© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

Ansoft EM Design Suite

Foo Wan Ho

Application Engineer

ANSOFT, LLC.

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

Quick Introduction

• RMxprt – Machine design

• Maxwell 2D/ 3D – FEA

• PExprt – Transformer, inductor coils, power converters

• Optimetrics – Optimization

• Simplorer – System integration

• ePhysics – Thermal and stress

+

V

VM1

+

VVM2

+

V

VM3

A

+

AM1

A+

AM2

GAIN

J1ω1

M 1

om ega

k1

k2

k3

Â, f

Netz31 ω2ω1

M1 M2

M frictio n

Us1

Us2

Us3

Us1

Us2

Us3

Ur2

Ur1

Ur3

Ur1 Ur2 Ur3

M

ω

asm_s_g

machine_characterisitcInertia1.N

Inertia1.M_1

2.00k

-1.00k

0

-60.50 896.71500.00

currentasm_s_g.Ir_qasm_s_g.Ir_dasm_s_g.Is_qasm_s_g.Is_d

t

1.00k

-1.00k

0

0 2.001.00

torqueInertia1.MLoadInertia1.M_1

QuickGraph4Inertia1.N2.00k

0

US1 US2 US3

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Traditional VS Modern

No

Design

EvaluateOK?

Manufacture

Yes

Simulate

Design

Build

Test

EvaluateOK?

Manufacture

No

Yes

Traditional Method Modern Method

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

Motor Design

RMxprt

Maxwell 2DMaxwell 3D

SIMPLORER

14 types of motors/generators

FEA FEA

Equivalent circuits

Co-simulation

ePhysics

Optimetrics

Direct model generation

Scripted model setup

Design

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

Actuator Design

Maxwell 2DMaxwell 3D

SIMPLORER

FEA FEA

Equivalent

circuits

Co-simulationePhysics

Optimetrics

R1

25 Ohm

C := 5530*39.37 N/m

DAMPING := 1e-5 Ns/m

SUL := .1/39.37 m

SLL := 0 m

M := 0.004 kg

S0 := 0.1/39.37 m

V0 := 0 m/s

F

VALUE := 0.04 N

Ideal

UPPER_LIM := 0.1 in

LOWER_LIM := 0 in

FEA

FEA1

D1 D2

D3

D4

E1coil1

coil2

plunger1

plunger2

Design

2D Model drawing/ import 3D Model drawing/ import

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

Optimization

Optimising plunger diameter for optimum force

Optimising for teeth width for optimum torque

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

• Design magnetic components, transformers and inductors for performance.

• Component libraries

• Calculate winding losses, core losses, resistances, RMS currents, inductances and temperature rise.

Power Electronics

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

Simplorer

Multitude of DomainsMultitude of Tools & Methods

Mechanics

Power Converter

Electro Mechanics

Transformer

Sensors

Control

Utility

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

ET1

ET2

ET3

R1

R2

R3

L1

L2

L3

10m

10m

10m

1m

1m

1m

D1 D2 D3

D4 D5 D6

C1

4.7m

ICA:

EQU

TP := 0.0002ustmax := 10.

GAIN

n

GAIN

ust_in

GAIN iq

Y t

ust

d-q-Current Controller

Speed Control

1,3 Nm at

2000 rpm

Yt

M_LOAD

MS3 ~

BA CSYMPOD1

R1 := 1 L1D := 9.2m

L1Q := 9.2mKE := 0.334

P := 3J := 5.55m

LOAD := SYMPOD1.N*0.00065 + M_LOAD.VAL

t0a := 0

t0b := 0

t0c := 0

Synchronous Machine

permanent excitation

Control Signal Generation / Phase Transformation

Phase Currents

t [s]

20

-25

0

-20

-15

-10

-5

5

10

15

0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35

Reference and Actual Speed

t [s]

1k

-1k

0

-0.75k

-0.5k

-0.25k

0.25k

0.5k

0.75k

0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35

DC Link VoltageC1.V [V]

t [s]

0.57k

0.53k

0.53k

0.54k

0.54k

0.55k

0.55k

0.56k

0.56k

0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35

Position

t [s]

1.6k

-0.2k0

0.2k

0.4k

0.6k

0.8k

1k

1.2k

1.4k

0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35

Reference and Actual Torque

t [s]

40

-40

0

-30

-20

-10

10

20

30

0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35

QuickGraph92 * yd.VAL yq.VAL

t [s]

8

-8

0

-6

-4

-2

2

4

6

0 0.450m 0.1 0.15 0.2 0.25 0.3 0.35

G(s) GS2

I

I_id

GAIN

id

LIMIT

yq

UL := 9

LL := -9

LIMIT

yd

UL := 9

LL := -9

GAIN

P_id

KP := 0.76

P21

z2 := 1

z5 := 0

P22

z2 := 0

z5 := 1

t - t0b >= TP

t - t0b >= TEb

t0b := t

P11

z1 := 1

z4 := 0

t0a := t

P12

z1 := 0

z4 := 1

P31

z3 := 1

z6 := 0

t0c := t

P32

z3 := 0

z6 := 1

t - t0c >= TP

t - t0c >= TEct - t0a >= TEa

t - t0a >= TP

G(s

) GS1

I

I_iq

I

I_n

KI := 29.02k

UL := 10

LL := -10

GAIN

P_PART_n

LIMIT

m_ref

KP := 0.1161k

IGBT1 IGBT2 IGBT3

IGBT4 IGBT5 IGBT6

CONST

id_ref

KI := 80

GAIN

P_Iq

KP := 0.76

theta_el:=SYMPOD1.PHIDEG * PI / 180.

yalph:=cos(theta_el) * yd.VAL - sin(theta_el) * yq.VAL

ybeta:=sin(theta_el) * yd.VAL + cos(theta_el) * yq.VAL

ya:=yalph

yb:=-0.5 * yalph + ybeta * sqrt(3.) / 2.

yc:=-ya - yb

TEa:=(ya / ustmax + 1) * TP2

TEb:=(yb / ustmax + 1) * TP2

TEc:=(yc / ustmax + 1) * TP / 2.

i1alph:=SYMPOD1.I1A

i1beta:=(SYMPOD1.I1A + 2 * SYMPOD1.I1B) / sqrt(3.) i1d:=i1alph * cos(theta_el) + i1beta * sin(theta_el) i1q:=i1beta * cos(theta_el) - i1alph * sin(theta_el) theta_m:=theta_el / 3.

Servo Drive System

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

GAIN

n

GAIN

ust_in

GAIN iq

Y t

ust

d-q-Current Controller

Speed Control

Yt

M_LOAD

Phase Transformation / Control Signal Generation by Space Vector Modulation

G(s)

GS2

I

I_id

GAIN

id

LIMIT

yq

UL := 10

LL := -10

LIMIT

yd

UL := 10

LL := -10

GAIN

P_id

KP := 1.96

G(s

)

GS1

I

I_n

KI := 29.02k

UL := 10

LL := -10

GAIN

P_PART_n

LIMIT

m_ref

KP := 0.1161k

IGBT1 IGBT2 IGBT3

IGBT4 IGBT5 IGBT6

CONST

id_ref

KI := 240

GAIN

P_Iq

KP := 1.96

I

I_iq

KI := 240

ICA: EQU

PI3:=pi / 3.

P18:=pi / 180.Tp:=1./fp

wu32:=sqrt(3.) / 2.

kA:=0.1

wu3:=sqrt(3.) gam1:=0.

fp:=10k

tx:=0costhe:=cos(theta_el)

yalph:=costhe * yd.VAL - sinthe * yq.VAL

i1q:=i1beta * costhe - i1alph * sinthe

i1d:=i1alph * costhe + i1beta * sinthe

ybeta:=sinthe * yd.VAL + costhe * yq.VAL

sinthe:=sin(theta_el)

theta_el:=SYMPOD1.PHIDEG * P18

i1beta:=(SYMPOD1.I1A + 2 * SYMPOD1.I1B) / wu3

theta_m:=theta_el / 3.

i1alph:=SYMPOD1.I1A

SET: k:=k+1 SET: gam1:=gam1

SET: kr:=(k-1)*PI3

SET: kl:=k*PI3

kl <= gam1

true

t-tx >= Tp

kr <= gam1 and kl > gam1

yalph > 0 and ybeta >= 0

SET: tx:=t SET: k:=1yalph = 0 and ybeta = 0PRI := 1

(ybeta > 0 and yalph <= 0) or (yalph < 0 and ybeta <= 0)ybeta < 0 and yalph >= 0

SET: gam1:=pi-ASIN(ybeta/y)

SET: gam1:=2*pi+ASIN(ybeta/y)true

true

A126

SET: z3:=0

SET: z6:=1

B345SET: z6:=0

SET: z3:=1

A234

SET: z1:=0

SET: z4:=1

B246

SET: z5:=0

SET: z2:=1

A135

SET: z2:=0

SET: z5:=1

B156

SET: z4:=0

SET: z1:=1

A123SET: z3:=1

SET: z4:=0SET: z1:=1

SET: z6:=0

SET: z5:=0SET: z2:=1

E456 SET: z2:=0

SET: z6:=1

SET: z1:=0

SET: z3:=0

SET: z5:=1

SET: z4:=1

t-tx >= t02+tr+tl

t-tx>=t02 and k=2

t-tx >= t02+tr+tl

t-tx>=t02 and k=4

t-tx >= t02+tr+tl

t-tx>=t02 and k=6 t-tx>=t02 and k=5

t-tx >= t02+tr+tlt-tx >= t02+tr+tl

t-tx>=t02 and k=3

t-tx >= t02+tr+tl

t-tx>=t02 and k=1

B234

SET: z3:=1

SET: z6:=0

A246

SET: z4:=1

SET: z1:=0

B135SET: z4:=0

SET: z1:=1

A345

SET: z5:=1

SET: z2:=0

A156SET: z3:=0

SET: z6:=1

B126SET: z2:=1

SET: z5:=0

t-tx >= t02+trt-tx >= t02+trt-tx >= t02+tr t-tx >= t02+tr t-tx >= t02+tr t-tx >= t02+tr

E123

SET: z6:=0

SET: z4:=0

SET: z3:=1

SET: z5:=0

SET: z1:=1

SET: z2:=1

A456

SET: z4:=1

SET: z5:=1

SET: z6:=1

SET: z1:=0

SET: z3:=0

SET: z2:=0

SET: tl:=kA*y*Tp*sin(gamr)

SET: gamr:=gam1-kr

SET: tr:= kA*y*Tp*sin(PI3 - gamr)

SET: t02:=(Tp-tr-tl)/2

k=2 or k=4 or k=6 k=1 or k=3 or k=5

SET: k:=0

true PRI := 1

t-tx >= Tp and k = 0 SET: tx:=t

SET: gam1:=ASIN(ybeta/y)

true

true

t-tx >= Tp

y:=SQRT(SQU(yalph)+SQU(ybeta))

if (y>10.) {y:=10.}

ω+

T

ECE - LINKECE - LINK

TA B CA B CA B CA B C

ImImImIm ββββ

Rotor

V_ROT1

TTheta_IN

Im_IN

beta_IN

Battery

- +

LBATT_A1

Speed Control

Drive Circuit Control

Battery Model

Motor Model

Load

Controller States

Total System Integration

© 2008 Ansoft, LLC All rights reserved. Ansoft, LLC Proprietary

EMI Motor Drive Analysis

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