will be pushed out and will be lost.
Vo
In PSIM, the In Link nodes receive values from Simulink, and the Out Link nodes send the values to Simulink.
They are all control elements and can be used in the control circuit only. In Simulink, the SimCoupler model
block is connected to the rest of the system through input/output ports.
Power
in PSIM
File: pmsm_psim.sch
Control
in SimuLink
File: pmsm_simulink.mdl
The following are the steps to set up SimCoupler for PSIM-Matlab/Simulink co-simulation for the example
above.
There are different ways of setting up Simulink to perform co-simulation. The recommend approach is to set the
Solve Type to Fixed-step and define the Fixed step size to be the same or close to PSIM’s time step. The figure
below shows this option.
It is recommended that Simulink use the same time step as PSIM, although we have found that, even if the
Simulink time step is slightly larger than PSIM time step, satisfactory results are obtained. In this case, for
example, the time step is set to 20 us, 10 times larger than the PSIM time step.
If the Simulink Solver type is instead set to Variable-step, the simulation results will not be correct. The figure
below shows this option.
When the Simulink Solver type is set to Variable-step, in order to obtain correct results, a zero-order-hold must
be placed at the input of the SimCoupler model block. Moreover, the zero-order-hold sample time must be the
same or close to PSIM time step.
Therefore, Simulink must be set up to have the Solver Type as Fixed-step with the time step the same or close
to the PSIM time step, or if the Solver Type is Variable-step, a zero-order-hold must be used with the sample
time the same or close to PSIM time step
In Simulink, double click on the SimCoupler block to open the property dialog, and click on Add Variable.
Click on the newly added row in the list and type the variable name and value, as shown below. The variable
varL1 will now be accessible from PSIM.
Parameters Description
Target Config Target configuration file .ccxml used in Code Composer Studio (CCS) for the
specific DSP hardware
Target Program Target hardware executable .out file
No. of Input Nodes Number of inputs to the PIL block
No, of Output Nodes Number of outputs to the PIL block
Breakpoint Func. Names of the breakpoint functions where breakpoints need to be set for input
variables. If there are more than one function, function names are separated by
comma with no space (i.e. "Task1,Task2")
Endianness It refers to the order of the bytes of a word in the DSP. It can be one of the
following:
- Big-endian: the digits are written from the left to right, with the most
significant byte of a word to the left
- Little-endian: the digits are written from the right to left, with the most
significant byte of a word to the right.
TI F2833x, F2803x, F2806x, and F2802x DSP use Little-endian. TI C6657
uses Big-endian.
Addressability It refers to the way the DSP identifies memory locations. It can be one of the
following:
8-bit, 16-bit, 32-bit, 64-bit
TI F2833x, F2803x, F2806x, and F2803x DSP use 16-bit. TI C6657 uses 8-bit
Word Size Word size of the DSP. It can be one of the following:
8-bit, 16-bit, 32-bit, 64-bit
The word size of TI F2833x, F2803x, F2806x, and F2802x DSP is 16-bit, and
the word size of TI C6657 is 32-bit
Parameters Description
Target Config Target configuration file .ccxml used in Code Composer Studio (CCS) for the
specific DSP hardware
Target Program Target hardware executable .out file
No. of Input Nodes Number of inputs to the PIL block, fixed at 7.
No, of Output Nodes Number of outputs to the PIL block, fixed at 3.
Sampling Frequency The sampling frequency, in Hz.
All inputs are in IQ24 format and are in per unit. All outputs are also in IQ24 format and are in per unit unless
otherwise noted.
This block implements the functions of the FAST estimator block in TI's InstaSPIN motor control algorithm.
Since FAST functions are available on the ROM memory of an InstaSPIN-enabled DSP only (such as
F28069M), a PIL block is needed so that FAST functions are executed on the DSP while the rest of the system
is implemented in PSIM.
For each input or output, user may use the drop down list to select the signal desired.
Attributes:
Parameters Description
Set Type Define which parameters to set. It can be one of the following:
- Enable force angle flag: Set the enable force angle flag
- Rs & Rs_qFmt: Set the resistance Rs in p.u. and the IQ format of Rs
- Ld & Ls_qFmt: Set the inductance Ld in p.u. and the IQ format of Ld
- Lq & Ls_qFmt: Set the inductance Lq in p.u. and the IQ format of Lq
Set Mode Define at what condition the parameters are set. It can be one of the following:
- Immediately: Set the parameters immediately
- At high level: Set the parameters when the trigger input is high
- At rising edge: Set the parameters when the trigger input has a rising edge
- At falling edge: Set the parameters when the trigger input has a falling edge
The node on the top left of the block is for the trigger input, and the node on the bottom left is for the data input.
When the set condition defined by "Set Mode" is met, the value at the data input will be set to the parameter
defined by "Set Type".
Torque Control
Id Is
Iq
Te Tes
Attributes:
Parameters Description
Ld (d-axis inductance) d-axis inductance of the machine, in H
Lq (q-axis inductance) q-axis inductance of the machine, in H
Vpk / krpm Peak line-to-line back emf constant of the machine, in V/krpm (mechanical
speed)
Number of Poles Number of poles of the machine
Integrator Gain Gain of the torque loop integrator controller
Maximum Motor Torque Maximum motor torque, in Nm
Base Current Value Base current value of the system, in A
Base Torque Value Base torque value, in Nm
Sampling Frequency Sampling frequency of the torque loop integrator controller, in Hz
The torque control block has the following inputs and outputs:
Id: d-axis current feedback
Iq: q-axis current feedback
Te: Torque reference
Is: Current amplitude reference
Tes: Estimated torque developed by the motor
This block estimates the motor developed torque from the current feedback and motor parameters. A control
loop based on a discrete integrator is used to regulate the motor torque and generate the motor current reference.
The block requires the parameters of the PMSM controlled and the inverter current rating.
Image:
Dynamic Torque
Id
Te
Iq
Vdc
Wm nmb
Tcmd FW
Attributes:
Parameters Description
Ld (d-axis inductance) d-axis inductance of the PMSM machine, in H
Lq (q-axis inductance) q-axis inductance of the PMSM machine, in H
Vpk / krpm Peak line-to-line back emf constant of the machine, in V/krpm (mechanical
speed)
Number of Poles Number of poles of the machine
Maximum Motor Torque Maximum motor torque, in N*m
Maximum Motor Speed (rpm) Maximum motor speed, in rpm
Maximum Motor Power Maximum motor power, in W
Base Voltage Value Base voltage value for the per unit system, in V
Base Current Value Base current value for the per unit system, in A
Base Mechanical Speed Base mechanical speed for the per unit system, in rad/sec
Base Torque Value Base torque value for the per unit system, in N*m
The torque control block has the following inputs and outputs:
Id: d-axis current feedback
Iq: q-axis current feedback
Vdc: DC bus voltage feedback
Wm: Motor mechanical speed, in rad/sec.
Tcmd: Torque command
Te: Torque reference
nmb: Calculated speed limit of the maximum torque region, in rpm
FW: Flag of field weakening (1: in field weakening; 0: not in field weakening)
This block calculates the speed limit of the maximum torque region. When the motor speed is less than this
speed limit, the motor operates in the maximum torque region. Otherwise, it operates in the maximum power
region with field weakening control where the inverter voltage amplitude is the limiting factor.
The block requires the parameters of the PMSM controlled and the inverter voltage rating.
When base values are all 1, all input and output quantities are in real values.
Note that this block assumes that the inverter connected to the motor is a 6-pulse inverter with space vector
Attributes:
Parameters Description
Number of Poles Number of poles of the machine
Filter Cut-Off Frequency Cut-off frequency fc of the internal low-pass filter, in Hz
Maximum Motor Torque Maximum motor torque, in N*m
Maximum Motor Speed Maximum motor speed, in rpm
Maximum Motor Power Maximum motor power, in W
Base Voltage Value Base voltage value for the per unit system, in V
Base Current Value Base current value for the per unit system, in A
Base Mechanical Speed Base mechanical speed for the per unit system, in rad/sec
Base Torque Value Base torque value for the per unit system, in N*m
Sampling Frequency Sampling frequency of the internal low-pass filter, in Hz
The dynamic torque limit control block is for the control of nonlinear PMSM machines only. It has the
following inputs and outputs, all in per unit value except Ld, Lq, and Lambda. When base values Vb, Ib, and
Wmb are all 1, all input and output quantities are in real values.
Input Signals:
Id: d-axis current feedback
Iq: q-axis current feedback
Ld: d-axis inductance Ld, in H
Lq: q-axis inductance Lq, in H
Lambda: Peak stator phase flux linkage, in Weber
Vdc: DC bus voltage feedback
Wm: Motor mechanical speed
Tcmd: Torque reference input
Voltage Control
Vdc*
Vdc
Is
Idc
Wm
Attributes:
Parameters Description
Vpk / krpm Peak line-to-line back emf constant of the machine, in V/krpm (mechanical
speed)
Number of Poles Number of poles of the machine
Maximum Motor Torque Maximum motor torque, in N*m
Number of Cells in Parallel Number of cells Np in parallel in the battery pack
PI Gain Gain of the voltage loop PI controller
PI Time Constant Time constant of the voltage loop PI controller, in sec.
Sampling Frequency Sampling frequency of the voltage PI controller, in Hz
The voltage control block has the following inputs and outputs:
Vdc*: DC bus voltage reference
Vdc:DC bus voltage feedback
Idc:DC bus current feedback
Wm:Motor mechanical speed in rad/sec.
Is:Current amplitude reference
Charging Control
Vbatt
Vm
Ibatt
Attributes:
Parameters Description
Converter Rated Power Rated power of the dc-dc converter, in W
Battery-side Rated Voltage Converter rated voltage on the battery side, in V
Number of Cells in Series Number of cells Ns in series in the battery pack
Number of Cells in Parallel Number of cells Np in parallel in the battery pack
Voltage Derating Factor Voltage derating factor Ks, from 0 (100% derating) to 1 (no derating)
Full Battery Voltage Full (or maximum) voltage of the battery cell, in V
Battery Resistance Internal resistance of the battery cell, in Ohm
Current PI Gain Gain of the current loop PI controller
Current PI Time Constant Time constant of the current loop PI controller, in sec.
Voltage PI Gain Gain of the voltage loop PI controller
Voltage PI Time Constant Time constant of the voltage loop PI controller, in sec.
Control Block Output Limit The upper limit of the control block output Vm. The lower limit is 0.
Sampling Frequency Sampling frequency of the voltage and current PI controller, in Hz
The dc-dc charging control block has the following inputs and outputs:
Vbatt: Battery-side voltage
Ibatt:Current flowing into the battery
Vm:Modulation signal output
This block implements constant-voltage-constant-current charging control to a battery. When the battery
terminal voltage is less than the battery float voltage (the float voltage is defined as the internal battery full
voltage plus the voltage drop across the battery resistance), it is constant current charging, in which case the
voltage is disabled and the current loop changes the battery at a constant current rate. The charging current
amplitude is set to the converter rated current on the battery side.
On the other hand, when the battery terminal voltage reaches the float voltage, it is constant voltage charging.
The voltage loop generates the reference for the current loop.
Digital PI controllers are used in the voltage and current loops.
Discharging Control
Vdc
Vm
Ibatt
Attributes:
Parameters Description
Current/Voltage Mode Operation mode of the discharge control (0: current mode; 1: voltage mode)
Converter Rated Power Rated power of the dc-dc converter, in W
Battery-side Rated Voltage Converter rated voltage on the battery side, in V
DC Bus Voltage Reference DC bus voltage reference, in V
Current PI Gain Gain of the current loop PI controller
Current PI Time Constant Time constant of the current loop PI controller, in sec.
Voltage PI Gain Gain of the voltage loop PI controller
Voltage PI Time Constant Time constant of the voltage loop PI controller, in sec.
Control Block Output Limit The upper limit of the control block output Vm. The lower limit is 0.
Sampling Frequency Sampling frequency of the voltage and current PI controller, in Hz
The dc-dc discharging control block has the following inputs and outputs:
Vdc: DC bus voltage feedback
Ibatt: Current flowing into the battery
Vm: Modulation signal output
This block implements constant-voltage or constant-current discharging control to a battery. When the
operation mode is set to Voltage Mode (1), the converter regulates the dc bus voltage, and the voltage loop
generates the reference for the current loop. When the operation mode is set to Current Mode (0), the converter
regulates the current flowing into the dc bus to the maximum current that the converter can deliver.
Digital PI controllers are used in the voltage and current loops.
Regen Control
Vdc Rgn
Tes
Wm
Parameters Description
Regen Power Threshold Threshold of the motor power level. Beyond the threshold, regeneration is
enabled.
Regen Enable Time Time from which regeneration is enabled. Before this time, regeneration is
disabled.
Sampling Frequency Sampling frequency of the low-pass filter for speed feedback, in Hz
The dc-dc regeneration control block has the following inputs and outputs:
Vdc: DC bus voltage feedback
Tes: Estimated developed torque of the traction motor
Wm: Mechanical speed of the traction motor in rad/sec.
Rgn: Regeneration flag (0: no regeneration; 1: regeneration)
This block generates a regeneration flag based on the dc bus voltage and the traction motor power. When the
motor power is negative (in generation mode) and the power amplitude exceeds the threshold, the regeneration
flag is set to 1 to enable regeneration.
To avoid false triggering due to start-up transient, a regeneration enable time is defined. Regeneration is
possible only after this time has passed.
Attributes:
Parameters Description
Proportional Gain Kp The proportional gain Kp. Refer to the block diagram of 1-ph PLL
Integral Gain Ki The integral gain Ki. Refer to the block diagram of 1-ph PLL.
Rated Input Frequency Rated frequency of the input signal, in Hz
Coefficient Lambda A positive constant to reduce frequency swings. Used in enhanced PLL only.
Working Principle:
Attributes:
Parameters Description
Proportional Gain Kp The proportional gain Kp. Refer to the block diagram of 3-ph PLL
Integral Gain Ki The integral gain Ki. Refer to the block diagram of 3-ph PLL.
Rated Input Frequency Rated frequency of the input signal, in Hz
Rated Input Amplitude Rated amplitude of the input signal
(peak)
Coefficient Lambda A positive constant to reduce frequency swings. Used in enhanced PLL only.
Working Principle:
The PLL-3ph block accepts three-phase balanced or near balanced input. The ePLL-3ph can processes general
three-phase signals regardless of being balanced or unbalanced. It is able to decompose the signal into its
positive-sequence, negative-sequence and zero-sequence components. Furthermore, it provides all signal
attributes of those components including their magnitudes, and phase angles. It eliminates the errors caused by
the presence of negative-sequence or zero-sequence components.
For power system applications, the coefficient Lambda is suggested to be selected in the range
0 < Lambda < 20
Larger Lambda value means stronger suppression of frequency swings.
The outputs of this block are:
y: unitary output signal synchronous with the input
yq: unitary output signal 90-degree delayed version of y(t)
freq: estimated frequency, in Hz,
phi: estimated angle, in degree
This chapter provides descriptions for the components in PSIM element library’s Other section.
Example:
The circuit below implements the step change of a load. In the circuit, the on-off switch controller is used to
control the bi-directional switch. The step voltage source, which is connected to the controller input, changes
from 0 to 1 at the time of 12 ms. The closure of the switch results in the short-circuit of the resistor across the
switch and the increase of the current.
On-off
Controller
+ +
Parameters Description
I/O Signal Type It is set to Control to model.
Gate Voltage High The high level of the gate voltage, in V
Gate Voltage Low The low level of the gate voltage, in V
Gate Resistance Gate resistance, in Ohm
Gate Current Flag Flag for gate current display
Attributes for Power to ideal switch:
Parameters Description
I/O Signal Type It is set to Power to ideal switch.
Gate Threshold Voltage When the input voltage is above the gate threshold voltage, the output is 1.
Otherwise, the output is 0.
Enable/Disable
Attributes:
Parameters Description
Frequency Operating frequency of the controlled switch/switch module, in Hz
Pulse Width On-time pulse width of the switch gating, in deg.
The input for the delay angle alpha is in deg.
Example:
The figure below shows a thyristor circuit using delay angle control. In the circuit, the zero-crossing of vs,
which corresponds to the moment that the thyristor would start conducting naturally, is used to provide the
synchronization. The delay angle is set at 30o. The gating signal is delayed from the rising edge of the
synchronization signal by 30o.
vsync
Enable/Disable
Attributes:
Parameters Description
Frequency Switching frequency, in Hz
Update Angle Update angle, in deg., based on which the gatings are internally updated. If the
angle is 360o, the gatings are updated at every cycle. If it is 60o, the gatings are
updated at every 60o.
File Name Name of the file storing the PWM gating pattern
A lookup table, which is stored in a file, contains the gating patterns. It has the following format:
n, m1, m2, ..., mn
k1
G1,1, G1,2, ..., G1,k1
... ... ...
kn
Gn,1, Gn,2, ..., Gn,kn
where n is the number of gating patterns; mi is the modulation index correspondent to Pattern i; and ki is the
number of switching points in Pattern i. The modulation index array m1 to mn should be monotonically
increasing. The output will select the ith pattern if the input is smaller than or equal to mi. If the input exceeds
mn, the last pattern will be selected.
The table below shows a sample PWM pattern file with 4 modulation index levels and 14 switching points.
4, 0.901, 0.910253, 0.920214, 1.199442
6.2 Sensors
Voltage/current sensors measure the voltages/currents of the power circuit and send them to the control circuit.
The current sensor has an internal resistance of 1 μΩ.
Images:
Voltage Sensor Current Sensor
Parameter Description
Gain Gain of the sensor
a a
b b
c c
Attributes:
Parameters Description
Operating Frequency Operating frequency or fundamental frequency of the ac meter, in Hz
Cut-off Frequency Cut-off frequency of the low-pass/high-pass filter, in Hz
kWh Meter Start Time Time from which the kilowatt hour meter starts, in sec. (for W/kWh meters only)
kWh Meter Stop Time Time at which the kilowatt hour meter stops, in sec. (for W/kWh meters only)
VA Display Flag Display flag for apparent power (0: no display; 1: display) (for VA-Power Factor
meters only)
PF Display Flag Display flag for power factor (0: no display; 1: display) (for VA-Power Factor
meters only)
DPF Display Flag Display flag for displacement power factor (0: no display; 1: display) (for VA-
Power Factor meters only)
In the images for the single-phase/3-phase wattmeter / kWh meter, the node with the letter "W" is for the real
power output, in watt, and the node with the letter "kWh" is for the kilowatt hour output, in kilowatt-hour.
A low-pass filter is used in the dc meter and wattmeter models to filter out high-frequency components, whereas
a high-pass filter is used in the ac meter models to filter out the dc component. The cut-off frequency determines
the transient response of the filter.
Except the voltage and current probes, the readings of all the meters are meaningful only when the readings
reach the steady state.
The single-phase and 3-phase VAR meter measure the reactive power (VAR) at the fundamental frequency; and
the VA-Power Factor meters measure the apparent power (VA), the total power factor (PF), and the
displacement power factor (DPF). The kilowatt hour meter reading gives the integration of the real power over
a time interval defined by the start time and the stop time.
For a single-phase circuit, the real power P, reactive power Q, apparent power S, total power factor PF, and the
displacement power factor DPF are defined as follows.
Assume both the voltage and current contains harmonics, i.e.
v(t) = 2V 1 sin ( ω 1 t + φ 1 ) + 2V 2 sin ( ω 2 t + φ 2 ) + ...
where ω1 is the fundamental frequency and all others are harmonic frequencies. We have the rms values of the
Note that the reactive power is for the fundamental component only.
The apparent power S is defined as:
S = V rms ⋅ I rms
The total power factor PF and the displacement power factor DPF are then defined as follow:
P
PF = ---
S
DPF = cos ( φ 1 – θ 1 )
A B A B C D
Interface for current scope, and
Interface for 2-channel scope 1-channel and 4-channel voltage scopes
The 1-channel and 4-channel voltage scope and the current scope have the same interface. For the 4-channel
scope, the channel can be selected through the drop-down channel selection, and the settings apply that the
channel selected.
The scope is designed to operate in a similar way as the actual oscilloscope in the lab. It has 3 main sections:
Timebase section, Channel section, and Trigger section.
In the Timebase section, the scale of time (x axis) is defined.
In the Channel section, the scale of the Y axis, as well as the offset and the color of the waveform, are defined.
The channel display mode can be either DC, AC, or Gnd (for ground). When the display mode is in DC, the
entire waveform is displayed. If the display mode is in AC, only the ac portion of the waveform is displayed.
When the display mode is Gnd, the waveform will show 0.
In the Trigger section, the trigger conditions are defined. The trigger can be set to either ON or OFF. When the
trigger is off, the waveform is free-running, and the display of the waveform in the scope may vary from one
frame to another. If the trigger is on, the waveform display will only start when the trigger conditions are met.
This will lead to a steady waveform display.
There are three trigger modes: rising-edge triggering, falling-edge triggering, and one-shot triggering (if the
once checkbox is checked, the one-shot triggering is selected). The one-shot triggering will trigger only once,
and it is useful, for example, in situations where a transient needs to be captured.
The trigger level sets the level at which the triggering occurs. For example, if Channel A is selected with the
rising-edge triggering and the trigger level of 0V, whenever the Channel A input crosses over 0 from negative to
positive, triggering will occur and the waveform display will start from that instant.
On the scope, if the Auto scale checkbox is checked, the scale of all the channels will be automatically adjusted
so that the waveforms are within the display of the scope.
If the element has multiple current flags, under the Current Scopes menu, there will be multiply branch currents,
one corresponding to each current flag.
For example, for a 3-phase resistor R1, under the Current Scopes menu, there will be three branch currents:
I(R1) A, I(R1) B, and I(R1) C. The letter "A", "B", and "C" refer to Channel A, B, and C, respectively. For
example, if "I(R1) A", "I(R1) B", and "I(R1) C) are all selected, in the current scope, one can go to the Channel
pull-down menu in the Channel section, and select one of the channels for display. If Channel A is selected, the
scope will show the Phase A branch current I(R1).
C/P
P
k=1
Example:
The following circuit illustrates how a control circuit signal can be passed to the power circuit. As seen from the
power circuit, the CTOP block behaviors as a grounded voltage source.
θ θ
Attributes:
Parameters Description
Transformation Flag Transformation flag (0: The q-axis leads the d-axis; 1: The q-axis lags the d-axis)
The angle θ at the bottom of the blocks is in rad.
It should be noted that, in power circuit, currents must first be converted into voltage quantities (using current-
controlled voltage sources) before they can be transformed. Also, if an input terminal is not used (such as in the
cos θ cos θ – 2π
------ cos θ + 2π
------
3 3
vd va
2 2π 2π
vq = --- ⋅ – sin θ – sin θ – ------ – sin θ + ------ ⋅ v b
3 3 3
vo vc
1 1 1
--- --- ---
2 2 2
2π 2π
cos θ cos θ – ------ cos θ + ------
3 3
vd va
2
vq = --- ⋅ sin θ sin θ – 2π 2π ⋅ v
------ sin θ + ------
3 3 3
b
vo vc
1 1 1
--- --- ---
2 2 2
Note that the coefficient 2/3 in front of the transformation matrix means that the transformation is amplitude
invariant, not power invariant. That is, the dq vector amplitude is equal to the peak amplitude of the three-phase
sinusoidal waveforms. But the power in the dq frame must be multiplied by 3/2 to have the same power, i.e.
Power = va*ia + vb*ib + vc*ic = 3/2 *(vd*id+vq*iq). To have the power invariant transformation, replace 2/3 with
2 1--- .
--- , and 1/2 with
3 2
From dqo to abc, with the transformation flag set to 0:
cos θ – sin θ 1
va vd
cos θ – 2π
------ – sin θ – 2π
------ 1
vb = 3 3 ⋅ vq
vc 2π 2π vo
cos θ + ------ – sin θ + ------ 1
3 3
cos θ sin θ 1
va 2π 2π vd
cos θ – ------ sin θ – ------ 1
vb = 3 3 ⋅ vq
vc vo
cos θ + 2π
------ sin θ + 2π
------ 1
3 3
Example:
In this example, three symmetrical ac waveforms are transformed into dqo quantities. The angle θ is defined as
θ = ωt where ω = 2π*60. Since the angle θ changes linearly with time, a piecewise linear voltage which has a
ramp waveform is used to represent θ. The simulation waveforms show the three-phase ac (top), the angle θ
(middle), and the dqo output. In this example, the “q” component is constant, and both the “d” and the “o”
components are zero.
In the images, the letter "al" refers to α, and the letter "be" refers to β. The transformation equations are:
From abc to αβ:
1 –1
--- – 1
--- va
vα 2 2 2
= --- ⋅ ⋅ vb
vβ 3 3
0 ------- – ------3- vc
2 2
From ab to αβ:
3
--- 0
vα 2 v
= ⋅ a
vβ vb
------2- 2
2
From ac to αβ:
3
--- 0
vα 2 va
= ⋅
vβ 2 vc
– ------- – 2
2
From αβ to abc:
1 0
va 3
2 –1 - ------- ⋅ v α
vb = --- ⋅ --2 2
3 vβ
vc 1 3
– --- – -------
2 2
For the ab-to-αβ and ac-to-αβ transformation, it is assumed that va + vb + vc = 0.
al d d al
al d d al
be q
be q sin q be sin
cos q cos be
θ θ
In the images, the letter "al" refers to α, and the letter "be" refers to β. The phase angle input can be either θ in
radian or sin(θ) and cos(θ).
The transformation equations are:
From αβ to dq:
vd cos θ sin θ ⋅ v α
=
vq – sin θ cos θ vβ
From dq to αβ:
vα cos θ – sin θ ⋅ v d
=
vβ sin θ cos θ vq
In the images, the letter "r" refers to the amplitude, and "a" refers to the phase angle θ, in rad.
The transformation equations are:
From Cartesian to polar:
2 2
r = x +y
y
θ = atan --
x
From polar to Cartesian:
x = r ⋅ cos θ
y = r ⋅ sin θ
Index i
If the input is 0.99, the output will be 10. If the input is 1.5, the output will be 10 + (-----------------------------------------------
1.5 – 1 ) ⋅ ( 30 – 10 -)
=20.
2–1
Attributes for one-dimensional lookup table (external file):
Parameter Description
Graph File Name of the Simview file to be used as the lookup table data
Input Column Input column of the lookup table, selected from a drop-down menu after a graph file is
loaded.
Output Column Output column of the lookup table, selected from a drop-down menu after a graph file is
loaded.
A lookup table with external file can read the data in either text format or Simview binary format, with or
without the text heading (for example "Time V1 V2 ...") that a Simview file contains.
2-Dimensional Lookup Tables
For 2-dimensional lookup tables, the node on the left is for the row index input, and the node on the top is for
the column index input.
A 2-dimensional lookup table with integer input has two inputs. The output data is stored in a 2-dimensional
matrix. The two inputs correspond to the row and column indices of the matrix. For example, if the row index is
3 and the column index is 4, the output will be A(3,4) where A is the data matrix.
1.1 -2 4
Row 2 2.091 3.826 4.818
2.2 3 5
Attributes:
Parameters Description
Expression f(x1,x2,...,xn) Expression of the output versus inputs where n is the number of inputs
Expression df/dxi Expression of the derivative of the function f versus the ith input
1 1 1 1
2 2
3 3
6 6
input output
Attribute:
Parameter Description
File Name Name of the DLL file
The node with a dot is for the first input (in[0]). The input/output node sequence is from the top to the bottom.
The images and parameters of a General DLL Block example are shown below.
Image (for a block with 2 inputs and 3 outputs):
1
1
input 2 output
2 3
Attribute:
Parameter Description
DLL File Name of the DLL file
Input Data File Name of the input data file that DLL reads (optional)
Number of Input Nodes Number of input nodes (optional)
Number of Output Nodes Number of output nodes (optional)
IN Nodes List of input nodes (optional)
OUT Nodes List of output nodes (optional)
Parameter 1 Parameter to be passed from PSIM into DLL (optional)
Parameter 2 Parameter to be passed from PSIM into DLL (optional)
Edit Image (button) Click this button to edit and customize the image of the DLL block.
Display File (button) Click this button to display the content of the Input Data File (optional).
Read File (button) If the Input Data File is modified, click this button to reload the data file
(optional).
The node with a dot is the first input (in[0]). The input/output node sequence is from the top to the bottom.
By default, users define the number of inputs and outputs. But the number of inputs and outputs, the node
names, as well as the number of parameters and the parameter names can all be defined inside the DLL routine.
For more details on defining and programming for the general DLL block, please refer to the help file "Help
General DLL Block.pdf" and related examples.
The name of the DLL file can be arbitrary. The DLL file can be placed in one of the two places, in the order of
precedence: in the PSIM directory, and in the same directory as the schematic file that uses the DLL file.
6.4.6 C Block
A C block allows users to enter C code directly without compiling the code, unlike in external DLL blocks
where the code needs to be compiled into a DLL using an external compiler. The code of the C block will be
interpreted and executed at runtime by a built-in C interpreter in PSIM.
The interface of the C block dialog window is shown below.
Input/output ports
Area for
custom code
The number of input and output ports of the C block is defined in the Number of Input/Output Ports section. If
the number of ports is changed, the image of the block in the schematic will change accordingly.
The function Insert GetPsimValue allows the C block to access element parameters and parameters defined in
a parameter file. Assuming that the circuit has a resistor called R1, to access the resistance value of R1, click on
Insert GetPsimValue. The following dialog window will appear.
2-input / 3-output
in[0] out[0]
in[1] out[2]
Input/output
ports
Area for
custom code
The number of input and output ports of the ports is defined in the Number of Input/Output Ports section. After
the number of ports is changed, the image of the block in the schematic will change accordingly.
Variables that can be used in the code include:
t: Time passed from PSIM
delt: Time step passed from PSIM
x1, x2, ... :Inputs 1, 2, etc.
y1, y2, ... :Outputs 1, 2, etc.
6.5.1 PWM IC
The following PWM IC models are provided:
IC Name Description
UC3823A High speed PWM controller for high frequency switch-mode power
UC3823B supplies. The UC3823A and UC3823B and the UC3825A and UC3825B
UC3825A family of PWM controllers are improved versions of the standard UC3823
UC3825B and UC3825 family.
UC3842 Current mode fixed frequency PWM controller for off-line or dc-dc
UC3843 converters. The UC3842/3/4/5 family of control devices provides the
UC3844 necessary functions to implement off-line or dc-to-dc fixed frequency
UC3845 current mode control schemes.
UC3846 Current mode fixed frequency PWM controller for off-line or dc-dc
converters. The UC3846 family of control ICs provides the necessary
functions to implement fixed frequency, current mode control schemes.
UC3854 High power factor preregulator providing active power factor correction.
UC3854A UC3854A/B products are pin compatible enhanced versions of the
UC3854B UC3854. It provides all the functions necessary for active power factor
corrected preregulators.
UC3872 Resonant lamp ballast controller. UC3872 is a resonant lamp ballast
controller optimized for driving cold cathode fluorescent, neon, and other
gas discharge lamps.
UCC3806 Low power, dual output, current mode PWM controller. With the same
block diagram and pinout of the popular UC3846 series, the UCC3806 line
features increased switching frequency capability while reducing the bias
current used within the device.
UCC3817 BiCMOS power factor preregulator with average current mode control. The
UCC3818 UCC3817/18 family provides all the functions necessary for active power
factor corrected preregulators. The controller achieves near unity power
factor by shaping the ac input line current waveform to correspond to that
of the ac input line voltage.
UCC3895 BiCMOS advanced phase-shift PWM controller for full bridge power stage.
UCC3895 is a phase-shift PWM controller that implements control of a
full-bridge power stage by phase shifting the switching of one half-bridge
with respect to the other. It allows constant frequency pulse-width
modulation in conjunction with resonant zero-voltage switching to provide
high efficiency at high frequencies.
UCC38C40 BiCMOS low-power current-mode PWM controllers. They provide
UCC38C41 necessary functions to control fixed-frequency peak current-mode
UCC38C42 controlled power supplies.
UCC38C43 They differ in the start threshold voltage and the minimum operating
UCC38C44 voltage.
UCC38C45
Parameter Description
Model Level All these IC models, except UC3901, have two levels:
- Level 1: The PWM gating outputs are control signals with logic level of 1
(high) and 0 (low)
- Level 2: the PWM gating outputs are power signals which can directly
drive three-state switches.
The UC3901 model is a Level-2 model only.
6.5.2 Driver IC
The following driver IC models are provided:
IR21834 Half-bridge driver for high voltage, high speed power MOSFET and IGBT
with dependent high and low side referenced output channels.
IRS21867 High and low side driver for voltage, high speed power MOSFET and
IGBT driver with independent high and low side referenced output
channels.
TC4423A 3A dual output high-speed power MOSFET drivers.
TC4424A TC4423A: dual inverting.
TC4425A
TC4424A: dual non-inverting.
TC4425A: one inverting and one non-inverting.
TC4426A 1.5A dual output high-speed power MOSFET drivers.
TC4427A TC4426A: dual inverting.
TC4428A
TC4427A: dual non-inverting.
TC4428A: one inverting and one non-inverting.
Attribute:
Parameter Description
Initial Value Initial value of the node voltage
A parameter file is a text file created by a text editor. It supports the following format:
// Text from the character // to the end of the line is treated as comment
k1 = 12.3 // Define the value of the variable k1
k1 = a + b*c // Define k1 in a math expression
(global) k1 = 12.3// Define k1 as a global variable (for use in SimCoder)
L1 = 3m // power-of-ten suffix is supported. L1 = 3e-3
C1 = 100uF // C1 = 100e-6. The unit "F" is ignored.
Note that, as compared to Version 9.1, the following format is no longer supported:
LIMIT var1 Vlow Vupper // This should be replaced by the "if...else if..." statement
% as comment. Now comments must start with double slash //. % is now used as modulo operation.
var1 value (for example "R1 2.5"). Now an equal sign must be used to define a variable.
The definition "(global)" is used in SimCoder only for automatic code generation. Please refer to the SimCoder
User Manual on how it is used. For PSIM simulation, this definition is ignored. That is, a parameter definition
"(global) K1 = 1.2" is treated the same as "K1 = 1.2".
Conditional statements and error/warning message functions are supported, as shown below:
if (k1 > 10)
{
a = 10
b=1
}
else if (k1 <= 20)
{
a = 20
b=2
}
else
{
Error {"Error: The value of k1 is out of the range. k1 = %f", k1}
The function Show Values provides a very convenient way of checking the calculation.
Parameter File in Circuit Schematic:
When a parameter file element is used in a circuit schematic, it has the same hierarchy as the circuit in which it
resides. A variable defined in a parameter file in a higher-level circuit can be used in all lower circuits, but not
the other way around. Also, a variable define in a parameter file in circuit cannot be used in another circuit of
the same level.
For example, assume that a main circuit contain a parameter file "main_param.txt", and the main circuit
contains two subcircuits S1 and S2, with a parameter file "sub1_param.txt" in S1 and another parameter file
"sub2_param.txt" in S2. A variable defined in "main_param.txt" can be used in both S1 and S2 circuits as well
as in parameter files "sub1_param.txt" and "sub2_param.txt". However, a variable defined in "sub1_param.txt"
or "sub2_param.txt" can not be used in the higher level main circuit and in "main_param.txt".
Similarly, since Subcircuits S1 and S2 are parallel, a variable defined in "sub1_param.txt" cannot be used in
Subcircuit S2 and "sub2_param.txt", and vice versa.
In addition, when PSIM saves a parameter file, it will save the information of both the relative path and absolute
path of the parameter file, as well as a copy of the content of the parameter file.
When PSIM loads a schematic with a parameter file element, it will search and load the parameter file in the
following order: relative path (relative to the schematic file), absolute path, and the local path (the local folder
where the schematic file is). If PSIM still can not find the parameter file, it will create the parameter file in the
local schematic folder from the copy that it saved in the schematic file.
Parameter Tool:
This tool opens a parameter file without the need of a schematic. To access this function, go to Utilities >>
Parameter Tool.
6.8.1 AC Sweep
The frequency response of a circuit or a control loop can be obtained with the ac analysis. A key feature of the
ac analysis in PSIM is that, a circuit can be in its original switchmode form, and no average model is required.
Nevertheless, with the average model, it takes much shorter time to perform the ac analysis.
Below are the images of the ac sweep probes and the AC Sweep block.
Images:
Attributes:
Parameters Description
Start Frequency Start frequency of the ac sweep, in Hz
End Frequency End frequency of the ac sweep, in Hz
No. of Points Number of data points
Flag for Points Flag to define how the data points is generated.
Flag = 0: Points are distributed linearly in LOG10 scale
Flag = 1: Points are distributed linearly in linear scale
Source Name Name of the excitation source
Start Amplitude Excitation source amplitude at the start frequency
End Amplitude Excitation source amplitude at the end frequency
Freq. for extra Points Frequencies of additional data points. If the frequency-domain characteristics
change rapidly at a certain frequency range, one can add extra points in this region
to obtain better data resolution.
The element named AC Sweep (1) has the same function and the parameters as AC Sweep. Instead of specifying
the start and end amplitudes for AC excitation source, this element allows user to set different amplitude for
different frequency ranges, as shown in the figure below:
The principle of the ac analysis is that a small ac excitation signal is injected into the system as the perturbation,
and the signal at the same frequency is extracted at the output. To obtain accurate ac analysis results, the
excitation source amplitude must be set properly. The amplitude must be small enough so that the perturbation
stays in the linear region. On the other hand, the excitation source amplitude must be large enough so that the
AC
Sweep
m-sine
Parameters Description
Start Frequency Start frequency of the ac sweep, in Hz
End Frequency End frequency of the ac sweep, in Hz
No. of Points Number of data points
Flag for Points Flag to define how the data points is generated.
Flag = 0: Points are distributed linearly in LOG10 scale
Flag = 1: Points are distributed uniformly in LOG10 scale
Source Name Name of the excitation source
Source Amplitude Excitation source peak amplitude at the start frequency.
Number of Cycles The number of cycles of the excitation source amplitude to be simulated
Steady State Time The time predicted when the circuit has completed transient and reached steady
state, in second. User may make approximated estimation of this value or run a
single time simulation to determine it.
Attributes:
Parameters Description
Name Name of the parameter to be swept
Start Starting value of the parameter
End End value of the parameter
Increment Increment step value of the parameter
Enabled When checked, the parameter line will be enabled.
For example, let the resistance of a resistor be “Ro”. To sweep the resistance from 2 Ohm to 10 Ohm, with an
increment step value of 2 Ohm, check the Enabled checkbox, and define the following:
Name Ro
Start 2
End 10
Increment 2
Parameter sweep will produce two plots: One is the outputs versus time, and the other is the outputs at the last
simulation point versus the swept parameter.
Several types of independent voltage/current sources are available in PSIM. The notation of a current source
direction is: the current flows out of the higher-potential node, through the external circuit, and back into the
lower-potential node of the source.
Note that current sources can be used in the power circuit only.
7.1 Constant
The constant element allows users to define a constant. It behaviors as a grounded voltage source.
Image:
Attribute:
Parameter Description
Value Value of the constant
7.2 Time
The Time element is a special case of the piecewise linear voltage source. It is treated as a grounded voltage
source, and the value is equal to the simulation time, in sec.
Image:
7.3 Ground
There are three different ground elements in PSIM library. Although they are in different shape, they are
electrically connected together. The different shape of these grounds provide the convenience for user to
separate the grounding in different functional sections of the circuits.
Images:
7.4.1 DC Source
A dc source has a constant amplitude. The reference of the grounded dc voltage sources is the ground.
Images:
DC DC (battery) Grounded DC (circle) Grounded DC (T) Current
Attribute:
Parameter Description
Amplitude Amplitude of the source
Series Resistance Source series resistance, in Ohm (for DC and DC (battery) voltage sources only)
Series Inductance Source series Inductance, in H (for DC and DC (battery) voltage sources only)
The series resistance and inductance represent the source impedance.
θ t
1/f
Images:
Voltage Current
Attributes:
Parameters Description
Peak Amplitude Peak amplitude Vm
Frequency Frequency f, in Hz
Phase Angle Initial phase angle θ, in deg.
DC Offset DC offset Voffset
Attributes:
Parameters Description
V (line-line rms) Line-to-line rms voltage amplitude
Frequency Frequency f, in Hz
Initial Angle (phase A) Initial angle for Phase A, in deg.
Series Resistance Source series resistance, in Ohm
Series Inductance Source series inductance, in H
Attributes:
Parameters Description
Vpeak-peak Peak-to-peak amplitude Vpp
Frequency Frequency, in Hz
Duty Cycle Duty cycle D of the high-potential interval
DC Offset DC offset Voffset
Phase Delay Phase delay θ of the waveform, in deg.
Rise Time (SPICE) Rise time from low to high, in sec. (for SPICE only)
Fall Time (SPICE) Fall time from high to low, in sec. (for SPICE only)
Vpp
D*T Voffset
0 t
T
θ (T=1/f)
When the phase delay θ is positive, the waveform is shifted to the right along the time axis.
Attributes:
Parameters Description
Vpeak-peak Peak-to-peak amplitude Vpp
Frequency Frequency, in Hz
Duty Cycle Duty cycle D of the rising slope interval
DC Offset DC offset Voffset
Phase Delay Phase delay θ of the waveform, in deg.
D*T Vpp
0 t
Voffset
T
θ
(T=1/f)
When the phase delay θ is positive, the waveform is shifted to the right along the time axis.
A sawtooth-wave voltage source is a special case of the triangular source with the duty cycle of 1 and dc offset
and phase delay of 0, and with one node grounded. Its parameters are defined as below:
Parameters Description
Vpeak Peak amplitude
Frequency Frequency, in Hz
Fall Time (SPICE) Fall time, in sec. (for SPICE only)
Voltage Current
Attributes:
For the Step type source:
Parameters Description
Vstep Value Vstep after the step change
Tstep Time Tstep at which the step change occurs
Transition Time (SPICE) Transition time from low to high, in sec. (for SPICE only)
For the Step (2-level) type source:
Parameters Description
Vstep1 Value Vstep1 before the step change
Vstep2 Value Vstep2 after the step change
Tstep Time Tstep at which the step change occurs
Transition Time Transition time Ttransition from Vstep1 to Vstep2
Vstep1
Ttransition
0 Tstep t 0 Tstep t
For SPICE, the transition time cannot be 0, and must be a non-zero value.
Voltage Current
Parameters Description
Frequency Frequency of the waveform, in Hz
No. of Points n No. of points
Values V1...Vn Values at each point
Time T1...Tn Time at each point, in sec.
Attributes for Piecewise Linear (in pair):
Parameters Description
Frequency Frequency of the waveform, in Hz
Times, Values (t1,v1) ... Time and value at each point
The time and value pair must be enclosed by left and right brackets. The time and value can be separated by
either a comma, such as (1.2m,5.5), or a space, such as (1.2m 5.5), or both, such as (1.2m, 5.5).
Example:
The following is a non-periodic piecewise linear source. It has 3 segments which can be defined by four points
(marked in the figure).
3
2
1
Time (sec.)
0 0.1 0.2 0.3
The specification for the piecewise linear voltage source will be:
Frequency 0.
No. of Points n 4
Values V1...Vn 1. 1. 3. 3.
Times T1...Tn 0. 0.1 0.2 0.3
The specification for the piecewise linear (in pair) voltage source will be:
Frequency 0.
Times, Values (t1,v1)... (0., 1) (0.1, 1) (0.2, 3) (0.3, 3)
where Vm is the peak-to-peak amplitude of the source, n is a random number in the range of 0 to 1, and Voffset is
the dc offset.
Images:
Voltage Current
Attributes:
Parameters Description
Peak-Peak Amplitude Peak-to-peak amplitude of the source
DC Offset DC offset
Duration (SPICE) Duration of an individual voltage value, in sec. (for SPICE only)
Attributes:
Parameters Description
Expression The mathematical expression of the source
Tstart Start time of the source
In the expression, “T” or “t” represents time. For example, to implement a sinusoidal source, the expression will
be: sin(2*3.14159*60*t+2.09).
vin1 vin2
Current-controlled Variable-gain
Voltage-controlled Current-controlled voltage-controlled
(flowing through)
vin1 vin2
Attribute:
Parameter Description
Gain Gain of the source
For voltage-controlled sources, the controlling voltage is from the positive node (+) to the negative node (-).
For current-controlled sources (with an arrow pointing from one node to another), the control nodes are
connected across a RLC branch, and the direction of the controlling current is indicated by the arrow.
For current-controlled sources (with a wire connecting the two nodes), the controlling current flows from one
control node to another, as indicated by the arrow. A 10-uOhm resistor is used to sense the controlling current.
The output of a controlled source, except variable-gain controlled sources, is equal to the gain multiplied by the
controlling voltage or current. For the variable-gain controlled sources, the output is equal to the following:
v o = ( k ⋅ v in2 ) ⋅ v in1
i o = ( k ⋅ v in2 ) ⋅ v in1
Input 1 is on the side with the multiplication sign, and Input 2 is on the side with the letter k.
The difference between a variable-gain controlled source and a nonlinear source with multiplication is that, for
the nonlinear source with multiplication, values of both vin1 and vin2 at the current time step are used to calculate
the output and are updated in each iteration. But for the variable-gain controlled source, it is assumed that the
change of vin2 is small from one time step to the next, and the value of vin2 at the previous time step is used at
the current time step. This assumption is valid as long as vin2 changes at a much slower rate as compared to vin1
and the time step is small as compared to the change of vin2. Variable-gain controlled sources can be used in
circuits which may otherwise have convergence problem with nonlinear sources with multiplication.
Example:
Vis Vis
is is
In the nonlinear power source, the term sign(vin) is 1 if vin is positive, and it is -1 if vin is negative.
Note that these nonlinear sources can be used in the power circuit only.
Images:
vin1 vin2
vin1 vin2
Attributes:
Parameters Description
Gain Gain k of the source
Coefficient k1 Coefficient k1
Coefficient k2 Coefficient k2
Where Gain is the parameter for all sources, while k1 and k2 are for nonlinear power source.
For the nonlinear (division) source, Input 1 is on the side of the division sign.
The SPICE Module is an add-on option to the PSIM software. It provides the capability to run CoolSPICE and
LTspice simulations with PSIM schematics captured and with SimView for result display.
Many (but not all) PSIM elements can be used for SPICE. Under Options >> Settings >> Advanced, if the box
"Show image next to elements that can be used for SPICE" is checked, in the Elements menu, elements that can
be used for SPICE will be marked as either "Sp" (for SPICE) or "C/p" (for both SimCoder and SPICE).
Please refer to the document "SPICE Module User Manual.pdf" for further information
SimCoder1 is an add-on option of the PSIM software. It generates C code from PSIM schematics. With specific
hardware target libraries, the C code generated by SimCoder can run directly on target hardware platforms.
For more information, please refer to the document "SimCoder User’s Manual.pdf".
Q0 Q0 Q1
Q1
clock
clock
1V
1V
In the circuit on the left, the initial values of both Q0 and Q1 are assumed to be zero. At the clock rising edge, Q0
will change to 1. Without delay, the position of Q1, which should remain at 0, will toggle to 1 at the same time.
To prevent this, a time delay element with the delay period of one time step needs to be inserted between Q0 and
the input (J) of the second flip-flop.
It should be noted that, in PSIM, the power circuit and the control circuit are solved separately. There is one
time step delay between the power and the control circuit solutions.
11.2 Debugging
Some of the approaches in debugging a circuit is discussed in the following.
Symptom:
Simulation results show sudden changes (discontinuity) of inductor currents and capacitor voltages.
Solution:
This may be caused by the interruption of inductor current path and short-circuit of capacitor (or
capacitor-voltage source) loops. Check the switch gating signals. If necessary, include overlap or
dead time pulses to avoid open-circuit or shooting-through.
If an initial current is assigned to an inductor, initial switch positions should be set such that a path is
provided for the current flow. Otherwise, the inductor current will be forced to start from zero.
Symptom:
Simulation waveforms look incorrect or inaccurate, or the waveform resolution is poor.
Solution:
This may be caused by two reasons. One is the time step. Since PSIM uses the fixed time step during
W-1 Warning!!! The program failed to converge after 10 iterations when determining switch positions.
The computation continues with the following switch positions: ... ...
This warning occurs when the program fails to converge when determining switching positions. Since
the computation continues based on the switch positions at the end of the 10th iteration, results
could be inaccurate. One should be cautious when analyzing the results.
There are many factors that cause this problem. The following measures can be taken to isolate and
solve the problem:
- Check the circuit and make sure the circuit is correct.
- Check the switch gating signals.
- Connect small resistors/inductors in series with switches and voltage sources.
W-2 Warning!!! The program did not reach the steady state after 60 cycles when performing the ac
sweep.
This warning occurs when the program fails to reach the steady state after 60 cycles when performing
the ac sweep. The cause of the problem could be that the system is poorly damped at that particular
frequency or the signal amplitude is too small.
You may try the following to isolate and solve the problem:
- Run the time-domain simulation with the excitation source at that frequency and see if time-
domain waveforms are oscillatory.
- Increase the excitation voltage amplitude for larger signal level, or
- Reduce the time step for better accuracy and resolution.
Index 204
Field Weakening Control 126 coupled 61, 88
file saturable 58, 59
help 31, 37, 38, 39, 266 initial value 64, 188, 202, 203, 272
netlist 22, 24 integrator
package 15 s-domain
parameter 9, 22, 272, 274 external resettable 187
filter internal resettable 187
band-pass 195, 196, 201 z-domain
band-stop 196 external resettable 222
digital 225 internal resettable 222
high-pass 195, 253 interface
low-pass 189, 195, 196, 225, 234, 253 between power and control circuits 256
second-order 195 interface block 141
flag control-power 256, 297
load 5 mechanical-electrical 101, 138, 140
master/slave 104, 106, 107, 108, 110, 111, 115, J
117, 120, 122, 123, 124, 140, 142 JMAG 1, 130
save 5 JMAG-RT 1, 134, 135
flip-flop L
D 209 label 14, 16, 37, 52
J-K 208 leakage flux 86, 92, 93, 113
format LED 67
ASCII text 43 library
binary 30, 43 adding new DLL element 38
free run 5, 26 adding new subcircuit element 37
functional model 170, 173 edit 17, 35, 36, 38, 39
G library browser 14, 17, 234
gate light intensity 171
AND 207 limiter
logic 4, 207, 297 gradient (dv/dt) 204
NAND 207 lower 193
NOR 207 lower/upper 193
NOT 207 range 193
OR 207 upper 193
XOR 207 LOG 48, 197
gating block 68, 72, 73, 74, 75, 78, 81 LOG10 48, 197, 275, 278
gear box 101, 138, 141, 142 logic gate 207
H lookup table
HEV 1, 239 2-D 261
HEV Design Suite 239 loss calculation 147
HEV generator 18 diode 150
HEV traction motor 18 IGBT 157, 160, 163
hybrid electric vehicle 1 MOSFET 153
I M
image machine
secondary 36 brushless dc 109, 111, 146
Image Editor 17, 39 dc 108, 109
inductor 38, 55, 132, 298 induction 101, 103, 105, 141
205 Index
nonlinear induction 103 non-ideal 97
nonlinear permanent magnet synchronous 120 optocoupler 98
nonlinear switched reluctance 124 P
permanent magnet synchronous 116, 120 Parameter Tool 33, 274
squirrel-cage induction 103, 104, 105 password 15
switched reluctance 123 disable 28
synchronous (external excitation) 114 enter 27
wound-rotor induction 103, 104, 105, 106 PHEV 18
MagCoupler 131 physical model 172
MagCoupler block 130, 131, 132, 133 pitch angle 176
MagCoupler Module 130, 133, 134, 138 port
MagCoupler-DL block 130 bi-directional 19, 20
MagCoupler-RT Module 134, 138 input signal 19, 200
magnetic elements 34, 92, 95 output signal 19
math function block 264, 265 subcircuit 21, 22
Matlab/Simulink 1, 25, 33, 233, 234 power coefficient 176, 177
maximum power 170 power function block 197
maximum/minimum function block 198 print step 5, 298, 299
Maximum-Torque-Per-Ampere Control 125 probe 252
mechanical coupling block 138, 141 ac sweep 276
mechanical load ac sweep (loop) 275
externally-controlled 140 current 18, 132, 133, 144, 252
mechanical load model 1, 101, 138, 141 voltage 252
memory read block 230 propagation delay 203, 297
message proportional-integral controller 189
error 31, 268, 299 Pulse 210
warning 3, 25, 30, 276, 299 PWM
meter space vector 206
3-phase VAR 254 Q
VA-power factor 252 quantization block 1, 227
VAR 252, 254 R
monostable 209 reference direction
Motor Drive Module 1, 101, 138 of mechanical system 102, 103, 109, 139, 140,
multiplexer 204 142, 143
multiplier 4, 196 Regeneration Control 245
multi-rate sampling system 232 relay 100
N resistor 9, 19, 33, 35, 55, 58, 93, 94, 95, 252, 256,
node 272, 278, 288, 299
link 233, 234 resolver 144, 145
SLINK 25, 234 rheostat 58
nonlinear element 64 root-mean-square function block 198
conductance-type 64 round-off block 204
conductance-type with additional input 64 rubber band 29
resistance-type 64 runtime graph 25, 30, 55, 56, 60
resistance-type with additional input 64 S
O sampling/hold block 199
operational amplifier scope
ideal 96 current 5, 16, 25, 26, 255, 256
Index 206
voltage 5, 25, 255 DIAC 68
sensor linear 70, 72, 73
current 252 self-commutated 72, 75, 76
hall effect 110, 111, 112, 113, 145 thyristor 68, 69, 250
position 101, 110, 111, 112, 113, 130, 134, 138, transistor 154, 155, 158, 160, 161
144, 145 TRIAC 68
speed 142, 144, 234 switch controller 4, 68, 72, 73, 74, 249
torque 142, 143, 144 alpha 69, 81, 82, 250
voltage 252, 256, 297 on-off 70, 73, 249
shunt regulator 98 PWM lookup table 82, 251
sign function block 48, 198 T
SimCoder 3, 20, 25, 31, 272 THD block 201, 202
SimCoupler Module 4, 25, 33, 233, 234 Thermal Module 147, 148
simulation control 5, 24, 26 TI F28335 8
solar cell 171 time 269, 281
source 281 idle 31
constant 281 print 5
current-controlled current 288 total 5, 24, 27
current-controlled voltage 132, 288, 289 time delay block 203, 221, 297
dc 69, 70, 282 time step 5, 6, 24, 27, 99, 130, 131, 234, 235, 269,
math function 287 297
nonlinear voltage-controlled 289 tip speed ratio 177
piecewise linear 281 TL431 98
random 287 toolbar 14, 17, 32
sawtooth 284 Torque Control 239
sinusoidal 282, 283 transconductance 73, 74, 151, 153, 156
square wave 199 transfer function block
square-wave 283 z-domain 221
step 285 transformation 125, 239, 257
triangular 284 abc-alpha/beta 259
voltage-controlled current 132, 288 abc-dqo 125, 126, 257
voltage-controlled voltage 132, 288 alpha/beta-dq 260
Space 206 Cartesian-Polar 260
square waveform block 199, 200 transformer 4, 86
square-root function block 198 ideal 86
stack 231, 232 saturation 91
subcircuit 15, 19, 20, 22, 23 single-phase 87
connecting 21 three-phase 88
creating transistor
in the main circuit 20 BJT (npn) 69
in the subcircuit 20 GTO 77
image 23 MOSFET (p-channel) 72
summer 192 trapezoidal waveform block 199, 200
sweep trigonometric function 196
ac 275, 276, 278, 299 U
parameter 278 unit delay block 203, 220, 227
switch V
bi-directional 77, 78, 249 variable
207 Index
default 19, 20, 22, 37
passing 22
runtime 17, 26
voltmeter
ac 252
dc 252
W
wattmeter 252, 253, 254
3-phase 254
wind turbine 176
wire 14, 16, 20, 31, 299
Z
zero-order hold 1, 199, 212, 219, 220, 232, 265
Index 208
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