jmag與simulink,psim聯(lián)合仿真

1、(0)日本総研The T leteMch kttfhUe. IMMJMAG-StudioJMAG-Studio Ver.8.3 Upgraded VersionIPM Motor Analysis Using JMAG-RTEngi neering Tech no logy DivisionThe Japan Research Institute, LimitedCon ceptsJMAG-RT is a simulati on system that in corporates the results obtained from JMAG-Studio FEM analysis into a

2、 circuits/control simulator for further detailed simulations.For example, when simulating motor control by circuit/control simulators using a motor model of general simulators commonly available, the characteristics of the motor such as material properties or geometry effects will be rather simplifi

3、ed.In order to avoid this simplification and enhanee accuracy of the simulation, motor characteristics are analyzed in JMAGRT prior to the circuit/control simulation. JMAGRT runs analysis based on the finite element method (FEM), and from the results, extracts and outputs the parameters required for

4、 the circuit/control simulation.By incorporating the output data into the original circuit/control simulation, it is possible to obtain more accurate results that fully reflect the motor characteristics.Two-phase stepper motor and three-phase PM synchronous motor can be used in JMAG RT.This document

5、 describes the procedure for JMAGRT simulation while showing the example of a three-phase PM synchronous motorObjectiveTo run a simulati on of a motor drivi ng by cur re nt vector control using JMAG RT which links the results obtained from JMAG-Studio simulation with the circuit/control simulator (M

6、ATLAB/simulink or PSIM).©3(X)6 The Japan Research Institute, LTD. All Rights Reserved.Coupling of JMAGStudio and Circuit/Control simulatorElectromagnetic Analysis Using JMAG-StudioJMAG-Studio runs magnetic field analysis while taking into account norvlinear material properties and shape effects

7、 However, it takes time to accurately compute the motor drive circuit properties to be included in the simulation, or control the rotation speed by feedback.Circuit/Control SimulatorProperties of the circuit and controller can be simulated in detail, but taking into account the motor non-linear mate

8、rial properties and shape effects is difficult.Coupling of JMAG-Studio and Circuit/Control SimulatorIn JMAG-RT simulation, the first step is to run an FEM magnetic field analysis using JMAG Studio to obtain the inductanee and torque of a motor. And then, transfer the resultant values as a model that

9、 can be replaced with an ideal motor model contained in the circuit/control simulator. As a result, the detailed properties both for the motor driver and motor can be calculated in the simulation. JMAGRT can deal with three-phase PM synchronous motors and stepper motorsJMAG-RT couples JMAG-Studio wi

10、th the circuit/control simulator Matlab/simulink or PSIM.©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.Programs To Be UsedThe programs used in this material are: JMAG: Pre/Post JMAG: Magnetic Field Analysis DP (2D and axial symmetric transient response analysis module)> Used

11、for the case of 2D model.For 3D models, TR (3D transient response magnetic field analysis module) is used. JMAG-RT> Requires an exclusive license. PSIM> Version 6.1,6.2 and 7.0 are supported. MATLAB/simulink> VersionR13SP1 This document is created based on JMAG-Studio Ver.8.31101d or later.

12、 For the versions before 8.31101d, install the latest version of SP available from the JMAG Users Download Site at http:/www.jri.co.jp/pro-eng/jmag/. For running FEM analysis in JMAG-RT using the Distributed Processing feature, JMAG Remote System R/L Edition is requiredSample ModelThe following is t

13、he description of the model used in this analysisThe allow indicates the direction of rotor rotation. 2D IPM Motor Model (1/4 mode I)Stator outside diameter (mm)4>112Rotor outside diameter (mm)55Thickness (mm)60Poles4Slots24Rated speed (rpm)2000Number of coil turns (per phase)35Coil resistance (p

14、er phase) (Q)3.3Conn ection patter nY conn ecti onDrive typeSine wave driveSample Data日The data used in this analysis are:Directory "JMAG_Data" RTJPM.jcfReady to be loaded into JMAG-RT with 凹叩| |屮為the conditions already set in JMAG- Studio Directory uSimulink_DataM RTJPM.mdl Used with MATL

15、AB/simulinkDirectory uPSIM_Data, RTJPM.schUsed with PSIM RTPMsub.sch Used with PSIM RT IPMeom.schUsed with PSIMMATLAB/simulink Main CircuitPSIM Main CircuitThe “Conditions preset” directory located in uSimulink_DataM and uPSIM_Datan contains the data with the condition settings for the operations in

16、 Simulink and PSIM covered in this document.Analysis FlowCreate the model in JMAG-StudioJMAG-RTl.7276E-0l.9236E-02.I.6548E-OI.-4.7I75E-O2 JMAGCreate the input data for JMAG-RTProperty TableUsed as the result of JMAG calculatioCreate the control circuit of circuit/control simulatorRun the Analysisent

17、, TorqueVoltage Locationo0C03書護(hù)3：33匚呻：二©9(X)6 The Japan Research Institute, LTD. All Rights Reserved.©#(X)6 The Japan Research Institute, LTD. All Rights Reserved.Circuit/Control Simulator©#(X)6 The Japan Research Institute, LTD. All Rights Reserved.Tasks OverviewTasks performed using

18、 JMAG-Studio1. Motor model creation2. JMAG-RT library manager start-up3. Condition Setting4. Running FEM analysis5. Data copy to circuit/control simulatorTasks performed using Circuit/Control Simulator (MATLAB/simulink or PSIM)1 Preparation of the circuit/control simulator2. Running simulationResult

19、s display©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.11Tasks performed usingJ MAG-Studio©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.#Motor Model CreationIn this example, an RT model is created based on the imported motor model with all the required condi

20、tions preset. The following are notes on motor model creation. Set three FEM coil conditions.> For a three-phase PM synchronous motor, a model with more or less than 3 FEM coil conditions can not be applied> Which coil will correspond to which phase (U, V, W) can be specified in JMAG library m

21、anager. Set motion conditions> Be sure that the target of condition setting is correctly specified, and leave all other settings at default values This is because the settings such as Motion are not referred to during the FEM analysis by JMAG-RT. Set the electromagnetic force/torque calculation c

22、onditions to the rotor. Set the slide condition.The following sections w川 explain the actual operations to be performed in JMAG-RTJMAGRT Library Manager StarbUp JMAG-RT ”7 方時(shí)刁、B©®To Start up JMAG-RT library manager:1 Click the Start button » All Programs » JMAG-Studio8.3 » J

23、MAG-RT2. In the JMAG-RT library manager dialog box, click New to open the Model type dialog box3. In the Model type box, select Three- phase PM synchronous motor.4. Click Browse next to the Jef file box, and select RTJPM.jcf.5. Click OK.The Three-phase PM synchronous motor dialog box appears©2(

24、X)6 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RTSetting Conditions for FEM Analysis 2M |1O»:1.To set the parameters for FEM analysis:1 Click the Data information tab, enter RTJPM in the Data name text box.2. Click the Data creation parameter tab3. In the Number of poles text b

25、ox, enter 4.4. Specify the each item under Assignment of FEM coil as below U-phase :1U V-phase :2V W-phase : 3 W Number of turn :35 Connection pattern : Y connection Phase resista nee: 15. Confirm that Sine wave drive is selected for Drive type.6. Click the Confirm the setting of resolution check bo

26、x, and click Resoluti on.9.7. Under Inductance, enter 48 in the Number of rotation angle division text boxWith this setting, the inductance variation is calculated for each of 48 divisions of the one period electric angle.8. Click Point Sequence next to the Cur re nt at the time of electric conducti

27、on text box.9. In the Point Sequence field, enter the point sequenee 1,3, 5, 7 as shown in the left figureFor this case, in put data are the range of the current expected in the drive circuit and resolution.Click OK.©2006 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RTSetting Con

28、ditions for FEM Analysis 311 Under Torque, enter 30 in the Rotation angle text box.Here, the motor's machine angle of the torque variation per period is defined. For this example, it is set to 30 deg. (1/12) according to the 4 poles 3 phases motor.Similarly, in the number of rotation angle divis

29、ion text box, enter 30.12. Click Point Sequence next to the current at the time of electric conduction text box.13. In the Point Sequence field, enter 0, 1,3,5, 7 as shown in the leftHere, 0 A is in eluded to the range of current to be modeled to measure cogging torque14. Click OK.In the Resolution

30、dialog box, click Point Sequence next to the Current phase at the time of electric conduction text box.©2006 The Japan Research Institute, LTD. All Rights Reserved./5Setting Conditions for FEM Analysis 4©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.Setting Conditions for FE

31、M Analysis 4點(diǎn)列名：>1 r2102252402K2?0285300315330Undetrwd16. -*16. Enter from 0 to 360r at 15r intervals,e.g. 0,15, 30, 45, 60,330,345, 360.17. Click OK to close the Point Sequence dialog box18. Click OK to close the Resolution dialog box.48BIzRtdef：I30回転內(nèi)分款祓：I30詢電1韌葢：I0.1357頑 |迪卻也<il位相【ded： 2252

32、40255270286.300515330.345.360誑7©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RTRunning FEM Analvsis 1©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RTRunning FEM Analvsis 119. Click OK in the Three-phase PM synchronous motor dialog boxCondition sett

33、ing for the FEM analysis is completed following the procedure up to here Other than the tools explained in this document JMAG-RT includes the following features.Distributed ProcessingThis function can run calculations on other machines on the same network. It effectively saves the calculation time b

34、y distributing multiple computations to multiple machines. For the detailed information see the User's Manual.Calculation ModeThis function is used to recalculate the data that have been calculated once. For rerunning only the failed calculations due to machine failures, Select Re-perform only c

35、alculation which went wrong. For rerunning entire calculation with different settings for number of poles or coil turns, etc., select All calculation is redone1 In the RT model library list, select the model data to be used in the FEM analysis.2. Click Data Creation to run FEM analysis on JMAG-RT Th

36、e output JMAG-RT data will be sorted by types and stored in the directories createdunder uC:My DocumentJMAG-StudioJMAG_RT M by default after the calculation.©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RTData Codv to Circuit/Control Simulator 13. When the calculation is co

37、mpleted, a report shown below is automatically displayed.4. Check for any trouble occurred during the analysis, then click CloseTo copy the data output from JMAG-RT to the circuit/simulator simulator:1 In the JMAG-RT Model Library Manager dialog box, select the data to be copied to the circuitcontro

38、l simulator.2. Click Copies to a circuit/control simulator.©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RT3 In the directory to be copied text box, enter or select the directory to be used for the analysis using circuit/control simulator. The name of the JMAG-RT model data

39、 file (*.rtt) can be changed in this dialog box. To do so, enter a new name in the New File Name text box of the data to be changed.3. Make sure the Copy of sub-circuit file check box is selectedWith this option on, all three types of files stated at the bottom of this page are copied. When it is of

40、f, only the JMAG-RT model data file (*.rtt) is copied4. From the Platform list, select the type of circuit/control simulator to be used5. Click OK. The following files are output to the directory specified in step 3 above. JMAG-RT model data file (*.rtt) of the selected model. DLL block data file (*

41、.dll) to be used in the simulator. PSIM sub-circuit file (*.sch) or Simulink mdl file(*.mdl)Confirmation of RT Model Data Characteristics From the resultant data obtained after the RT model calculation, torque, inductanee, and induced voltage can be checked1 In the RT model library manager dialog bo

42、x, select the model to be confirmed2. Click Modify.3. Click the Motor properties tub.The RT correction and Motor properties tubs are only available with the RT model data for which the calculation has been completed©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.JMAG-RTConfirmatio

43、n of RT Model Data Characteristics4. Select the Torque check box.5. In the Current Phase text box, enter 45.LSelect the phase angle to evaluate the torque rotation angle (mechanical angle) depe ndenc y6. Click Write to output the following csv files.AveTrq_graph.csv : Trq/l characteristicseEm玄垛一怎SE茲

44、ii朋感 KEI敘MlmiE熱熱蠱 M 37.一wwmmnmHIIWH全E<'-:r二:!: T:r需；©«-m -一盞11總Ei 右芭汪1鑒紀(jì)話£ LEETrq_graph.csv : Trq& -I characteristicsEdit the data using MS Excel, etc. to enhance the appearanceituocrizeocoo©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.29Simuli nkPrepar

45、ing the Circuit/Control Simulator: Simulink 6Tasks Performed Using SimulinkPreparing the data for Simulink.a If you intend to use PSIM, jump to Tasks Performed Using PSIM on page 33./ For this example, we will use the existing Simulink data adding some modifications.1. Open the Simulink model "

46、RT_IPM.mdl”. For more detailed instructions, refer to the MATLAB/simulink manual.©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.31Simuli nkPreparing the Circuit/Control Simulator: Simulink 6©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.#Simuli nkPreparing the

47、 Circuit/Control Simulator: Simulink 62.Display the Subsystem view.RT_PSIM©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.#Simuli nkPreparing the Circuit/Control Simulator: Simulink 6©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.#Simuli nkPreparing the Circuit

48、/Control Simulator: Simulink 6Remove the part of the circuits that represents the motor.©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.#Simuli nkPreparing the Circuit/Control Simulator: Simulink 6©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.33Simuli nkPrepar

49、ing the Circuit/Control Simulator: Simulink 6 UJMAG RT_pmsm block" is written in “JMAG RT_pmsm.mdln output from JMAG-RT. Apply this block to the part that has been removed* Xan as (a0Window©iPMjnsoqno.orc . iPM_mo(o<(no_circ.I iPM_m<Xoc(r»_circ 少"3 PT.ftRTJPMrftJI» ope

50、nC*C:MDocuwnts and Sett in(s¥t50U12.JR(- »»4. In Command Window, enter“JMAG RT_pmsm.mdr to open“JMAG RT_pmsm.mdl”4.2ow/ia20W1Q23W19200W920W1GHTML"” 20W/1(V XF ”仙 RTT"伽 frX*5. Copy the JMAG RT_pmsm block and place it as shown in the figure©2(X)6 The Japan Research Instit

51、ute, LTD. All Rights Reserved.#Simuli nkPreparing the Circuit/Control Simulator: Simulink 5To set up the JMAG_RT_pmsm block:6. Connect A(U-phase), B(V-phase), C(W- phase) as shown in the schematic7. Set the load torque to a constant value 0.5.8. Set Switch_signal A, B, C, to a constant value 1.Then,

52、 set the values output from the JMAG_ RT_pmsm block.9. Con figure the conn ection as show n in the schematic to allow the output three- phase current to flow back10. To con vert the output rotati on speed _rad/s to Irpm and put it back to the circuit, multiply by a constant 60/2/pi and con figure th

53、e conn ection as in the schematic 11. Add Scope to measure three-phase current, d-/q-current, d-/q-voltage, rotation angle, torque.To set up the parameters for JMAG RT_pmsm block:12. Double-click JMAG_RT_pmsm block to open the Block Parameters dialog box.13. Enter the parameters as follows: RT data

54、file : 'RTPM.rtt'一 Calculation will be run based on the RT data specified here一 The name of RT data must be enclosed in single quotation marks. Moment of Inertia : 0.0002 Friction factor : 0.00004059595Resistance of coil : 3.3©2(X)6 The Japan Research Institute, LTD. All Rights Reserved

55、.Simuli nkPreparing the Circuit/Control Simulator: Simulink 5To set up the parameters for JMAG_RT_pmsm block (continued):14. If you do not use coefficients, click OK to finish the setup for Block Parameters15. Select the Set Coefficients Manually check box to use coefficients. This option extends th

56、e block parameter allowing the setting for correction coefficie nt16. Set coefficients as shown in the panel. For more detailed explanation on correction coefficients, refer to the Post Manual » JMAG-RT System » Notes on Each Model Type.17. Click OK to close the Block Parameters dialog box The Simulink dataconditions preset directory attached to this docume nt in eludes the data with all the required settings preset as coverd in this document.©2(X)6 The Japan Research Institute, LTD. All Rights Reserved.Simuli nkRunning Circuit/Control Simulation Usinq SimulinkRunning the simu