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Simplorer and Mechanical
© 2012 ANSYS, Inc. February 14, 20121
David Twyman
Technical Services
Overview
• Simplorer
– Architecture, Methodology and Operation
• Simplorer and Mechanical
– Rigid Body Dynamics to Mechanical Link (Cosimulation)
© 2012 ANSYS, Inc. February 14, 20122
– Rigid Body Dynamics to Mechanical Link (Cosimulation)
– Mechanical to Simplorer (Reduced Order Modelling)
Electromechanical (EM) systems are designed by integrating
electromagnetic, mechanical, electronic and control technology
to build physical systems
Electromechanical systems are an integration of EM components
Electromechanical Systems
© 2012 ANSYS, Inc. February 14, 20123
Electromechanical systems are an integration of EM components
and EM subsystems
Visual Definition
ElectromechanicalElectrical
Current
Voltage
Mechanical
{Fluid}
{Thermal}
{…}
Force
Position
© 2012 ANSYS, Inc. February 14, 20124
Control
Position
SpeedCurrent
Voltage
Control Signals
Nonlinear
Circuit
System
ANSYSANSYS
MixedMixed--Signal MultiSignal Multi--DomainDomain
System SimulatorSystem Simulator
ANSYS Simplorer and Mechanical Overview
© 2012 ANSYS, Inc. February 14, 20125
Electrical Magnetic Fluid Mechanical Thermal Acoustic
Circuit
ComponentANSYSANSYS WorkbenchWorkbench
Model Extraction &Model Extraction &
CosimulationCosimulation
Matlab
Simulink
Simplorer Architecture
Simulation Data Bus/Simulator Coupling Technology
Co-Simulation
Matlab
Real Time
Workshop
C/C++
User Defined
Model
ANSYS
RBD
ANSYS
Maxwell
Electrical, Electromagnetic Mechanical, Hydraulic, Thermal
© 2012 ANSYS, Inc. February 14, 20126
States:
Electromagnetic
(FEA)
Mechanical
(FEA)
Model Extraction: Equivalent Circuit, Dynamic State
Space, Impulse Response Extracted LTI, Stiffness Matrix
Fluidic
(CFD)
VHDL-AMS
IF (domain = quiescent_domain)
V0 == init_v;
ELSE
Current == cap*voltage'dot;
END USE;
Blocks:
Thermal
(FEA)
JA
MMF
L
HΘ
J
STF
M(t)
GN
D
m
STF
F(t)
GN
D
Electrical, Electromagnetic Mechanical, Hydraulic, Thermal
Simplorer: Design Environment
Windows-like
Single project file
Modeling
• Graphical, SML, C/C++
• VHDL-AMS, PSpice
Hierarchical models
All quantities accessible
© 2012 ANSYS, Inc. February 14, 20127
All quantities accessible
Postprocessing on sheet
or in reports
VB, Java, Python, ...
Model libraries
Wizards
Optimetrics
Distributed Solve
Simplorer Component Characterization
NL
NL_Charact
YZ
X
V3DLUT
In general:
Each parameter can be made
dependent on time or any
other quantity by
expressions or tables.
E1Y t
V_LUT
M3 ~
B
A
C
IM1
Y t
M_LUT1
L1
© 2012 ANSYS, Inc. February 14, 20128
2D, 3D, MD
lookup table
# L1
# C1• Characteristics
• Stimuli
• Loads
Data Acquisition, Processing, Transfer
L1
L := L0 - k1 * arctan( k2 * L1.I ) H
0
EQU
FML1
A1 := 10
A2 := A1/10
f1 := 50
f2 := 2k
E1
EMF := A1*sin(2*pi*f1*t) + A2*sin(2*pi*f2*t)
Electric circuits
Conservative electrical systems+ V
© 2012 ANSYS, Inc. February 14, 20129
+ Additional component libs
+ Vendor specific component libs
+ VHDL-AMS and Spice models
+
-
Ideal switch Two states defined by a short circuit or
an open circuit
Logical control 0/1
Static semi-
conductor
Three states defined by high resistance
in nonconducting area, low resistance in
conducting area and commutation
characteristic
Logical control 0/1
Scalable Model Detail/Accuracy
Open Circuit Short Circuit
bCtrl
© 2012 ANSYS, Inc. February 14, 201210
characteristic
Dynamic
semi-
conductor
Physics based dynamic model providing
basic dynamic effects, advanced
dynamic effects, losses, switching
behavior and thermal behavior in
various selectable levels
Control circuit
(current or
voltage)
Spice
compatibility
Import Spice compatible models in
Simplorer
Control circuit
(current or
voltage)
bCtrl
Simplorer – State Machines
Discretize a discontinuous process into states and transitions.
State is active or inactive.
Actions assigned to a state are executed when state active.
Switch between states on transition = TRUE.
SET: itrcn:=0
• Easy to understand
© 2012 ANSYS, Inc. February 14, 201211
ucref-utri<=0
lcn
SET: itrcn:=0
SET: itrcp:=0
DEL := lcn##td
SET: itrcn:=0
SET: itrcp:=1
ucref-utri>=0
SET: itrcp:=0
SET: itrcn:=1
SET: itrcp:=0
SET: itrcn:=0
DEL := lcp##td
ucref-utri<=0
ucref-utri>=0
lcp
• Easy to understand
algorithms
• Fast
• Simulator control
possible
System Level (Park Transformation)
Linear and nonlinear,
lumped parameters
System Level(Park Transformation,
Mechsim1D components)
Linear and nonlinear,
lumped parameters,
provides advanced
mechanical properties
RMxprt – equivalent
circuit generation
Nonlinear, losses,
space harmonics,
Electromechanical Systems
3 ~
BA C
M3 ~
BA C
3 ~
BA C
( w. Damper )
MS3 ~
BA C
( w. Damper )
#
M
#
B11A11 C11
A12 A2
B12 B2
C12 C2
ROT2ROT1
ASMS
3~M
N1 N2
ROT1 ROT2
M
DCMP
ROT2ROT1
C12
B12
A12
C11B11A11
3~M
SYMPD
N_1
© 2012 ANSYS, Inc. February 14, 201212
circuit generation space harmonics,
lookup tables
Maxwell2D/3D(Static and Transient)
As accurate as FEA
simulation performed
N_2
N_3
N_4
Simplorer internal model
• Analytical model, linear
• Park transformation
Simplorer with RMxprt ECE
• Analytical model, look-up table
• Nonlinear saturation, eddy effects
Multi-Level Techniques – Cosimulation: Compare Modeling Depth
© 2012 ANSYS, Inc. February 14, 201213
• Nonlinear saturation, eddy effects
Maxwell2D Transient + External Circuits
(cosimulation)
• Transient field simulation model
• All dynamic effects from dB/dt
– Saturation, slot harmonics
– Eddy, current displacement
– Skin, proximity, diffusion, etc
Compare
• Torque
• L = L(f, µ)
• Inrush:
– Smaller inductance
3~M
ASMS
3~M
A
B
ROT1
Multi-Level Techniques – Cosimulation: Compare Modeling Depth
© 2012 ANSYS, Inc. February 14, 201214
– Smaller inductance
– Higher current
– Stronger damping
• Maxwell most accurate
RMX
B
C
N
ROT2
Compare
• Currents
A ROT1
3~M
ASMS
3~M
Multi-Level Techniques – Cosimulation: Compare Modeling Depth
© 2012 ANSYS, Inc. February 14, 201215
RMX
A
B
C
N
ROT1
ROT2
Implications for system design
• Doubled inrush current affects electrical system
design
• Doubled inrush torque burdens mechanical
system
• Stronger damping affects control dynamics
• Slot harmonics affect motion quality,
Multi-Level Techniques – Cosimulation: Compare Modeling Depth
© 2012 ANSYS, Inc. February 14, 201216
• Slot harmonics affect motion quality,
control/inverter design
Motor design considerations
• Interactions with system affect motor design,
e.g. losses
Example 1 Simplorer RBD Cosimulation Link
Highlights:
• Easy setup through simple UI
• Fast Robust TR-TR Co-simulation Algorithm
Released in R14
Capabilities:
• Continuous rigid sub-systems
© 2012 ANSYS, Inc. February 14, 201217
• Continuous rigid sub-systems
– (RBD was formerly known as MBD)
Example 1 Link Setup: 1. Add pins in RBD UI
© 2012 ANSYS, Inc. February 14, 201218
Example 1 Link Setup 2: Set Up Link in WB
© 2012 ANSYS, Inc. February 14, 201219
Example 1 Link Setup 3: Add RBD Component and schematic
© 2012 ANSYS, Inc. February 14, 201220
Forces applied every cycle
Two forces out of phase
Small starting torque
Measure rotation (used in
force calculation)
Example 1 Simulation Results
Force Applied on Pistons
© 2012 ANSYS, Inc. February 14, 201221
Rotational Displacement
Rotational Velocity
Example 2 : Simplorer - ANSYS Mechanical Link
Create ANSYS Modal
Analysis System
Setup, define inputs
and outputs, etc
Add Mechanical
Component
Reads exported
.spm file
ANSYS WB/MechSimplorer
© 2012 ANSYS, Inc. February 14, 201222
APDL SPMWRITE
Command Snippet
Solve
Mech ROM Created
In Simplorer
Simplorer
.spm
Example 2: ANSYS Mechanical to Simplorer
Input Torque Here
© 2012 ANSYS, Inc. February 14, 201223
Observe Rotation/Oscillation at These Locations
Φ1 Φ2 Φ3 Φ4
Example 2: Model the Same Driveshaft Using Reduced Order Model in System
Rotational Torque source
1Nm Torque
© 2012 ANSYS, Inc. February 14, 201224
Reduced Order Model From ANSYS
Mechanical FEM
Example 2: Simplorer Circuit Simulation:Proportional-Integral-Derivative (PID) Controller
© 2012 ANSYS, Inc. February 14, 201225
ANSYS Mechanical Coupling
ANSYS Mechanical Coupling
ANSYS Mechanical Coupling
© 2012 ANSYS, Inc. February 14, 201226
General State Space Coupling
Simplorer state-space model
• Description: New capability to simulate multi-domain state-space models
Thermal
© 2012 ANSYS, Inc. February 14, 201227
Mechanical
Electrical
Matlab
Simulink
Simplorer (Summary)
Simulation Data Bus/Simulator Coupling Technology
Co-Simulation
Matlab
Real Time
Workshop
C/C++
User Defined
Model
ANSYS
RBD
ANSYS
Maxwell
Electrical, Electromagnetic Mechanical, Hydraulic, Thermal
© 2012 ANSYS, Inc. February 14, 201228
States:
Electromagnetic
(FEA)
Mechanical
(FEA)
Model Extraction: Equivalent Circuit, Dynamic State
Space, Impulse Response Extracted LTI, Stiffness Matrix
Fluidic
(CFD)
VHDL-AMS
IF (domain = quiescent_domain)
V0 == init_v;
ELSE
Current == cap*voltage'dot;
END USE;
Blocks:
Thermal
(FEA)
JA
MMF
L
HΘ
J
STF
M(t)
GN
D
m
STF
F(t)
GN
D
Electrical, Electromagnetic Mechanical, Hydraulic, Thermal
Thank You
© 2012 ANSYS, Inc. February 14, 201229