SIMPLORER Getting Started

SIMPLORER® 7.0

Getting Started

5

Notice

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SIMPLORER 7.0 — Getting Started

Printing History

New editions of this manual include material updated since the previous edition. The manual printing date, indicating the manual’s current edition, changes when a new edition is printed. Minor corrections and updates incorporated at reprint do not cause the date to change.

Edition Date Software Revision1 June 1998 4.0

2 January 1999 4.1

3 January 2000 4.2

4 December 2001 5.0

5 October 2002 6.0

6 July 2004 7.0


Welcome

Welcome to the SIMPLORER Simulation Center, the integrated simulator for complex technical systems. Whether you are a beginner or an experi-enced professional, SIMPLORER’s comprehensive suite of tools gives you expert and reliable results in very little time.

You can create related simulation models quickly, process simulations ac-curately and reliably, present and arrange the results with powerful post-processors. You can also export the simulation data and presentations to other applications.

This Getting Started manual illustrates the most important basic functions for SIMPLORER: starting the program, creating models, running simula-tions, modifying and importing simulation results. Finally, important sys-tem quantities, conventions, and commands are compiled in the appendix. SIMPLORER is continuously being developed, and new functions are add-ed regularly; hence, there may be slight inconsistencies in the documentation.


Table of Contents

1 Introduction 1

2 Starting the Simulation System SIMPLORER 4

3 Three-Phase Rectifier with Resistive/Inductive Load 10

4 Hysteresis Current-Controlled DC Motor Start-Up 214.1 Controller Modeling Using Block Diagram 254.2 Controller Modeling Using State Graph 28

5 Current and Speed Controlled DC Motor 33

6 Using VHDL-AMS Components for Modeling 40

7 Variants of PWM Modeling 457.1 PWM Modeling with Equations 467.2 PWM Modeling with Equations and Time Function 507.3 PWM Modeling with State Graph 527.4 PWM Modeling with Block Diagram 55

8 Representation and Layout of a Model Sheet 59

9 New Features in Version 7.0 63

10 Appendix 73

11 Index 83

5


General Description of Content

Introduction

This chapter describes the general procedure for solving a simulation problem, lists general hints for using this manual, and explains how to install SIMPLORER.

Starting the Simulation System SIMPLORER

This chapter describes how to start SIMPLORER, create user names, create projects, and start the Schematic application. It also provides a brief overview of the Schematic operating envi-ronment.

3-Phase Rectifier with Resistive/Inductive Load

This chapter describes a three-phase power supply and a rectifier bridge with resistive/induc-tive load.

Hysteresis Current-Controlled DC Motor Start-Up

In this chapter, the example from chapter 3 is slightly modified. The resistive/inductive load is replaced with a real machine model (DC permanent excited).

This example describes the modeling of a current controlled DC motor start-up. The controller is modeled in two different ways: With a block diagram and state graph components.

Current and Speed Controlled DC Motor

In this chapter the example from chapters 3 and 4 is extended further. The state graph/hys-teresis controller is replaced with a PI controller.

This example describes the modeling of a PI controlled DC motor start-up. Ideal semiconduc-tor components are used.

Using VHDL-AMS for Modeling

This chapter describes the modeling of a PI controlled DC motor start-up using a machine model described in VHDL-AMS.

Variants of PWM Modeling

This chapter describes the modeling of a PWM controller in four different ways: With Equations, with Equations and a Time Function, with State Graph components, and with a Block Diagram.

Representation and Layout of a Model Sheet

This chapter describes how the model sheet itself works, describing edit functions, displaying of names and parameters, setting layout and font, and arranging windows.

New Features in Version 7.0

This chapter provides a brief overview of the new features in SIMPLORER version 7.0.

Appendix

The Appendix provides tables with common modeling conventions, and lists the reference ar-row system and invalid configurations.

SIMPLORER 7.0 — Getting Started 11

1 Introduction

SIMPLORER is a simulation package for multi-domain designs that are commonly found in automotive, aerospace, power electronics, and electric drive systems.

SIMPLORER provides a novel approach for the virtual prototyping of large-scale systems by allowing the user to develop a design that combines predefined basic and industry-specific components with user-defined models.The user can create models in common programming languages or standard modeling languages such as VHDL-AMS. The basic and industry-spe-cific model libraries available for SIMPLORER provide ready-to-use parameterized compo-nents, making SIMPLORER the easiest, most accurate, and most flexible tool available today.

Solving a modeling task with SIMPLORER consists of the four steps show below. If the prob-lem is complex and comprehensive, individual steps may need to be repeated.

The first chapter in this guide lists the system requirements and contains an installation guide for SIMPLORER. The remaining chapters contain step-by-step easy-to-understand examples demonstrating the most important modeling capabilities. The examples should be worked se-quentially, since concepts introduced in earlier examples are explored in more detail in the later examples. SIMPLORER conventions and modeling rules are discussed in the Appendix.

About this Getting Started Manual

Manual Conventions

SIMPLORER is fully Windows compliant. The operation of the windows and the environment are consistent with the Windows standard and are not described in this Getting Started Man-ual. For questions about Microsoft Windows, please consult your Windows documentation.

The following format conventions are used:

In many cases, clicking the right mouse button displays a shortcut menu with special object activities or properties. If you want to see the choices on the shortcut menu, click the right mouse button.

When you see the term mouse click, always use the left mouse button.

Create project Simulate Evaluate

Create model

Create project: A project is a file that contains the different files of a simulation task. The SSC Commander both creates and manages these project files.

Create model: A model is required to start a simulation. Use the graphical input tool Schematic or the SIMPLORER Text Editor to create a model.

Simulate: The simulator calculates the simulation model and sends the results to a display.

Evaluate: Simulator data can be evaluated and analyzed using the DAY Post Pro-cessor application.

<Apply> Button to confirm selection activity.

FILE>OPEN Menu sequence (command) to start an action.

«Properties» Text in menus and option fields.

2 Introduction

User Manual Symbols

Installing SIMPLORER

Hardware and Software Requirements

The values listed first are required for reliable SIMPLORER performance.

Indicates an everyday tip, a helpful hint for using a feature.

Indicates important information – Please note!

Content signpostThis symbol marks detailed specifications of content at the beginning of chap-ters and sections.

Function sequences This symbol is placed at the beginning of instructions which describe the proce-dure for a complex task.

Reference guideThis symbol is placed at the beginning of lists and tables which contain com-plete summaries of menu commands and parameters.

Basic knowledgeThis symbol denotes general descriptions and keys to understanding program functions.

CPU: Pentium 800 MHz or better

Memory: 512 MB or more

Hard disk space: 2 GB or more

Operating system: Windows 2000/XP

Graphics card: VGA 1024x768

The complete installation requires approximately 350 MB of hard disk memory, and simula-tion data output may require much more memory.

Before starting every installation, make certain that the hardware key is connected, if you need one. It may connect to the parallel printer port (LPTx) of your PC or to a USB port, depending on the type of key you have.

To install under Windows 2000/XP, you must log in as an administrator.

Basic Installation Procedure
1 Copy the licenses.txt file (received by e-mail) for the purchased software on your PC.

2 Install the hardware key, if it is necessary. Depending on the type of key you have, it may connect to the parallel printer port or a USB port of the computer.

3 Log in as Administrator for Windows 2000/XP systems. (Otherwise, you will see error -115 when files are being copied.)

4 Run the FLEXlm setup (once for the whole network, usually on the server or, on the single machine if you install a single machine version).

5 Run the SIMPLORER setup.

Starting Simplorer Setup

1 Put the SIMPLORER CD-ROM into the CD-ROM drive. The setup program starts automat-ically.

2 Click <Install Software>.

3 Click <Install SIMPLORER>.

4 Follow the instructions in the setup program.

If the setup program does not start automatically, use Windows Explorer to open the file Autorun.exe on the SIMPLORER installation disk.

See also the Ansoft PC Installation Guide for additional information and hints.

4 Starting the Simulation System SIMPLORER


SIMPLORER can be started like all Windows-Programs on the task bar in the desktop. The item in the task bar is created automatically during the SIMPLORER installation. If the de-faults were used, SIMPLORER is located in SIMPLORER7.0.

Starting SIMPLORER and Defining User Names

1 Start SIMPLORER from the Windows task bar. Click Start, and select the following: Pro-grams>Ansoft>SIMPLORER 7.0>SIMPLORER Simulation Center 7.0.

The SIMPLORER start-up screen appears on your screen.

2 Confirm the displayed user name that was created during setup.

SIMPLORER’s start-up screen

If you want to add a user name, enter the new user name in the name box. A special profile (directories, screen layout) is connected with each user name in the SIMPLORER program en-vironment.


3 Choose <OK> to start SIMPLORER. The SSC Commander window and the Welcome screen appear. The Welcome screen provides four ways to start working:

• Create a New Project• Create a New Simulation Model• Open an Existing Project• Open an Existing Simulation Model

4 Click on the «Create a new project» button.

Creating a New Project and Starting SIMPLORER Schematic

The SSC Commander is the central communication unit of SIMPLORER. The applications, managed projects, and defined options for the program environment are all started here.

SIMPLORER Welcome Dialog


Creating a New Project

1 Define a name for the project file (SSC).

2 If desired, enter a project title; otherwise, leave this field blank.

3 Click on <Create> to define the new project.After a new project is created the SSC window appears, displaying the application list (the window below shows the files in an existing project).

Define the project with <Create>

Enter a project title

Enter the name of the project file

Only one project can be open at a time in the SSC window.

If you open an existing project, click «Schematic» in the application list and double-click on the sheet you want to open.

Project name

Status bar Information and output Window

Slider Application list


4 Schematic opens automatically with an empty sheet, and displays a Tip of the Day win-dow. If you do not want the Tip window to appear when Schematic starts, clear «Show tips at startup» before closing the window.

In SIMPLORER Schematic, you can create simulation models, process simulations, and dis-play simulation results. A variety of drawing components can be used to illustrate the simu-lation model.

Schematic with an empty sheet

Your screen layout may be different from what is shown in the picture above, depending on your VIEW menu settings.

See Chapter 8, “Representation and Layout of a Model Sheet” on page 59, for more informa-tion on how to place and modify components and their properties.


The Schematic Main Window

From the SIMPLORER Schematic application, you can create simulation blocks, control the simulation process, and display simulation results. A variety of displays are available for data visualization.

The Schematic main window consists of the following elements, which you can show and hide with the VIEW menu commands:

ModelAgent: Shows the installed libraries and components.

Object Browser: Lists the elements available on the Schematic and their properties.

InformationWindow:

Shows messages from Schematic (Build), the Simulator, and the Com-piler, and displays the Simulation model in SML (simulation script).

Build Window: Displays messages from the Schematic.

Report Browser: Lists all components of a simulation model and their parameters.

Simulation Script Window:

Displays the script that was used for simulating the design in the Sche-matic or for exporting a VHDL-AMS description from the Schematic.

Simulator Window: Displays messages from the Simulator.

Compiler Window: Displays messages from the Compiler.

Editor Window: Displays the compiler messages that were generated by compiling a text model on sheet with the embedded Editor.

Analysis Script Window:

Displays the Visual Basic script used for executing an advanced anal-ysis.

Analysis Log Window:

Displays a log of operations after the completion of an advanced anal-ysis.


ModelAgent with installed libraries

Sheet

Report Browser Available components

Status line

Information Window

Object Browser

10 Three-Phase Rectifier with Resistive/Inductive Load


The figure below shows the Schematic sheet of the simulation model with the corresponding values of components: The three phase power supply, the rectifier bridge with static diodes and their characteristics, the smoothing capacitor, and the resistive/inductive load.

SIMPLORER functions you will use in this example:• Basic functions to work with SIMPLORER• Picking out SIMPLORER components from a library• Placing and arranging components• Connecting components on the sheet• Modeling with electric circuit components• Modeling time controlled sources• Using Display elements for displaying simulation results

Starting the Schematic Application

1 Start SIMPLORER on your PC.

2 Create a new project (PROJECT>NEW).

This example contains a three-phase power supply and a rectifier bridge with resistive/in-ductive load. For the input signals, time controlled voltage sources will be used. The di-odes, the capacitor, and the resistor are ideal components; the diodes are determined by an exponential function (their characteristic).

Placing and Arranging the Components on the Sheet
First, you need to place and arrange all components used in the simulation model on the sheet. The ModelAgent embedded in the Schematic provides the library of the SIMPLORER basic components, which are used for this example.

1 Choose the SIMPLORER model library Basics. Click on the «Basics» tab in the Mod-elAgent window. The window shows the components of the library in a tree structure.

2 Place the component onto the sheet. Select the folder Circuit and then the folder Passive Elements from the model tree. Click on the “+” symbol to open the folder and display its con-tents. Select the component Resistor. Hold the mouse button down, drag the component onto the sheet, and release the mouse button.

3 Arrange the components on the sheet. Each selected component placed on the sheet can be moved with drag and drop, rotated with the R key, or flipped with the F key. A selected component is bordered by a broken blue line. The F and R keys are available for all selected components on a sheet.

Activate the Basics

Open the Passive Elements folder

Drag the component onto the sheet

Open the Circuit folder

library

Use the push pin shown at the top of the ModelAgent window to autohide the ModelAgent window for a larger drawing space on the Schematic sheet.

The rotation point can be moved with the cursor to a more useful position; for

Rotate highlighted component around its rotation point (R key). Flip highlighted

component (F key)

example, to a pin on the component.


4 Repeat steps 2 and 3 until all components listed in the table below are placed on the sheet from the indicated circuit component folders.

5 Arrange the components. Use the figure at the beginning of this section as a model for arranging the components. To align components, select the first component, then Shift-click to select additional components. Use ELEMENT>ALIGN>TOP to horizontally align the compo-nents, and ELEMENT>ALIGN>LEFT to vertically align components. The position of the last el-ement selected will be used for the alignment (the last component selected will be outlined in blue).

6 Place the ground nodes. Choose CONNECT>GND. The ground symbol will “stick to” the mouse pointer. Position the terminal of the ground node over the terminal of the device you are grounding and click. The ground node will be connected to the device. You may rotate the ground node to the desired position if necessary.

The ground node is necessary for each separate circuit on a sheet. Please note the counting direction of components. The direction is marked by the red point or the plus sign at the sym-bol of electrical components. See also “SIMPLORER Reference Arrow System” on page 77.

All of the required components for this simulation model are now on the sheet. To connect the components, place them in appropriate positions. Also see the simulation model figure on page 10.

Connecting the Components

When all the components are arranged, you can connect them as required for this example.

1 Activate the wire mode. Choose CONNECT>WIRE. The cursor changes to cross wires. You can also automatically activate wire mode by placing your cursor over an element pin (the cur-sor changes to cross wires) and clicking on the pin.

2 Connect the components as required for the circuit. Place the cursor on the element pins and set the beginning, the corners, and the end of a wire by clicking. Press ESC to exit wire mode.

You can enlarge or reduce the size of components using the VIEW commands, the functions in the Zoom toolbar, or the PLUS SIGN and MINUS SIGN key. You can also start the wire mode

Module Group ComponentCircuit Passive Elements Resistor 4x

Inductor 4x

Capacitor

Sources Voltage Source 3x

Semiconductor System Level

Diode 6x

If you hold down the CTRL key while dragging a component, the component and all of its pa-rameters will be duplicated, allowing you to easily copy and paste components without using the ModelAgent.

CTRL+G can be used as a shortcut to place ground nodes on the sheet.


with CTRL+W. Wires that are not properly connected will be shown as broken red lines.

Defining Component Properties

All components that have been placed and connected still have their default parameter val-ues, as saved in the Basics model library. You must now assign the proper values for the com-ponents. Refer to the simulation model figure on page 10.

1 Define the parameters of the voltage sources. All sources are time controlled sine func-tion generators with a phase shift of 120 degrees to each other.

Double-click the first voltage source symbol to open the property dialog and set parameters. Change the «Name» from E… to ET1. Select «Time Controlled», and leave the «Phase» value as it is at 0. Keep all other values at their defaults. Click <OK> to apply the changes.

Double-click the second voltage source, and select «Time Controlled» again. Set the «Phase» to 120 degrees. Change the «Name» from E… to ET2 and click <OK> to apply the changes. Double-click the third voltage source, select again the «Time Controlled» option, and enter 240 for the «Phase» value. Change the «Name» from E… to ET3 and click <OK> to apply the changes.

2 Define the parameters of the phase resistors. Double-click the resistor symbol to open the property dialog and set parameters. Change the «Name» from R… to R_A and the «Resis-tance» from 1k to 10m. Click <OK> to apply the changes.

3 Repeat this step for the resistors R_B and R_C.

4 Define the parameters of the phase inductors. Double-click the inductor symbol to open the property dialog and set parameters. Change the «Name» from L… to L_A and the «Induc-

Valid starting pointfor a connection

Invalid starting point

Correctly created connection

No connection (broken red line)

Select

Enter the name

Choose «Sine»

«Time Controlled»

from the list

Enter the phase value


tance» from 1m to 0.3m. Check «Initial Current» and set the value to 0. Click <OK> to apply the changes.

5 Repeat this step for the inductors L_B and L_C.

6 Define the parameters of the diodes. All diodes are static models using an exponential function as characteristic. Double-click the diode symbol to open the property dialog and set parameters. Change the «Name» from D… to D1…D6. Select «Type» and choose «Exponen-tial Function» from the list. Leave all characteristic values as they are and click <OK> to ap-ply the changes.

7 Repeat this step for all diodes.

This example uses diode models with a static characteristic curve. For most applications stat-ic semiconductor models supply sufficient simulation data. If switching, losses, thermal anal-ysis, and other properties are targets of your simulation, you need dynamic elements. However, using many dynamic elements in a simulation model can increase the simulation time.

8 Define the parameters of the smoothing capacitor. Double-click the capacitor symbol to open the property dialog and set parameters. Change the «Name» from C… to CD and the «Capacitance» from 1u to 1m. Check «Initial Voltage» and set the value to 0. Click <OK> to apply the changes.

9 Define the parameters of the load resistor. Double-click the resistor symbol to open the property dialog and set parameters. Change the «Name» from R… to R_LOAD and the «Re-sistance» from 1k to 1.2. Click <OK> to apply the changes.

10 Define the parameters of the load inductor. Double-click the inductor symbol to open the property dialog and set parameters. Change the «Name» from L… to L_LOAD and the «In-ductance» from 1m to 9.5m. Check «Initial Current» and set the value to 0. Click <OK> to apply the changes.

All parameters of the simulation model now have the correct values. In the next step you must define the output quantities that will be displayed on the sheet. The table below lists all com-ponents of the simulation model and their parameter values.

In addition to displaying the name of the components on the schematic, you can display the value of parameters (resistance, phase, inductance, and so on). Double-click the element sym-

Name Type ParametersET1 Time controlled Amplitude [V]=326k; Frequency [Hz]=50; Delay [s]=0;

Phase=0; Angular Dimension=Degrees; Offset [V]=0; Periodical=Yes

ET2 Time controlled Amplitude [V]=326k; Frequency [Hz]=50; Delay [s]=0;Phase=120; Angular Dimension=Degrees; Offset [V]=0;Periodical=Yes

ET3 Time controlled Amplitude [V]=326k; Frequency [Hz]=50; Delay [s]=0;Phase=240; Angular Dimension=Degrees; Offset [V]=0;Periodical=Yes

R_A, R_B, R_C Linear Resistance [Ω]=10m

L_A, L_B, L_C Linear Inductance [H]=0.3m; Initial Current [A]=0

D1…D6 Exponential Function

Saturation Current [A]=1p; Thermal Voltage[V]=35m; Reverse Resistance[Ω]=100k

CD Linear Capacitance [F]=1m; Initial Voltage [V]=0

R_LOAD Linear Resistance [Ω]=1.2

L_LOAD Linear Inductance [H]=9.5m; Initial Current [A]=0


bol to open the property dialog. Click the «Output/Display» tab and select the parameter you want to display. Choose «Name at Symbol» from the «Show» list box. If you right click on the selected parameter, you can turn the Pin on and off, and select the display mode from the «Show» menu.

The properties displayed on the sheet can be moved and changed directly on the sheet. To move a name or parameter value, select it (it will turn yellow), hold the mouse button down, and drag it to a new position. To edit a name or parameter value, select it (it will turn yellow) and click on it again so that it is highlighted. Enter the new value and press ENTER.

Displaying Simulation Results with Display Elements

During a simulation several types of data are created. These data can be displayed on the screen by means of output definitions, or saved in files. SIMPLORER Display Elements are dis-plays that show output quantities of a simulation model. These elements are located in the Displays library and can be placed on the sheet like any other component.

1 Place and arrange 2D Display Elements. Choose the SIMPLORER model library Dis-plays. Click once in the ModelAgent window on the Displays tab. The window underneath shows the elements of the library in a tree structure.

2 Place the element on the sheet. Select the folder Displays from the model tree. Click on the “+” symbol to open the folder and display its contents. Select the element 2D View. Hold the mouse button down, drag the component to a free place on the sheet, and release the mouse button. Repeat this step to place three 2D View elements on the sheet.

3 Define the model outputs. Double-click the first 2D View symbol to open the property di-alog. Select TR (Run data) from the drop down menu. In the Y-Axis section, create new out-puts for ET1.V, ET2.V and ET3.V by clicking the Add button and checking the output boxes of these quantities. Click <OK> to apply the changes.

Double-click the second 2D View element and define CD.V as the output. Repeat this step for the third 2D View element and define R_LOAD.I as output.

4 Define the representation of the Display Elements and the output quantities. Change the size of a Display Element by selecting it and dragging the blue sizing handles with the cursor. To move a Display Element, select it, hold the mouse button down, and drag the Dis-play Element to a new location. Change the color of the output quantities by clicking on the color box.

You can edit objects within the Display Elements directly. Right click on the Display Element and select «Edit In Place». To move a component of the Display Element, CTRL-click the component and drag it to a new location. To edit a component of the Display Element, double-click it to open a property dialog where you can change the font, color, and so on. Components include the legend, title, axis labels, and individual graph plots.

During your simulation, the quantities defined in the 2D View Elements are continuously up-dated and displayed.


Defining Simulation Parameters

Simulation parameters control the simulation process. The choice of simulation parameters is important for a successful simulation. There are general and circuit simulator parameters. The values obtained during a simulation provide valuable information about the quality of a sim-ulation result. Choose SIMULATION>PARAMETERS to define the simulation parameters. The pa-rameters, defined in the next steps, are used also for example 4, 5, and 6.

1 Define the general simulation parameters. Choose the «TR» tab and change Simulation end time from 40m to 0.1, Minimum time step from 10u to 1u, and Maximum time step from 1m to 0.5m.

2 Define the circuit parameters. Change the Integration Formula to Euler, the Maximum number of Iterations from 40 to 20 and the Local discretization error from 1 to 0.1. Click <OK> to apply the changes.

Select the simulation quantity of the X axis Click the “Add” button to open the simulation quantity tree

Select the entry in the simulation quantity tree Specify and special settings such as Presentation, Scaling, and so on

Select the CD.V for output and click <OK>

Add Delete All Delete

Saving the Sheet
1 Choose FILE>SAVE AS.

2 Enter a file name.

3 Click <OK>.

Starting Simulation

Start the simulation with the SIMULATION>START menu command or the F12 key. The simu-lation model is compiled and calculated.

During the simulation run, the file name of the model is visible in the simulation toolbar, and symbols to stop and break the simulation are available. At the end of the simulation, the pro-gram remains open so that the simulation can be continued to a new simulation end time us-ing SIMULATION>CONTINUE.

After the simulation, the output quantities are displayed in the Display Elements on the sheet. Default outputs are also saved in a .sdb file (SIMPLORER Database) so that you can open and edit the simulation results with the DAY Post Processor or SDB Manager.

Simulation Results

The three Display Elements on the sheet display the results of the simulation on the sheet. See also “Displaying Simulation Results with Display Elements” on page 15.

• Voltages of the sources ET1.V, ET2.V, and ET3.V• Voltage of the smoothing capacitor CD.V• Current of the load resistor R_LOAD.I

The X- and Y-axes are scaled automatically to the maximum extension of a displayed quanti-ty. You can also add more quantities in a Display Element if you want. Double-click the Dis-play Element to open the property dialog. Click the Add button to create new entries and check the output boxes of the corresponding quantities. The quantity is displayed immediate-ly without new simulation.

If the question “Do you want add the file to the project?” appears, click <Yes>.

Start simulation Stop Pause Continue

Simulation process indicator

Red: Simulation is running Green: No running simulation

Simulator function menu

Model name

Used simulator


The «Extern View» function displays the outputs of the Display Element in a separate win-dow outside the model sheet. This presentation mode is started with the shortcut menu (right click on the Display Element) and select «Extern View».

To zoom the X-Y dimension, right-click on the Extern View window and select «Zoom». Select any part within the Extern View Window (drag the mouse while holding the left mouse button) to enlarge the selected area. The new view will also appear in the Display Element on your sheet. You can reset the changes with the «Scale Automatic» shortcut menu command.

.

Voltages of

Voltage of the

the sources

smoothing capacitor

Current of the load resistor

Display Element Extern View


FFT of CD Capacitor Voltage

1 Start the DAY Post Processor. Choose SIMULATION>DAY POST PROCESSOR in the Sche-matic.

2 The .sdb result file (database) is automatically opened. Click <Finish> in the start di-alog. All simulation quantities are immediately displayed in a 2D graphic.

3 Separate the capacitor voltage. To separate the voltage of the capacitor, click on the 2D graphic with the right mouse button and select «Edit Channel». From the list of variables, se-lect CD.V=f(model_name.sdb file path). Use the slider to scroll the list if this quantity is not in the visible area. Click on «Separate Window». The voltage CD.V is displayed in its own window. If the quantity that you want to view is shown on the right of the graph, you can also right click it and click on «Separate Window» to open the variable in its own window.

4 Apply the FFT analysis. Start the FFT analysis using ANALYSIS>FFT. Choose CD.V from the «Source» list, click on the button for graphic representation, and then <Calculate>. Click

Any element can be copied to the Windows clipboard as a META file. Applications such as MS Word or Corel Draw can open the META file (EDIT>PASTE SPECIAL) and edit parts of the graphic, such as curves, titles, or axis legends, as separate objects. This function is helpful if data presentations must be modified.

2D View with all quantitiessaved in the database

Select «Separate window»

Choose CD.V from the list

2D View of the separated channel

Select «Edit Channel»


<Close> to return to the DAY Post Processor window.

The resulting transformation is displayed in a separate window as a table or a graph, depend-ing on your settings: «Table» or «Graphic» representation.

5 Choose FILE>SAVE AS to save the DAY representation.

6 Close the DAY Post Processor window when you are ready to return to Schematic.

Table Representation Graphic Representation

You can open Excel files created from the DAY Post Processor (FILE>EXPORT SIMULATION RE-SULTS) with most versions of MS-Excel and create the corresponding graphics from the Excel table. Please note: Excel is able to load a maximum of 32,000 data sets.


4 Hysteresis Current-Controlled DC Motor Start-Up

The figure below shows the Schematic sheet of the simulation model with the corresponding values of components: The three phase power supply, the rectifier bridge with static diodes and their characteristics, the smoothing capacitor, the DC machine model, Chopper transis-tor, and freewheeling diode.

SIMPLORER functions you will use in this example:• Basic functions (selecting, placing, arranging, and connecting components)• Modeling with circuit and block components• Using Display Elements for displaying diode characteristics• Using pins for providing quantities on the sheet

In this chapter, the example from chapter 3 is slightly modified. The resistive/inductive load is replaced with a real machine model (DC permanent excited). To design a simple current control machine model, the example is expanded with a two-point hysteresis ele-ment, a Chopper transistor, and a freewheeling diode. The other parts of the circuit, the three-phase power supply with rectifier bridge, remain unchanged. In the second step, the controller is modeled with state graph components.


Deleting the Resistive/Inductive Load

First, you need to delete the components which are not used in the modified simulation mod-el. Instead of the resistive/inductive load, you will place a DC machine model with a free-wheeling diode and a chopper transistor.

1 Select the components. Select the resistor R_LOAD, hold down the SHIFT key, and select the inductor L_LOAD. Both components are highlighted now.

2 Delete the two components. Choose EDIT>CUT. The components are removed from the sheet. You can also press CTRL+X to delete components.

3 Delete the remains of the wires. Select any remaining unused wires by holding down the SHIFT key. Press CTRL+X to remove the wires.

Saving the Sheet with a New Name


2 Select a filter and enter a new file name.

3 Click <OK>.

Placing and Arranging the New Components on the Sheet

First, you need to place and arrange the new components used in the extended simulation model. The ModelAgent embedded in the Schematic provides the library with the SIMPLOR-ER basic components, which are used for this example.

1 Choose the SIMPLORER model library Basics. Click once in the ModelAgent window on the «Basics» tab. The window underneath shows the components of the library in a tree structure.

2 Place the component onto the sheet. Select the folder Circuit and then the folder Elec-trical Machines from the model tree. Click on the “+” symbol to open the folder and display its contents. Select the component DC Permanent Magnet Excitation. Hold the mouse button down, drag the component onto the sheet, and release the mouse button.

3 Arrange the component on the sheet. Each selected component placed on the sheet can be moved with drag and drop, rotated with the R key, or flipped with the F key. A selected component is bordered by a broken blue line. The F and R keys are available for all selected components on a sheet.

Select and delete the components


4 The table below provides the list of new components required i this example. Repeat steps 2 and 3 until all new components used in this example are placed on the sheet.

All of the required components for this simulation model are now on the sheet. To connect the components, you must place them in appropriate positions. Also see the simulation model fig-ure on page 21.

Connecting the New Components


1 Activate the wire mode. Choose CONNECT>WIRE. The cursor changes to cross wires.

2 Connect the components as required for the circuit. Place the cursor on the element pins and set the beginning, the corners, and the end of a wire with the mouse. Press ESC to finish the wire mode.

Some pins for connecting are not available yet. Leave these connections out in this step. The connections are created later.

Defining DC Machine Values

1 Define component properties. Double-click the DC machine symbol to open the property dialog and set parameters. Change the «Name» from DCMP1… to DCM and define the ma-chine parameters:

• «Armature Resistance» 1.2• «Armature Inductance» 9.5m• «Rotor Flux» 0.544• «Moment of Inertia» 4m

2 Make the parameter pin of the mechanical load and armature current IA available on the sheet. Click «Output/Display» tab and select the Armature Current IA [A], check the «Pin» box of the parameter, and choose «Name at Symbol» from the «Show» list box. Do the same for the Load Torque [Nm]. Click <OK> to apply the changes.

Module Group ComponentCircuit Electrical Machines DC Permanent Magnet Excitation 1x

Semiconductor System Level

Diode 1xBipolar Junction Transistor 1x

Blocks Signal Processing Two-point Element with Hysteresis 1x

Tools Equations Initial Values 1x

Select the «Pin» box Choose «Name at Symbol»


3 Move the parameter pins to appropriate positions. You can move all pins displayed on the sheet along the square that defines the edges of the component (the broken blue line you see when you select the component). Activate the moving pin mode with CONNECT>MOVE PIN, by clicking the Move Pin button in the toolbar, or by right clicking on the component and selecting «Move Pin». The mouse-pointer changes into a pointer with a four-headed ar-row. Place the pointer on a component pin. When the mouse-pointer changes to a large four-headed arrow, drag the pin to the new position. Exit the move pin mode using ESC.

Defining Mechanical Load

The mechanical load of the machine model can be set in many different ways. The variant used in this example is based on an initial value component. A quantity defined within the block is connected with the load parameter of the machine component. This separation is use-ful when a value is used for different models on the sheet. Values in the ICA component are set only once at the simulation start.

1 Define a new entry within the initial value list. Double-click the ICA symbol to open the property dialog. Create a new «Equation» entry with the Add button. Click in the «Expres-sion» field and enter LOAD:=0.

2 Make the parameter pin available for connecting with the DC machine pin. Choose «Output/Display» and check the «Pin» box of the parameter. Click <OK> to apply the changes. The new parameter is defined and its pin is available for connecting with a quantity.

3 Connect the parameter pin of the initial value with the LOAD pin of the DC machine. Move the parameter pin if necessary to position it in line with the DC machine pin. Click on one pin to activate wire mode and connect both pins. Press ESC to exit the wire mode.

Symbol with Move pointer Activated move pin mode over pin

Move pin to a new position parameter pins

Parameters dialog Create a new equation

Enter the expression

Check the «Pin» box

Parameters dialog

entry

Connect the parameter pins

Freewheeling Diode
Define the parameters of the diode. Double-click the diode symbol to open the property di-alog and set parameters. Change the «Name» from D… to D7. Select «Type» and choose «Ex-ponential Function» from the list. Leave all characteristic values as they are. Click <OK> to apply the changes.

Chopper Transistor

The transistor turns on and off depending on the machine current IA. At the beginning the transistor is set on to start the process.

Define the parameters of the transistor. Double-click the transistor symbol to open the prop-erty dialog and set parameters. Change the «Name» from BJT1 to TR1. Select «Type» and choose «Exponential Function» from the list. Leave all characteristic values as they are.

4.1 Controller Modeling Using Block Diagram

Initially, the current controller is designed using a two-point element with hysteresis. The block input signal is the current IA. The output signal controls the Chopper transistor.

1 Define component properties of the Two-point Element. Double-click the symbol to open the property dialog and set parameters. Change the «Name» from TPH1 to CONTR_OUT and define the parameters:

• «Threshold1» 17.5• «Threshold2» 22.5• «Value A1» 1• «Value A2» 0• «Initial Value» 1

2 Define the Block sample time. The smaller the block sample time, the more precise the current control of the machine. In this example, the system sample time is used, i.e., the block is calculated using the same sample time that the circuit models use. Choose «System» in the «Sample Time» list. Click <OK> to apply the changes.

3 Connect the output pin of the block with the input pin of the control signal of the Bi-polar junction transistor. Choose CONNECT>WIRE to activate the wire mode. The cursor changes to cross wires. Connect both pins by clicking them. Press ESC to finish the wire mode.

4 Connect the IA pin of the DC machine with the input of the hysteresis block. Choose CONNECT>WIRE to activate the wire mode. The cursor changes to cross wires. Connect both pins by clicking them. Press ESC to finish the wire mode.


All parameters of the modified simulation model now have the correct values. The table below lists all new components of the simulation model and their parameter values.

Modifying Display Elements

1 Define the model output DCM.N. Double-click the first 2D View symbol to open the prop-erty dialog. Use the Delete All button to remove existing outputs, then click the Add button and check the output box of DCM.N. Another way to do this is to select the new button, clear the output boxes of ET1.V, ET2.V and ET3.V, and check the output box of DCM.N. Select the «Presentation» tab and change the title to Speed. Click <OK> to apply the changes.

2 Define the model output DCM.IA. Double-click the second 2D View symbol to open the property dialog. Select CD.V and use the Delete button to delete it. Create a new output for DCM.IA. Select the «Presentation» tab and change the title to Current. Click <OK> to apply the changes. See also “Displaying Simulation Results with Display Elements” on page 15.

Display Diode Characteristic

The Display Elements can also be used to display component characteristics. In this case the X axis is another quantity and not the simulation time T. In addition, the standard represen-tation mode must be changed to get separate points in the display.

1 Define the axes quantities. Double-click the third 2D View symbol to open the property dialog and clear the output R_LOAD.I. Choose «Other» and set D1.V as the X axis value, and check the output box for D1.I to define the value of the Y axis.

Name Type ParametersDCM Armature Resistance [Ω]=1.2;

Armature Inductance[H]=9.5m, Rotor Flux [Vs]=0.544, Moment of Inertia [kg*m^2]=4m.

FML_INIT1 LOAD=0

D7 Exponential Function

Saturation Current [A]=1p; Thermal Voltage[V]=35m; Reverse Resistance[Ω]=100k

TR1 Exponential Function

Saturation Current [A]=1p; Thermal Voltage[V]=35m; Reverse Resistance[Ω]=100k; Control Sig-nal=CONTR_OUT.VAL (pin)

CONTR_OUT Threshold 1=17.5; Threshold 2= 22.5; Value A1=1; Value A2=0, Initial Value=1; Sample Time=System, Input=DCM.IA

Set X axis value D1.V

Set Y axes value D1.I

Select «Other» for X axis


To find a Y axis value, you can use the search function in the output dialog. Type the name and qualifier in the «Find» field to pick a quantity out of the simulation model.

2 Define the representation mode of the characteristic. Select «Pointed» from the «Type of Curve» pull-down list. To set a special marker (to show the individual simulation points on the curve), select a marker (for example, Circle) from the «Type of Marker» pull-down list. Click <OK> to apply the changes.

3 Change the name of the Display Element. Select the «Presentation» tab and change the title to Characteristic. Click <OK> to apply the changes.


Choose SIMULATION>PARAMETERS to define the simulation parameters. Make sure that the settings are the same as in the first example, and make the following change:

Define the circuit parameters. Change the Maximum number of Iterations to 30. Click <OK> to apply the changes.

Starting Simulation


Search function on the output page

Select curve type Pointed

Select marker type Circle

Select the color of the characteristic


Simulation Results

Speed, Current

The Display Elements on the sheet display the simulation results for the machine current (DCM.IA) and speed (DCM.N). Depending on the current DCM.IA, the two-point element with hysteresis controls the switching behavior of the chopper transistor. The speed for the DC mo-tor no-load starting approaches 2613 rpm.

Characteristic

The diode characteristic I=f(V) is represented in the display element after the simulation. To zoom details of the characteristic, you can scale X- and Y axes of the display element.

To modify the display of X-Y coordinates, you can define values for one or both axes manually. Double-click the 2D View symbol to open the property dialog. Select the «X-Axis» tab, clear the «Automatic» box and set the minimum value to 0.55 and the maximum to 0.9. Change the Y-Axis values in the same way. Select the «Y-Axis» tab, and set the minimum value to -10m and the maximum to 0.1. Click <OK> to apply the changes.

4.2 Controller Modeling Using State Graph

SIMPLORER's state graph module, which is based on the Petri Net theory, allows you to model event-driven discontinuous processes. The theoretical basis of the modeling is to divide a sys-tem into significant states and events, and transitions from one state to the other. The next step explains the modeling of the two-point hysteresis controller of this example with state graph components.

First, place and arrange the state graph components used in the modified simulation model.

1 Choose the SIMPLORER model library Basics. Click once in the ModelAgent window

Current curve of the DC machine Start-up curve of the DC machine

X axis scaling Y axis scaling


on the «Basics» tab.

2 Place the component onto the sheet. Select the folder States. Select the component State 11 and drag it onto the sheet.

3 Arrange the component on the sheet. Orient the component so that it can be connected with the other components in the manner show in figure below.

4 Repeat steps 2 and 3 until all new components used in the state graph are placed on the sheet

All of the required components for the state graph are now on the sheet. To connect the com-ponents, you must place them in appropriate positions as shown in the figure below.

Connecting the State Graph Components

When all of the state graph components are arranged, you can connect them as required for this example. Make certain to consider the direction of the transition components.

1 Activate the wire mode. Choose CONNECT>WIRE. The cursor changes to cross wires.

2 Connect the components as required for the circuit. Place the cursor on the element pins and set the beginning, the corners, and the end of a wire with the mouse. Press ESC to finish the wire mode.

Defining Properties of State Graph Components

A process sequence can be considered as a sequence of states. The current state is called ac-tive. Switching the activity from state to its successor state is called an event. An event occurs only if all previous states are active, all following states are inactive, and the transfer condition in the form of a logical expression is true. At the beginning of the simulation, one state must be defined as active.

1 Define the parameters of the state ON. Double-click the state symbol to open the prop-erty dialog and set parameters. Change the «Name» from STATE… to ON. Create a new SET entry with the Add button. Enter CS:=1 in the «Value» field. This entry means that the vari-able CS (for control signal) is set to '1' if the state is active. Check the «Activate State» box to set the state “Active” at the beginning. A blue circle in the symbol indicates the state is ac-

Module Group ComponentStates State 11 2x

Transition 2x

Tools Equations Initial Values 1x

State graph controller


tive. Click <OK> to apply the changes.

During a simulation, the state markers "run" through the state graph, depending on the active states in the simulation process.

2 Define the parameters of the state OFF. Double-click the state symbol to open the prop-erty dialog and set parameters. Change the «Name» from STATE… to OFF. Create a new SET entry with the Add button. Enter CS:=0 in the «Value» field. This entry means that the vari-able CS (for control signal) is set to '0' if the state is active. Click <OK> to apply the changes.

3 Define the parameters of the first transition. Double-click the transition symbol to open the property dialog to define the transfer condition. Enter DCM.IA>=IUPR in the input field. This entry means that the condition becomes true if the machine current is greater or equal to IUPR. This variable is defined in the initial value condition. Clear Show Name. Click the «Output/Display» tab and select Transfer Conditions. Choose «Value» from the «Show» list box. Click <OK> to apply the changes.

4 Define the parameters of the second transition. Double-click the transition symbol to open the property dialog to define the transfer condition. Enter DCM.IA<=ILWR in the input field. This entry means that the condition becomes true if the machine current is lower or equal to ILWR. This variable is defined in the initial value condition. Turn off the name, and display the Transfer Conditions parameter. Click <OK> to apply the changes.

The “=” operator type forces the simulator to synchronize on the condition with the minimum time step. Because of this, the state graph works more precisely than the two-point hysteresis component, but the processing time of the simulation is longer.

5 Define the parameters of the initial value component. Double-click the symbol to open the property dialog and set parameters. Create four new entries with the Add button. Click in the «Expression» field and enter the name:=value corresponding to the picture. Click <OK> to apply the changes.

Create a new entry Choose the action type SET

Enter the assignment

Set the state active

Create new entries

Define the expressions

Using Name References
To control the switching behavior of the transistor, TR1, you need to enter the control variable CS in the transistor dialog. Double-click the transistor symbol to open the property dialog to define the control parameter.Clear the «Use Pin» box, and enter the control variable CS in the «Control signal» field. Click <OK> to apply the changes.

Deactivating Components on the Sheet

It is possible to deactivate separate components or parts of a model sheet for a simulation run. The components and all of their properties remain on the sheet, but the simulator ignores the deactivated components. The connection between the terminals is considered open. This function is especially helpful when simulation models must be tested with several elements and parameters. Components can be deactivated with the ELEMENT>DON'T ADD TO MODEL DE-SCRIPTION menu command or the same command in the shortcut menu for the selected ele-ment. Deactivated components will be hatched; the hatch color can be modified in the property dialog «Sheet Properties» of the model sheet.

Select the hysteresis block CONTR_OUT and choose ELEMENT>DON’T ADD TO MODEL DESCRIP-TION. The wires, connected with the machine model and transistor, remain on the sheet.

All parameters in the modified simulation model now have the correct values. The table below lists all new components of the simulation model and their parameter values.

Clear the

Enter the «Use Pin» box

control variable

Deactivated component

Unused wire

Name Type ParametersTR Exponential

FunctionSaturation Current [A]=1p; Thermal Voltage[V]=35m; Reverse Resistance[Ω]=100k; Control Signal=CS

CONTR_OUT Deactivated Threshold 1=17.5; Threshold 2= 22.5; Value A1=1; Value A2=0, Initial Value=1; Sample Time=System, In-put=DCM.IA

TRANS1 DCM.IA>=IUPR

TRANS2 DCM.IA<=ILWR

ON SET: CS:=1

OFF SET: CS:=0


Starting Simulation


Simulation Results

The Display Elements on the sheet display the simulation results for the machine current (DCM.IA) and speed (DCM.N). Depending on the current, DCM.IA, the state graph controls the switching behavior of the chopper transistor. The speed for the DC motor no-load starting ap-proaches 2550 rpm.

The tolerance band of the state graph controller is more precise than for the hysteresis con-troller, because the “=” operator type in the state graph forces the simulator to synchronize on the condition with the minimum time step. To force any of the block models to calculate more precisely, you can define a special sample time in the model’s property dialog.

FML_INIT2 IREF:=20; DELTA:=2.5; IUPR:=IREF+DELTA; ILWR:=IREF-DELTA

Name Type Parameters

Current curve of the DC machine Start-up curve of the DC machine


5 Current and Speed Controlled DC Motor

The figure below shows the Schematic sheet of the simulation model with the corresponding values of components: The three phase power supply, the rectifier bridge with static diodes and their characteristics, the smoothing capacitor, and the PI controller.

SIMPLORER functions you will use in this example:• Basic functions (selecting, placing, arranging, and connecting components)• Modeling with block components• Examining Block Sequence• Using Pins for parameter transfer• Using Characteristic components• Using Display Elements to display simulation results

In this chapter the example from chapters 3 and 4 is extended further. The state graph/hys-teresis controller is replaced with a PI controller. The other parts of the circuit, the three-phase power supply with rectifier bridge, remain unchanged.


Deleting the State Graph

First, you need to delete the components that are not used in the modified simulation model. Instead of the state graph or simple hysteresis controller, you will use a PI controller consist-ing of block diagram components.

1 Select the components to delete. Hold down the SHIFT key and select the state graph components, FML_INIT1, and FML_INIT2 by clicking them. The components are highlighted.

2 Delete the components. Choose EDIT>CUT. The components are removed from the sheet. You can also press CTRL and the X key at the same time, which is the function key com-bination for this menu command, or you can use the DELETE key on your keyboard.

3 Delete the remaining wires. Select any remaining unused wires (shown as broken red lines) by holding down the SHIFT key. Press CTRL+X to remove the wires.



2 Enter a new file name.

3 Click <OK>.



1 Choose the SIMPLORER model library Basics. Click once in the ModelAgent window on the «Basics» tab.

2 Place the component onto the sheet. Select the folder Blocks and then the folder Con-tinuous Blocks from the model tree. Select the component Gain and drag the component onto the sheet.

3 Arrange the component on the sheet. Orient the component so that it can be easily con-nected with the other components. Reposition any parameter pins if necessary.

4 Repeat steps 2 and 3 until all new components used in this example are placed on the sheet.

All of the required components for this simulation model are now on the sheet. To connect the components, you must place them in appropriate positions. See the simulation model figure on page 33.

Module Group ComponentBlocks Continuous Blocks Gain 2x

Integrator 1x

Source Blocks Constant Value

Signal Processing Limiter 1xSummation 3x

Tools Time Functions 2D Lookup Table


Connect the components as required for the controller. Place the cursor on the element pins and set the beginning, the corners, and the end of a wire with the mouse. Press ESC to exit the wire mode.


Defining Mechanical Load

The 2D lookup table (already placed on the sheet) allows the definition of wave forms from a set of fixed data points with linear interpolation between them (straight lines from point to point) or rectangular lines between them (two orthogonal lines from point to point, which are parallel to the coordinate axes).The X-values of the data-pairs must be monotonously increas-ing. The last slope is effective for all values outside the X range. If you want to have a constant value outside the X-range, you need to define two data-pairs with the same Y-value at the end. In this example, the 2D Lookup Table is used to define the mechanical load of the DC machine.

1 Define the load characteristic. Double-click the component 2D lookup table symbol to open the property dialog and set parameters. Change the «Name» from DATATPAIRS1 to LOAD. Choose «Without» from the interpolation list. Create three new entries with the Add button. Enter the values as shown in the figure below. Click <OK> to apply the changes.

Enter values of load characteristic


2 Connect the parameter pin of the characteristic with the load pin of the DC machine. Connect both pins by clicking them. Press ESC to finish the wire mode.

Modifying the Machine Parameters

1 Make the parameter pin of DCM.N (speed) available for connecting with the PI con-troller input. Double-click the component machine symbol to open the property dialog and set parameters. Choose «Output/Display» and check the «Pin» box of Rotor Speed. Click <OK> to apply the changes. You can also right-click on the element and choose PINS>N - ROTOR SPEED from the shortcut menu.

2 Connect the rotor speed pin of the DC machine with the input of N. Click on one of the pins to activate the wire mode. The cursor changes to cross wires. Click the other pin to connect them. Press ESC to exit the wire mode.

Defining PI Controller

All components that have been placed and connected still have their default parameter val-ues, as saved in the Basics model library. You must now assign the proper values for the com-ponents. See the simulation model figure on page 33.

1 Define the parameters of the first gain block. Double-click the gain block symbol to open the property dialog and set parameters. Change the «Name» from Gain… to N. Enter -16.6667m as gain. Click <OK> to apply the changes.

2 Define the parameters of the constant block. Double-click the constant block symbol to open the property dialog and set parameters. Change the «Name» from CONST1… to N_REF and the «Value» from 1 to 16.6667. Click <OK> to apply the changes.

3 Define the parameters of the second gain block. Double-click the gain block symbol to open the property dialog and set parameters. Change the «Name» from GAIN… to P_GAIN and the «Gain» from 1 to 50. Click <OK> to apply the changes.

4 Define the parameters of the integrator block. Double-click the integrator block symbol to open the property dialog and set parameters. Change the «Name» from INTG1… to I_GAIN and the «Integral Gain» from 1 to 20. The specification of ’0’ for upper and lower limit means that there is no limitation. Click <OK> to apply the changes.

5 Define the parameters of the limiter block. Double-click the limiter symbol to open the property dialog and set parameters. Change the «Name» from LIMIT1 to LIMITER and the «Upper Limit» from 0 to 20. Click <OK> to apply the changes.

6 Define the parameters of the summation of machine current and limiter value. Dou-ble-click the summation symbol to open the property dialog and set parameters. Click in the «Sign» column of the current DCM.IA and select «-» from the list. The sign is applied to the

Connecting load characteristic with parameter pin


input signal of the machine current. Click <OK> to apply the changes.

7 Modify the parameters of the hysteresis block. Double-click the symbol to open the property dialog and set parameters. Define the parameters:

• «Threshold1» -2.5• «Threshold2» 2.5• «Value A1» 0• «Value A2» 1• «Initial Value» 1• «Sample Time» 5 with units usClick <OK> to apply the changes.

All parameters of the PI controller now have the correct values. The table below lists all com-ponents of the PI controller and their parameter values.

Modifying Display Elements

1 Delete two Display Elements. Hold down the SHIFT key and select the Display Elements by clicking them. Delete them.

Change the sign of machine current

Name Output ParametersN SUM1 Gain=-16.6667m; Sample Time=System; Input=DCM.N

N_REF SUM1 Value=16.6667; Sample Time=System

SUM1 P_GAIN, I_GAIN Sample Time=System; Input[0]=N.VAL; INPUT[1]=N_REF.VAL

P_GAIN SUM2 Gain=50; Sample Time=System; Input=SUM1.VAL

I_GAIN SUM2 Integral Gain=20; Initial Value=0; Upper Limit=0; Lower Limit=0; Sample Time=System; Input=SUM1.VAL

SUM2 LIMITER Sample Time=System; Input[0]=P_GAIN.VAL; INPUT[1]=I_GAIN.VAL

LIMITER SUM3 Upper Limit=20; Lower Limit=0; Sample Time=System; Input=SUM2.VAL

SUM3 CONTR_OUT Sample Time=System; Input[0]=-DCM.IA; INPUT[1]=LIMITER.VAL

CONTR_OUT TR.CTRL Threshold 1=-2.5; Threshold 2= 2.5; Value A1=0; Value A2=1, Initial Value=1; Sample Time=5u, Input=SUM3.VAL

LOAD DCM.LOAD TPERIO= 1; PHASE= 0; PERIO= 1; TDELAY= 0; FILE:= ""No. 1 x=0 y=0No. 2 x=0.075 y=10No. 3 x=0.1 y=10


2 Define the model outputs DCM.IA, DCM.N, LOAD.VAL. Double-click the remaining 2D View symbol to open the property dialog. Create new outputs for DCM.IA, DCM.N, and LOAD.VAL (click the Add button) and check the output box of these quantities. Select the «Presentation» tab and change the title to Current Speed Load. Click <OK> to apply the changes. See also “Displaying Simulation Results with Display Elements” on page 15.

Check the Block Sequence

The sequence of block computation can significantly influence the simulation result. You can change the block sequence with the SHEET>DETERMINE BLOCK SEQUENCE menu command.

Using Automatic Block Sorting

When the automatic Block sorting mode in SHEET>DETERMINE BLOCK SEQUENCE is active, the blocks are sorted after simulation begins according to their signal direction. If the automatic block sorting is active, the «Build» Info window displays a message after simulation begins.

Using Manual Block Sorting

To sort blocks manually, deactivate the option «Automatically on start simulation» in SHEET>DETERMINE BLOCK SEQUENCE. Select <Interactive> and the current sequence is dis-played in digits next to the blocks. The sequence can be changed by clicking the blocks in the desired sequence on the sheet or by arranging the block list in a new sequence in the dialog.

Starting Simulation


Simulation Results

The Display Element on the sheet displays the simulation results for the machine current (DCM.IA), speed (DCM.N), and the load. Depending on the current, DCM.IA, the controller con-


trols the switching behavior of the chopper transistor.The speed for the DC motor no-load starting approaches 1000 rpm.

Speed

Load

Current

40 Using VHDL-AMS Components for Modeling


VHDL-AMS Components

The VHDL-AMS Basic Library has been developed to provide the user with the most common basic functionality, circuit components and blocks in VHDL-AMS. The models have been de-veloped according to the IEEE 1076.1 (VHDL Analog and Mixed Signal Extensions Standard).

The functionality of all VHDL-AMS models is a subset of that available with the equivalent SIMPLORER models. Also, the VHDL-AMS and VHDL models do not use component dialogs to parameterize the models. VHDL-AMS models can be used in parallel with SIMPLORER models in the «Basics» tab. VHDL-AMS block models as well as the circuit elements are sim-ulated by the analog solver, while SIMPLORER (SML) blocks are solved by a separate block diagram simulator. As a consequence, the VHDL-AMS models will not display step delays along the simulator backplane, unlike the SML models. Numerical values of the VHDL-AMS data type generic are defined at t = 0 and remain unchanged for the remainder of the simu-lation.

It is possible to view the inputs and outputs of the VHDL-AMS model using the appropriate analog or digital display element. It is also possible to view the internal values used within the architecture of a model in the display graphs and use them as variables between models. However, if the VHDL-AMS design needs to be exported to other simulators then internal val-ues of the model should not be used outside the model.

The figure below shows the Schematic sheet of the simulation model with the corresponding values of components, the three phase power supply, the rectifier bridge with static diodes and their characteristics, the smoothing capacitor, and the VHDL-AMS machine component.

This example describes the modeling of a PI controlled DC motor system. Unlike example 5, a VHDL-AMS component is used for the DC machine.


SIMPLORER functions you will use in this example:• Basic functions (selecting, placing, arranging, and connecting components)• Modeling with VHDL-AMS components• Using Display Elements for displaying simulation results

Delete the SIMPLORER Machine Component

First, you need to delete from your sheet the SIMPLORER machine component that will be re-placed with a VHDL-AMS machine component in the modified simulation model.

1 Select the component. Select the DC machine component by clicking it. The component is highlighted.

2 Delete the component. Use EDIT>CUT or any of the other methods to delete the compo-nent. The component is removed from the sheet.




3 Click <OK>.


First, you need to place and arrange the new components used in the extended simulation model.


2 Place the component onto the sheet. Select the folder Measurement and then the folder Electrical from the model tree. Select the component Ammeter and drag it onto the sheet.

3 Choose the SIMPLORER model library Basic_VHDLAMS. Click once in the Mod-elAgent window on the «AMS» tab. Select basic_vhdlams. The window underneath shows the components of the library in a tree structure.

4 Place the component onto the sheet. Select the folder Circuit and then the folder Elec-trical Machines from the model tree. Select the component DC Permanent Magnet Excitation and drag it onto the sheet.

5 Arrange the components on the sheet. Orient the components so that they can be easily connected with the other components.

All of the required components for this simulation model are now on the sheet. To connect the components, you must place them in appropriate positions. See the simulation model figure on page 40.

Tab Folder Group ComponentBasics Measurement Electrical Meters Ammeter 1x

AMS Circuit Electrical Machines DC Permanent Magnet Excitation 1x




Connect the components as required for the circuit. Click on an element pin to enter wire mode and connect the pins as indicated. Press ESC to exit the wire mode.


Defining Connection for Machine Current

1 Make the current parameter pin available for connecting with the summation input pin. Double-click the ammeter symbol to open the property dialog. Check the «Use Pin for Value Output» box. Click <OK> to apply the changes.

2 Connect the input pin of the summation with the current pin of the ammeter. Connect both pins by clicking them. Press ESC to finish the wire mode.

Defining DC Machine Values

1 Define component properties. Double-click the DC machine symbol to open the property dialog and define the machine parameters:

• «Armature Inductance» 9.5m• «Motor Constant» 0.544• «Moment of Inertia» 4m• «Armature Resistance» 1.2

2 Make parameter pins of the mechanical load and speed available on the sheet. Click «Output/Display» tab and select Load Torque [Nm], check the «Pin» box of the parameter, and choose «Name at Symbol» from the «Show» list box. Do the same for the Rotor Speed

Connection of ammeter with controller input


[rpm]. Click <OK> to apply the changes.

3 Move the parameter pins to appropriate positions. You can move all pins displayed on the sheet along the square that defines the edges of the component (the broken blue line you see when you select the component). Activate the moving pin mode with CONNECT>MOVE PIN, by clicking the Move Pin button in the toolbar, or by right clicking on the component and selecting «Move Pin». The mouse-pointer changes into a pointer with a four-headed ar-row. Place the pointer on a component pin. When the mouse-pointer changes to a large four-headed arrow, drag the pin to the new position. Exit the move pin mode using ESC.

4 Connect the rotor speed pin of the DC machine with the input of the gain block, N. Click one of the pins to activate the wire mode. The cursor changes to cross wires. Connect both pins by clicking them. Press ESC to finish the wire mode.

5 Connect the parameter pin of the characteristic with the load pin of the DC machine. Place the cursor over one of the pins to activate the wire mode. The cursor changes to cross wires. Connect both pins by clicking them. Press ESC to finish the wire mode.

All parameters of the simulation model now have the correct values. The table below lists all new or modified components and their parameter values.

Select the «Pin» box

Choose «Name at Symbol»

Symbol with Move pointer Activated move pin mode over pin

Move pin to a new position parameter pins

Connecting load characteristic with parameter pin

Name Type ParametersAM1 SML (PIN)

dcmp1 VHDL-AMS la:=9.5m, ke:=0.544, j:=4m, ia0:=0, n0:=0, phi0:=0, load:=LOAD.VAL, ra:=1.2



1 Define the model outputs DCM.IA, dcmp1.N, LOAD.VAL. Double-click the existing 2D View symbol to open the property dialog. Remove outputs for DCM.IA, and DCM.N by clicking the Add button and clearing the output box of these quantities. Check the output boxes for dcmp1.n and AM1.I. Click <OK> to apply the changes. See also “Displaying Simulation Re-sults with Display Elements” on page 15.

See also “Displaying Simulation Results with Display Elements” on page 15.

Starting Simulation

Start the simulation with SIMULATION>START or the F12 key. The simulation model is com-piled and calculated.

Simulation Results

The Display Element on the sheet displays the simulation results for the machine current (AM1.I), speed (dcmp1.n), and the load. Depending on the current, AM1.I, the controller con-trols the switching behavior of the chopper transistor.The speed for the DC motor no-load starting approaches 1000 rpm.

Speed

Load

Current


7 Variants of PWM Modeling

The figure below shows the Schematic sheet of the PWM controllers with the corresponding values of components. The sheet is separated into the following four modeling variants:

• Equation modeling• Equation and time function modeling• State graph modeling• Block diagram modeling

SIMPLORER functions you will use in this example:• Basic functions (selecting, placing, arranging, and connecting components)• Modeling with block components• Using Display Elements for displaying simulation results• Using equations• Defining block Sequence

A frequently used component in power electronic applications is a PWM controller. The pulse-width modulation works with a constant frequency, variable impulse width, and a pulse duty factor.

SIMPLORER offers a variety of ways to generate a model of this kind of device. Beside the implementation of the internal circuit structure, behavioral models are increasingly impor-tant. They provide high simulation speed combined with sufficient accuracy.The following example contains PWM controllers described using different modeling possibilities in SIM-PLORER. All methods are included in one sheet so that you can easily compare slight dif-ferences between them.


Starting a New Schematic Sheet

Create a new Schematic sheet (FILE>NEW).

7.1 PWM Modeling with Equations

The first variant describes the modeling of a PWM controller with the use of equations only. You can separate the description into the following steps:

• Initial value assignments• Triangle function• Real value output• Normed value output


First, you need to place and arrange the components used to define the equations. The Mod-elAgent embedded in the Schematic provides the library with the SIMPLORER basic compo-nents, which are used for this example.


2 Place the components onto the sheet. Select the folder Tools and then the folder Equa-tions from the model tree. Select the component Initial Values and drag it onto the sheet. Se-lect the component Equations and drag it onto the sheet.

All of the required components for this simulation model are now on the sheet.

PWM modeling using equations

Module Group ComponentTools Equations Initial Values 1x

Equations 1x

The initial values defined in this component are used in all modeling variants in this example. Values in the ICA component are set only once at the simulation start.

1 Define a new entry within the initial value list. Double-click the ICA symbol to open the property dialog. Create a new «Equation» entry using the Add button. Click in the «Expres-sion» field and enter FREQU:=10k.

Repeat this step until all initial values are defined: HI:=5, LO:=0 and DUTY:=0.8. At the end click <OK> to apply the changes.

2 Define a new entry within the equation list. Double-click the EQU symbol to open the property dialog. Create a new «Equation» entry with the Add button. Click in the «Expres-sion» field and enter TRIANG1:=1/PI*arccos(cos(2*PI*FREQU*T)).

3 Repeat this step until all equations are defined.

• EPWM1:=HI*(TRIANG1<DUTY)+LO*(TRIANG1>DUTY)• EPWM1_NORM:=TRIANG1<DUTYAt the end click <OK> to apply the changes.


The variables T and PI are used in the expressions describing the simulation model. T is a predefined variable, and PI a predefined constant.

• The simulator uses predefined variables for internal computation. One of them is the sim-ulation time T. You can use the variable (read only) in expressions.

• The simulator provides some natural and mathematical constants which can be used in mathematical expressions within component dialogs. One of them is PI.

In addition, some standard mathematical functions are used in the expressions. See also “Pre-defined Variables” on page 74 and “Standard Mathematical Functions” on page 76.

Parameters dialog Create a new entry Enter the expression

Name Calculation ParametersFML_INIT… FREQU:=10k; HI:=5; LO:=0; DUTY:=0.8

FML… Standard TRIANG1:=1/PI*arccos(cos(2*PI*FREQU*T)); EPWM1:=HI*(TRIANG1<DUTY)+LO*(TRIANG1>DUTY); EPWM1_NORM=TRIANG1<DUTY



During a simulation several types of data are created. These data can be displayed on the screen by means of output definitions or saved in files. SIMPLORER Display Elements are dis-plays that show output quantities of a simulation model similar to the View Tool. These Ele-ments are located in the Display library and can be placed on the sheet like any other component.

1 Place and arrange 2D Display Elements. Choose the SIMPLORER model library Dis-plays. Click once in the ModelAgent window on the Displays tab. The window underneath shows the elements of the library in a tree structure.

2 Place the element onto the sheet. Select the folder Displays from the model tree. Click on the “+” symbol to open the folder and display its contents. Select the element 2D View. Hold the mouse button down, drag the component to a free place onto the sheet, and release the mouse button.

3 Define the model outputs. Double-click the first 2D View symbol to open the property di-alog. Create new outputs for TRIANG1, EPWM1, EPWM1_NORM, and DUTY (click the Add but-ton) and check the output boxes of these quantities. Click <OK> to apply the changes.

4 Define the representation of the Display Elements and the output quantities. Adjust the size of Display Elements by dragging on the blue sizing handles with the mouse pointer and moving them to a suitable place. Change the color of the output quantities by clicking on the color box next to the check box within the 2D View property dialog and select a new color.

5 Define the name of the Display Element. Select the «Presentation» tab, and enter the title PWM1 View. Click <OK> to apply the changes.

All online outputs for the simulation are defined. The quantities defined in the 2D View Ele-ments are displayed online during the simulation. When a Display Element is placed on the sheet, it is used for the output of simulation results.


Simulation parameters control the simulation process. The choice of simulation parameters is important for a successful simulation. There are general and circuit simulator parameters. The values obtained during a simulation provide valuable information about the quality of a sim-ulation result. Choose SIMULATION>PARAMETERS to define the simulation parameters.

Define the general simulation parameters. Choose the «TR» tab and change the default val-ues for Simulation end time from 40m to 0.5m, for Minimum time step from 10u to 1n, and for Maximum time step from 1m to 1u. Click <OK> to apply the changes.

Output definitions of 2D View Element

Saving the Sheet


3 Click <OK>.

Starting Simulation

Start the simulation with the SIMULATION>START menu command or the F12 key. The simu-lation model is compiled and calculated

Simulation Results

The Display Element on the sheet displays the simulation results for the triangle function (TRIANG1), duty value (DUTY), real PWM signal (PWM1) and normed PWM signal (PWM1_NORM). Depending on the value of DUTY the pulse width is larger or smaller.

EPWM1

EPWM1_NORM TRIANG1 DUTY


7.2 PWM Modeling with Equations and Time Function

The second variant describes the modeling of a PWM controller with the use of equations and a time function only. The initial value assignments of the first example are also used in this example. You can separate the description into the following steps:

• Initial value assignments• Triangle function component• Real value output• Normed value output


First, you need to place and arrange the components used to define the time function and equations. The ModelAgent embedded in the Schematic provides the library with the SIM-PLORER basic components, which are used for this example.


2 Place the components onto the sheet. Select the folder Tools and then the folder Time Functions from the model tree. Select the component Triangular Wave and drag the compo-nent onto the sheet. Select the folder Equations and drag the Equation component onto the sheet.

All of the required components for this simulation model are now on the sheet. In this example it is unnecessary to connect the components because references will be created using com-ponent and parameter names.


1 Define the parameters of the triangular wave function. Double-click the symbol to open the property dialog and set parameters. Change the «Name» from TRIANG… to TRIANG2 and define the parameters: Amplitude 0.5, Frequency FREQU, and Offset 0.5.

Module Group ComponentTools Time Functions Triangular Wave 1x

Equations Equations 1x

Triangular wave component parameters

Automatically filled


The <Show> function does not work in this case because of the variable FREQU. Only num-bers can be interpreted by the display function.

2 Clear the output pin. Click «Output/Display» tab and select Value and clear the «Pin» box. Click <OK> to apply the changes.

You can also leave the output pin visible, but the pin is not used in the simulation model.

3 Define a new entry within the equation list. Double-click the EQU symbol to open the property dialog. Create a new «Equation» entry with the Add button. Click in the «Expres-sion» field and enter EPWM2:=HI*(TRIANG2<DUTY)+LO*(TRIANG2>DUTY).

4 Repeat this step for EPWM2_NORM:=TRIANG2<DUTY

At the end click <OK> to apply the changes.



1 Place and arrange 2D Display Elements. Choose the SIMPLORER model library Dis-plays.

2 Place the element onto the sheet. Select the folder Displays from the model tree. Select the element 2D View and drag the component to a free place onto the sheet.

3 Define the model outputs. Double-click the 2D View symbol to open the property dialog. Create new outputs for TRIANG2.VAL, EPWM2, EPWM2_NORM, and DUTY. Click the Add but-ton and check the output boxes of these quantities.

4 Define the name of the Display Element. Select the «Presentation» tab and enter the title PWM2 View. Click <OK> to apply the changes.

Name Calculation ParametersTRIANG2 Amplitude=0.5; Frequency [Hz]=FREQU; Delay [s]=0;

Phase=0, Angular Dimension=Degrees; Offset [V]=0.5; Periodical=Yes

FML… Standard EPWM2:=HI*(TRIANG2<DUTY)+LO*(TRIANG2>DUTY); EPWM2_NORM=TRIANG2<DUTY


7.3 PWM Modeling with State Graph

The variant describes the modeling of a PWM controller with the use of a state graph. You can separate the description in the following steps:

• Initial value assignments• State graph definition with real and normed value output


SIMPLORER's state graph module, which is based on the Petri Net theory, allows you to model event-driven discontinuous processes. The theoretical basis of the modeling is to divide a sys-tem into significant states and events, and transitions from one state to the other. The next step explains the modeling of the PWM controller of this example with state graph compo-nents.

First, place and arrange the state graph components used in the modified simulation model. The ModelAgent embedded in the Schematic provides the library with the SIMPLORER basic components, which are used for this example.


2 Place the component onto the sheet. Select the folder States. Select the component State 11 and drag the component onto the sheet.

3 Arrange the component on the sheet. Orient the components so that they can be easily connected with the other components.

4 Repeat steps 2 and 3 until all new components used in the state graph are placed on the sheet.

All of the required components for the state graph are now on the sheet. To connect the com-ponents, you must place them in appropriate positions. Also see the simulation model figure above.

PWM modeling using state graph


States State 11 2x

Transition 2x

Connecting the State Graph Components
When all the state graph components have been arranged, you can connect them as required for this example. Please consider the direction of the transition components.

Connect the components as required for the circuit. Place the cursor on the element pins and set the beginning, the corners, and the end of a wire with the mouse. Press ESC to finish the wire mode.

You can enlarge or reduce the size of components using the VIEW commands, the functions in the Zoom toolbar, or the PLUS SIGN and MINUS SIGN key. You can also start the wire mode with CTRL+W or by choosing CONNECT>WIRE.


A process sequence can be considered as a sequence of states. The current state is called ac-tive. Switching the activity from states to their successor states is called an event. An event occurs only if all previous states are active, all following states are inactive and the transfer condition in the form of a logical expression is true. At the beginning of the simulation, one state must be defined as active.

1 Define the parameters of the state OFF. Double-click the state symbol to open the prop-erty dialog and set parameters. Change the «Name» from STATE… to OFF. Create a new SET entry with the Add button. Enter EPWM3:=LO in the «Value» field. This entry means, the variable EPWM3 is set to the value of LO if the state is active. Create another SET entry and enter EPWM3_NORM:=0 in the «Value» field. Check the «Activate State» box to set the state “Active” at the beginning. A blue circle in the symbol indicates the state is active. Click <OK> to apply the changes.

2 Define the parameters of the state ON. Double-click the state symbol to open the prop-erty dialog and set parameters. Change the «Name» from STATE… to ON. Create a new SET entry with the Add button. Enter EPWM3:=HI in the «Value» field. This entry means, the vari-able EPWM3 is set to the value of HI if the state is active. Create another SET entry and enter EPWM3_NORM:=1 in the «Value» field. Click <OK> to apply the changes.

Create a new entry Choose the action type SET

Enter the assignment

Set the state active


3 Define the parameters of the first transition (TRANS1). Double-click the transition symbol to open the property dialog to define the transfer condition. Enter TRIANG3>DUTY in the input field. This entry means that the condition becomes true if the value of the triangular function is lower than the DUTY value. This variable is defined in the initial value condition. Click <OK> to apply the changes.

4 Define the parameters of the second transition (TRANS2). Double-click the transition symbol to open the property dialog to define the transfer condition. Enter TRIANG3<DUTY in the input field. This entry means that the condition becomes true if the value of the triangular function is lower than the DUTY value. This variable is defined in the initial value condition. Click <OK> to apply the changes.

5 Define the parameters of the triangular wave function. Double-click the symbol to open the property dialog and set parameters. Change the «Name» from TRIANG… to TRIANG3 and define the parameters: Amplitude 0.5, Frequency FREQU, and Offset 0.5. The <Show> function does not work in this case because of the variable FREQU. Only numbers can be interpreted of the display function.

6 Clear the output pin. Click «Output/Display» tab and select the entry Value and clear the «Pin» box. Click <OK> to apply the changes.



1 Place and arrange 2D Display Elements. Choose the SIMPLORER model library Dis-plays. Click once in the ModelAgent window on the Displays tab.


3 Define the model outputs. Double-click the first 2D View symbol to open the property di-alog. Create new outputs for TRIANG3.VAL, EPWM3, EPWM3_NORM, and DUTY. Click the Add button and check the output boxes of these quantities.


Name ParametersTRIANG3 Amplitude=0.5; Frequency [Hz]=FREQU; Delay [s]=0;


OFF SET: EPWM3:=LO; SET: EPWM3_NORM:=0

ON SET: EPWM3:=HI; SET: EPWM3_NORM:=1

TRANS1 TRIANG3<DUTY

TRANS2 TRIANG3>DUTY


7.4 PWM Modeling with Block Diagram

This variant describes the modeling of a PWM controller with the use of a block diagram. A simple pulse-width modulator is a comparator with two input signals: One input is the trian-gular wave and the other is the modulation signal. The comparator compares the two signals and provides an output signal that is proportional to the modulation signal. You can separate the description into the following steps:

• Initial value assignments• Triangular Wave Component• Block Diagram definition with real and normed value output




2 Place the component onto the sheet. Select the folder Blocks and then the folder Source Blocks from the model tree. Select the component Constant Value and drag the component onto the sheet.

3 Arrange the component on the sheet. Orient the components so that they can be easily connected with the other components.

4 Repeat steps 2 and 3 until all new components used in this example are placed on the sheet.

All of the required components for this simulation model are now on the sheet. To connect the components, you must place them in appropriate positions. See the simulation model figure above.

PWM modeling using block diagram


Blocks Source Blocks Constant Value 1x

Signal Processing Summation 1xComparator 2x


Connecting the Block Diagram Components

When all the state graph components are arranged, you can connect them as required for this example. Please consider the direction of the transition components.

Connect the components as required for the circuit. Place the cursor on the element pins and set the beginning, the corners, and the end of a wire with the mouse. Press ESC to finish the wire mode.

You can enlarge or reduce the size of components using the VIEW commands, the functions in the Zoom toolbar, or the PLUS SIGN and MINUS SIGN key. You can also start the wire mode with CTRL+W or by choosing CONNECT>WIRE.


1 Define the parameters of the triangular wave function. Double-click the symbol to open the property dialog and set parameters. Change the «Name» from TRIANG… to TRIANG4 and define the parameters: Amplitude 0.5, Frequency FREQU, and Offset 0.5. Click <OK> to apply the changes.

2 Define the parameters of the constant block. Double-click the constant block symbol to open the property dialog and set parameters. Change the «Value» from 1 to DUTY. Click <OK> to apply the changes.

3 Define the parameters of the summation of triangular wave and constant value. Dou-ble-click the summation symbol to open the property dialog and set parameters. Click in the «Sign» column of the triangular wave function TRANG4.VAL and select «-» from the list. The sign is applied to the input signal of the wave. Click <OK> to apply the changes.

4 Modify the parameters of the first comparator (EPWM4). Double-click the symbol to open the property dialog and set parameters. Define the parameters:

• «Threshold» 0• «Value A1» LO• «Value A2» HI. 5 Clear the output pin. Click «Output/Display» tab and select the entry Value and clear the «Pin» box. Click <OK> to apply the changes.


6 Modify the parameters of the second comparator (EPWM4_NORM). Double-click the symbol to open the property dialog and set parameters. Define the parameters:

• «Threshold» 0• «Value A1» 0• «Value A2» 1


7 Clear the output pin. Click «Output/Display» tab, and select the entry Value and clear the «Pin» box. Click <OK> to apply the changes.



1 Place and arrange 2D Display Elements. Choose the SIMPLORER model library Dis-plays. Click once in the ModelAgent window on the Displays tab.


3 Define the model outputs. Double-click the first 2D View symbol to open the property di-alog. Create new outputs for TRIANG4.VAL, EPWM4.VAL and EPWM4_NORM.VAL, and DUTY. Click the Add button and check the output boxes of these quantities.


Starting Simulation


After the simulation, the output quantities are displayed in the Display Elements on the sheet. Default outputs are also saved in a .sdb file (SIMPLORER Database) so that you can open and edit the simulation results with the DAY Post Processor or the SDB Manager.

Name Output ParametersTRIANG4 Amplitude=0.5; Frequency [Hz]=FREQU; Delay [s]=0;


DUTY System CONST:=DUTY

SUM1 System INPUT[0]:= -TRINAG4.VAL; INPUT[1]:= DUTY.VAL

EPWM4 System Threshold:=0; Value A1:=LO; Value A2:=HI; INPUT:=SUM1.VAL

EPWM4_NORM System Threshold:=0; Value A1:=0; Value A2:=1; INPUT:=SUM1.VAL


Simulation Results

The Display Elements on the sheet display the simulation results for each PWM model: Trian-gle function, duty value, real PWM signal, and normed PWM signal. Depending on the value of DUTY the pulse width is larger or smaller.

The results EPWM2 and EPWM2_NORM are delayed by one simulation step, compared to the other modeling variants, because of the simulator’s processing sequence. Equations are cal-culated before time functions (triangular wave), thus, the value of the function will be effective for equations one step later.

EPWM2 EPWM1,3,4


8 Representation and Layout of a Model Sheet

Standard Edit Functions

Through the functions on the EDIT menu, symbols on the toolbar, or hot keys, you can copy or cut elements from the model sheet and insert them at a new location on the same sheet or on another sheet. These functions (cut, copy) always apply to the selected elements.

Selecting Components

Components (SIMPLORER elements, connections, names, graphic objects, text) are selected by clicking on them with the mouse. A selected component is bordered by a broken blue line. Several components can be selected simultaneously by pressing the SHIFT key and selecting each component. The last component selected will be outlined in blue. All components in an area can be selected by drawing a rectangle around the area. Place the mouse pointer at any corner of the area you want to select. Press and hold the mouse button, and drag the cursor to the opposite corner. The selection can be undone by clicking anywhere outside the selection.

Moving Components

Place the mouse pointer in the highlighted area and drag the selected components to a new position. All relations between the elements are retained.

Connecting Components

Wire mode allows you to make connections between a number of components. To enter wire mode, choose CONNECT>WIRE, or type CTRL+W. You can also move your mouse over a con-nection point until it changes to the wire cursor, then click to enter wire mode and make a connection to that point. To exit wire mode, press ESC.

You can also connect components by overlapping their pins, or connect a component to a wire by placing its pin over the wire. Unconnected wires are shown as broken red lines.

Editing Component Properties

Edit component properties by double-clicking the component to open the properties dialog. The properties displayed on the sheet can be moved and changed directly on the sheet. To move a name or parameter value, select it (it will turn yellow), hold the mouse button down, and drag it to a new position. To edit a name or parameter value, select it (it will turn yellow) and click on it again so that it is highlighted. Enter the new value and press ENTER.

You can edit components of Display Elements directly. Right click on the Display Element and select «Edit In Place». To move a component of the Display Element, CTRL-click the compo-nent and drag it to a new location. To edit a component of the Display Element, double-click it to open a property dialog where you can change the font, color, and so on. Components in-clude the legend, title, axis labels, and individual graph plots.


Copying, Cutting, Deleting, and Inserting Components

Selected elements can be:

• copied CTRL+C• cut CTRL+X• deleted DEL

When a component has been copied or cut, it can be inserted on the same sheet or on another sheet using CTRL+V. You can also insert data copied into the clipboard for use in other Win-dows applications.

Displaying Names and Parameters of Components and Connections

Each component is defined by its name and its parameters. The Schematic attaches and dis-plays these specifications directly on the sheet. There are many possibilities for the represen-tation of names and parameters. Whether all the information can be displayed depends on the number of components and the size of the sheet. You can modify a sheet according to your personal preferences.

The following elements can be displayed:• Pin names• Component names• Parameters• Node names

Displaying Node Names

For a selected connection, open the properties menu with the right mouse button. The «La-bel» option activates the display of the node names.

Displaying Parameter and Pin Names

From the «Output/Display» tab in the property dialog of the components (blocks, states), you can set the display options of any parameter. The «Show» column contains the options for the display setting. A drop down menu with the display options is opened by clicking in the «Show» field or by right-clicking on the parameter and selecting «Show». The meaning of the options is shown in the following figure.

Cut Copy

Insert

Display the node name for a connection

If you cannot see the «Show» column, reduce the size of the first column by moving the slid-ers to the left.


The «Complete» option means that all available outputs are displayed, as well as the infor-mation field.

Setting the Display Properties for all Components

The options in SHEET>PROPERTIES «Sheet» sets the sheet properties as well as the display op-tions for names and parameters of components. For parameter and pin names you can select «Show Never», «Show if configured in Library», or «Show Always». The settings are ap-plied to newly placed components, not to components already on sheet.

In addition, you can change the settings of nature colors. Please note: You can only change the wiring color, not the color of component symbols. The option «Use as Default» applies the settings defined in the dialog to all new model sheets.

Layout and Font

Each named element on the sheet has a properties dialog that is opened with a right mouse click. The «Text» and «General» tabs show the options for color, font, and frame. The settings are available for the selected element or for «For All» elements on the sheet. The «Use as De-fault» setting changes the default settings which are applied for all new elements placed on a sheet.

Component name

Name

Pin names

Value Name:= Value Complete

Parameter names No display

Name at Name Symbol

Name Value Name:=Value Info Value Info

GridScaleTool Tip Selection Color

Blind Out Color

Parameter displays Component (model) name

Pin name


Windows Arrangement

Using Zoom Functions

The visible area of the model sheet can be changed with the VIEW commands or the corre-sponding functions in the Zoom toolbar. Especially for extensive sheets, you can access sep-arate areas more quickly with the VIEW commands.

The Point zoom function defines the zoom area with a mouse click. The zoom mode is started with a click on the symbol or the View Point zoom menu. The mouse pointer changes into a "magnifying glass." Every click with the left mouse button on the sheet zooms in (enlarges) the representation of elements; every click with the right mouse button zooms out (reduces). The ESC key finishes the zoom mode and the normal select mode is active again.

Turning Sheet Layers On or Off

Different layers of the sheet can be turned on or off using symbols on the toolbar or the menu commands. If you print the sheet, the print area is equal to the screen view. Layers that have been turned off are not printed.

Whole sheet

Selected Element in

Selective choice of Zoom-Window

Step-by-step zoom in Step-by-step zoom in

maximum size

and zoom out of an area

All elements of a Sheet in maximum size

(point zoom)

zoom outStep-by-step

Wiring Display Elements

Active wiring Drawing elements


9 New Features in Version 7.0

Revolution in Model Design

SIMPLORER 7.0 provides designers and engineers with new features that increase tremen-dously the modeling and analysis capabilities of the SIMPLORER environment.

SIMPLORER 7.0 is packaged with a powerful scripting interface, enhanced optimization and statistical analysis tools, and several new ease-of-use features that enhance the user inter-face. Model development wizards are now available for creating C-models, VHDL-AMS mod-els, and component dialogs. The VHDL-AMS functionality in SIMPLORER has been extended with optimized models and improved simulation efficiency. A new add-on library of sensor models with 276 elements and a transient coupling link between SIMPLORER and Ansoft's Maxwell FEA product that enables simultaneous transient simulation of system and finite-el-ement models are also available with the new version release.

Much of the development of new functionality was driven by customer requests and require-ments in the automotive and aerospace industries, as well as the power and drive indus-tries.New User Interface Features

Wire Mode:

• Wire connections can be made without explicit initiation of wire mode• New wire cursor appears when the mouse is moved over potential connection points

such as unconnected pins or existing wires• A mouse click at the appearance of the new wire cursor automatically changes the

editing mode to wire mode• Wire mode is preserved even when schematic zoom is changed • Zoom-dependent tolerance of auto-connect feature is available• Auto connect feature can be initiated between pins of different models by overlap-

ping the pins on the schematic• If models are dropped such that the pin comes above a wire, a connection is automat-

ically created.• Most redundant wire connections are automatically detected and deleted in both new

connections and in old schematics• New option for wires to always be drawn on top will be default setting. Can be deacti-

vated in the sheet properties dialog• Unconnected wires are displayed as broken red lines, and it is possible to specify a user-

defined color for unconnected wires in the sheet properties dialog


Unit Handling Functionality:

• User interface and models are now equipped with functionality to assign appropriate physical types and units to model quantities

• Visualization of units is available both on the schematic as well as on the display ele-ments

Display Elements:

• "Edit in Place" mode allows on-sheet formatting and movement of display elements, including legends, titles, axes, and labels

• Three new display elements are available for displaying simulation data:• Histogram Element• 3D Graphic Element• Sensitivity Report

• New display features have been provided for 2DView elements:• Multi-run visualization capability with access to experiment and transient data• AC/DC analysis outputs can also be viewed in the new 2DView elements

Auto-insertion of Connection Models:
• C2NC models are automatically inserted when connections are made between conserva-tive nodes and SML block outputs

• D2D models that are used to connect different domains are automatically inserted when wire connections are made between conservative pins of dissimilar domains

• Omnicasters that are used to connect analog and digital values of different data types are now automatically inserted when wire connections are made between non-conservative pins of dissimilar data types

• New menu item called "Insert Wire Model" is available in the right-click menu of electri-cal wires and instantiates a wire model from the Automotive library

New SDB Manager Module:

• New module allows these editing procedures to be performed on simulation data stored in an SDB file:• deletion of data points stored in an SDB file • display of data graphically in a 2Dview element or in tabular format in a Table View

element• Module can be initiated from the Schematic's Simulation menu or as a standalone appli-

cation from the Commander

Schematic Environment:

• The Schematic interface now has a new look and feel • Tolerance parameters of models for multi-run analyses can be specified in multiple loca-

tions:• The model's properties dialog within the ModelAgent, where definitions will be used as

default for all new model instances• The model instance's properties dialog on the Schematic, where definitions will be valid

for all analyses• The analysis setup dialog, where definitions will be considered only for the specific anal-

ysis type• Locally declared pins in graphical subsheet models can now be associated with a nature/

physical type as well as expected units


Editor Environment:

• SimEdit provides syntax coloring of scripting languages such as VBScript and Tcl/Tk • Automation scripts for SIMPLORER can be initiated from within SimEdit• New editing functionality such as adding/removing block comments and intelligent find-

replace are now features of SimEdit

ModelAgent:

• New model properties can be associated with SIMPLORER components.• Tolerance parameters can be specified for multi-run simulations• Parameter sets that allow the association of multiple sets of parameters for each

model can be created. Note that only the model instance's parameter set is visible on the schematic but all parameter sets associated with a model are visible in the Mod-elAgent.

• Models can be copied or moved in the ModelAgent by using simple drag-drop mouse functionality.

Simulator

• Inductors, capacitors, and certain other energy-storage components may have their ini-tial conditions un-specified. The simulator will then establish the operating point before transient simulation, based on other sources in the circuit

• When the initial condition is specified, an inductor becomes a current source and a capacitor becomes a voltage source when the simulator determines the operating point before transient simulation

• In expression-defined voltage and current sources, the "improved numerics" now work with node voltages, voltmeter outputs, ammeter outputs, voltage source currents, and controlled voltage source currents as controlling variables

• AC/DC functionality is available in the Block Diagram Simulator• The State Graph Simulator has a new DC-state for specification of DC behavior• A foreign model and foreign function interface is available for the VHDL-AMS simulator

Modeling
Modeling with VHDL-AMS:

• AC and DC analysis simulation capability is now available for VHDL-AMS models • Enhanced VHDL-AMS Export function allows netlist export of schematics, export of indi-

vidual models and component libraries• Support for Foreign Model Instantiation enables the use of SIMPLORER, SPICE and C-

code models within a VHDL-AMS model, with no restrictions on model complexity • Support for Foreign Functions enables the use of external user-defined functions within a

VHDL-AMS model• Support for RANGE attribute is now available from the VHDL-AMS compiler• Support for File_Logical_Name is now available through Alias functionality in Com-

mander• The implementation of the following VHDL Packages that are commonly used in digital

VHDL designs has been optimized:• STD_LOGIC_ARITH• NUMERIC_STD• NUMERIC_BIT• STD_LOGIC_UNSIGNED• STD_LOGIC_SIGNED

Modeling with SML:

• Nested models with local scope can now be defined in SML• It is now possible to configure an automated conversion for physical types which have

different base units in SML language and a formal modeling language such as VHDL-AMS


Enhanced Functionality for Measuring Signal Characteristics:

• Signal characteristics components in the Basic Elements library have been redesigned as probes and their functionality is available over the scripting interface as well as directly in a display element

• Functionality of the integral error and control time response functions has been split into two components: the integral error measures now support dynamic set point variation (but not the control time response set point)

• Components for pulse time measurement based on the actual crest value have been developed

• Single-phase and multi-phase measurement of real, apparent, reactive and distortion power is now available

• AC domain measurement of bandwidth, phase margin, gain margin, etc. is now available• A scripting function to check harmonic spectra against IEEE and IEC standards has

been created

New Functionality in SIMPLORER Model Libraries:

• Components in the Basic_VHDLAMS library now support AC/DC simulation • Physical Domain models and Block models in both Basic_Elements and

Basic_VHDLAMS libraries now completely support AC/DC simulation• New dynamic IGBT model is available in the Basic_Elements library• Induction machine model in the Basic_Elements library has been enhanced with a

mechanical pin• Specification of initial value is possible with the step function models in the

Basic_Elements and Basic_VHDLAMS libraries• New sensor model library with 276 components representing 190 sensor models and 86

building block models is available as a SIMPLORER Add On Library• All models in the IST Library are compatible with the mechanical components of the

Basic libraries' Physical Domain models and the Mechsim library• New model of a permanent excited synchronous machine with neutral electrical pin is

available in the IST library


Model Development Wizards

VHDL-AMS Wizard:

• VHDL-AMS Wizard facilitates the development of VHDL-AMS models for use in SIM-PLORER and in other VHDL-AMS simulators

• Wizard provides a set of dialog boxes that automates the writing, editing, and compiling of VHDL-AMS entity descriptions and behavioral and structural architecture descriptions

• Wizard obviates the knowledge of language syntax details and also provides a compre-hensive template of VHDL-AMS constructs

• Wizard's dual-mode model editing allows the editing of VHDL-AMS code either using dialogs or the text editor

• Wizard lists all declared VHDL-AMS objects (terminals, signals, quantities, etc.) graphi-cally for an easy reference

C-Model Wizard:

• C-Model Wizard facilitates the development and extension of C-Models for SIMPLORER by generating C-code required to implement a SIMPLORER C-Model

• Wizard can be launched from the Commander as a stand-alone application or from the SIMPLORER ModelAgent

• Wizard integrates tightly with the Microsoft Visual Studio (C/C++) Development Envi-ronment

Component Dialog Wizard:

• Component Dialog Wizard facilitates the development of component dialogs for user-defined models

• Wizard features an easy-to-use graphical interface that can be used to design, preview, and test component dialogs


Advanced Analysis and Optimization Functionality
• Several new and improved analysis types are available in SIMPLORER 7.0:• Monte Carlo Analysis• Worst-case Analysis• Parameter Sweep• 3-D Analysis• Genetic Algorithm Optimization• Simplex Optimization• Successive Approximation Optimization• Frequency Analysis• Sensitivity Analysis

• Highly simplified analysis setup is possible directly from the Schematic environment• Distributions such as uniform, normal (Gaussian), piece-wise linear, and log-normal are

available• New portfolio of signal characteristics is available for use as performance measures

Scripting Interface

• SIMPLORER modules have been enabled with an automated COM interface that allows access to module functionality through scripts. The available interfaces are listed below:• Simulator Interface• SDB Interface• MathMod Interface• Experiment Tool Interface• Report Interface

• A command line function for creating SML descriptions in ASCII text of SIMPLORER schematics has been developed

• Language independent implementation of the scripting interface allows the use of a vari-ety of scripting languages such as VBScript, Tcl/Tk, etc., and even enables direct access from C/C++ programs

• Enhancements to SIMPLORER's editor module allow easy creation and initiation of scripts from within SIMPLORER


Co-simulation Interfaces

Transient Coupling of SIMPLORER with Maxwell 2D:

• Direct transient simulation coupling link between SIMPLORER and Maxwell allows sys-tem-level analysis of components modeled at the FEA level (such as solenoids or motors) using transient solvers in SIMPLORER and Maxwell

• Link between SIMPLORER component and Maxwell project is set up using the FEA Link wizard.

• Several outputs such as flux linkage, conductor loss, and core loss are available from Maxwell in SIMPLORER

Simulink Coupling:

• Mathworks Release 12 and 13 are supported (Matlab 6/6.5 and Simulink 4/5) • Coupling link dialog can automatically connect signals having SIMPLORER-style refer-

ence names (ex: R1.VAL) with the corresponding Simulink-style reference name (R1_VAL)


Appendix

Names of Components and Variables

Names can be used along with circuit components, blocks, states, time functions, character-istics, and standard variables. Names may consist of letters, digits, and underscores and can have a maximum of 50 characters.

The following are not allowed as names:

• SML notation keywords• Simulation parameters• System variablesNames of components and variables of VHDL-AMS models are case-insensitive and all upper-case characters will be converted to lower case.

Unit Prefixes of Numeric Data

Numeric data can be entered in Schematic component dialogs and also in the Text Editor with the following extensions as units:

Vowel mutations (umlauts, e.g. ä, ö, ü) are not allowed. All names are case sensitive. The first character must always be a letter.

Prefix Value SML Examplestera 1012 E12 t TER 5e12, 5t, 5ter

giga 109 E9 g GIG 1.4e9, 1.4g, 1.4gig

mega 106 E6 MEG -1.4E6, -0.3meg, -0.3MEG

kilo 103 E3 k KIL 1000, 1e3, 1k, 1kil

milli 10-3 E-3 m MIL 0.0105, 1.05E-2, 10.5M, 10.5MIL

micro 10-6 E-6 u MIC 0.000005, 5e-6, 5u, 5mic

nano 10-9 E-9 n NAN 40E-9, 40n, 40nan

pico 10-12 E-12 p PIC 100E-12, 100P, 100PIC

femto 10-15 E-15 f FEM 9E-15, 9F, 9FEM

The comma is reserved for the separation of parameters in parameter lists. You can use only a period (dot) as a decimal point. "M" will be interpreted as 10-3, not as 106.

74 Appendix

SI Units

All units used from simulator immanent components are derived from SI Units system.

Qualifier of Parameters

A few components are characterized as different physical quantities. A resistor, for instance, is represented by the current and the voltage in the simulation. System variables may be ac-cessed through reading (to use the actual quantity in another module or to create an output) or writing (influencing quantities in other modules). Access is obtained in the following form:

Access to system variables is necessary for computations and outputs. The form and the num-ber of the qualifier depend on the corresponding component.

Predefined Variables

The simulator uses predefined variables for internal computation. If these variables are used in a model description, an error message or unexpected effects will result. All predefined vari-ables are case insensitive.

Quantity Unit Name SymbolLength Meters m

Mass Kilograms kg

Time Seconds s

El. current intensity Amperes A

Temperature Kelvins K

Voltage (derived SI unit) Volts V

Name.Qualifier

All qualifiers are case sensitive. You have to use capital letters for all of them, e.g. R.V not R.v

Predefined variables cannot be used for names in a model description.

System constants (read) F, T, H, PI, TRUE, FALSE, NULL, SECM.ITERAT, FSTEP

General simulation pa-rameters (read/write)

TEND, HMIN, HMAX, THETA, FSTART, FEND

SML keywords MODELDEF, PORT, VAR, STORE, SIMCFG, OUTCFG, RESULT, SIM-CTL, OUTCTL, RUN, INTERN, MODEL, UMODEL, COUPL, ELECTRI-CAL, MECHANICAL, REAL, INT, BIT, COMPLEX


Predefined Constants

The simulator provides some natural and mathematical constants which can be used in math-ematical expressions within component dialogs or SML descriptions. The table shows the available constants and their symbol for using in expressions.

Formulas and Expressions

Formulas consist of operands and operators. Operands can be any numerals or names. Oper-ators compare or assign a value.

X:=Y+Z; X,Y and Z are the operands and := and + are the operators.

Symbol Value Unit Description Variableπ 3.141592654 [/] PI MATH_PI

E 2.718281828 [/] Euler number MATH_E

ε0 8.85419 10-12 F/m Permittivity of vacuum PHYS_E0

µ0 1.25664 10-06 H/m Permeability of vacuum PHYS_MU0

kB 1.38066 10-23 J/K Boltzmann constant PHYS_K

e 1.60217733 10-19 C Elementary charge PHYS_Q

c 299 792 458 m/s Speed of light PHYS_C

g 9.80665 m/s² Acceleration due to gravity PHYS_G

h 6.6260755 10-34 Js Planck constant PHYS_H

ϑ -273.15 °C Absolute Zero PHYS_T0

Assignment operators := assignment

## delay operator combined with the action type DEL

Arithmetic operators * Multiplication

/ Division

+ Addition

– Subtraction

Comparison operators without synchroniza-tion

< lower than

> greater than

<> or >< Not equal

Comparison operators with synchronization

This operator type forces the simulator to synchronize on the con-dition with the minimum step width.

<= or =< lower than or equal

>= or => greater than or equal

= equal

Logic operators (must be surrounded by spaces)

AND Logical AND (conjunction)

OR Logical OR (disjunction)

NOT Logical NOT (negation)

76 Appendix

Standard Mathematical Functions

Mathematical functions consist of the function name and one or two arguments. An argument can be any number or variable name. An mathematical function applies the function, which it represents, to the argument(s).

r:=FCT(x,y),r:=FCT(z)

x, y, and z are arguments, z is a complex number, FCT is the function name, r is the result.

If the argument(s) are complex numbers (for example in an AC simulation), the functions RAD, DEG, DEGEL, MOD, INT, FRAC, LOOKUP consider only the real part.

Notation Description ExampleSIN(x) Sine, x[rad] SIN(PI/6)=0.5

COS(x) Cosine, x[rad] COS(2•PI/3)=-0.5

TAN(x) Tangent, x[rad] TAN(PI/4)=1

ARCSIN(x); ASIN(x) Arc sine [rad] ASIN(0.5)=0.524=PI/6

ARCCOS(x); ACOS(x) Arc cosine [rad] ACOS(0.5)=1.0471=PI/3

ARCTAN(x); ATAN(x) Arc tangent [rad] ATAN(1)=0.785=PI/4

ARCTAN2(x,y);ATAN2(x,y)

ATAN2=ATAN(y/x)

Arc tangent2 [rad]

r=0 if x=0 and y=0; −π ≤ r ≤ π

ATAN2(.25,1)=ATAN(4)=1.325

SINH(x) Sine hyperbola. SINH(1)=1.175

COSH(x) Cosine hyperbola. COSH(1)=1.543

TANH(x) Tangent hyperbola. TANH(1)=0.762

SQU(x) Square. SQU(16)=16²=256

X^Y Power. 74=2401

SQRT(x) Square root. SQRT(9)=²√9=3

ROOT(x,[y]), y=2 n-th Root. ROOT(27,3)=³√27=3

EXP(x) Exponential function. EXP(5)=e5=148.41

ABS(x) Absolute value. ABS(-8.5)=|-8.5|=8.5

LN(x) Natural logarithm. LN(3)=loge3=1.099

LOG(x[,y]); y=10 Common logarithm. LOG(7,4)=log47=1.403

INTEG(x) Integration of a variable from the function call until to the simulation end.

INTEG(var1)=∫var1 dx

RE(z) Real part RE(z)=5

IM(z) Imaginary part IM(z)=3

ARG(z) Argument of a complex number in radians.

ARG(z)=0.53

z=a+bi=r(cosϕ+i•sinϕ)=r•eiϕ

z=5+3i=5.83(cos30.96°+i•sin30.96°)

SGN(x) Sign dependent value (-1, 0, 1).

r=0 if z=0, 1 if Re(z)>0 or (Re(z)=0 and Im(z)>0), -1 otherwise.

SGN(3)=1; SIGN(0)=0;SIGN(-3)=-1


SIMPLORER Reference Arrow System

The counting direction of current and voltage is marked by the red point or the plus sign at the symbol of electrical components.

RAD(x) Conversion from degrees to radians. RAD(30)=PI/6=0.524

DEG(x) Conversion from radians to degrees. DEG(PI/2)=90°

DEGEL(x[,y]); y=1 Conversion from degrees electrical to seconds with respect to Hz.

DEGEL(180,50)=10ms

MOD(x,[y]); y=1 Modulus. MOD(370,60)=10

INT(x) Integer part of a value. INT(2.5)=2

FRAC(x) Fractional part of a value. FRAC(2.5)=0.5

LOOKUP(x,y)

x=Characteristic name

y=X value

Access function to a characteristic. LOOKUP(XY1.VAL,5)=Y value of the characteristic XY1 for the X value 5

IF (condition) var:=1;

[ ELSE IF (condition) var:=2;

ELSE var:=3; ]

If-Else function to perform opera-tions dependent on conditions.

The ELSE IF and ELSE statement can be omitted.

IF (t>=1) var:=1;

[ ELSE IF (t>=2) var:=2;

ELSE var:=3;

DB(x) Conversion to Decibel (Available in the DAY Post Processor only.)

DB(8)=20•log(8)=18.062

Notation Description Example

When entering these functions, do not leave any space between the function argument, e.g., SIN(x), and the open parenthesis mark.

If you define arguments for trigonometric functions, poles must be considered to avoid possi-ble errors during the simulation.

Voltage Sources Current Sources Passive Components

Elec

tric

al

Voltmeter Ammeter Wattmeter

Met

ers

N1 N2

Vi

+- EMFN1 N2

Vi

N1 N2

Vi

N1 N2

Vi=0

+ VN1 N2

V=0i

A NA1 NA2W+ NV1

NV2

iV

78 Appendix

Network Configurations

In SIMPLORER, only ammeters are allowed as controlling components for current controlled elements. These must be inserted properly in the controlling branch. If sources are part of mutula controlling sources in the circuit, stability problems may occur if the total gain of the loop is greater than or equal to one.

The following types of network configurations are invalid:

• Series connection of ideal current sources• Series connection of inductors and ideal current sources• Series connection of inductors with different initial values of current, I01≠I02• Series connection of an inductor with an initial current value and an opened ideal switch

or nonconducting system level semiconductor• Parallel connection of ideal voltage sources• Parallel connection of capacitors with ideal voltage sources• Parallel connection of capacitors with different initial values of voltage, V01≠V02• Meches which consist only of ideal sources (short-circuit)• Open-ended branches

Actions in States

Action Description Syntax in ValueCALC The variable is calculated at each simulation step and

each transition from one state to another.var1:=100*t

STEP The variable is calculated at each valid simulation step. var2:=2*t

CATI The variable is calculated outside the state graph and be-fore the calculation of the electric circuit.

var3:=sqrt(t)

SET The variable is calculated only once at the moment of acti-vation of the state.

var4:=2.5

DEL Sets a delay. The variable is set to false at the moment of activation and set to true after the delay time.

var##time [s]

delation##10m

DELRES Deletes a defined delay variable. del4

DIS The variable value (and moment) is displayed in the simu-lator status window.

Name.Qualifier

dc.n

TXT The given text string is displayed in the simulator status window.

"Text String"

"State waiting"

KEY Sets a mark in the state graph by pressing a key. <A>

STOP Interrupts the simulation (can be continued). No Parameters

BREAK Finishes the simulation. No Parameters

SAVE Saves the current simulation status in a status file. No Parameters


Basic Rules for the Proper Choice of Time Step

The proper choice of minimum and maximum integration step size is very important for suc-cessful processing of the simulation and for correct simulation results.

Therefore, the specification of the minimum and maximum integration step width involves a compromise. The basic rule of measurement “Not as precise as possible, but as precise as re-quired” is also valid for the simulation. A relatively large step width may be chosen “just to see what happens” if it causes no numeric errors. The following guidelines should help you to prevent elementary mistakes in choosing the proper integration step width.

• Select the smallest of each estimated maximum and minimum step size for your simula-tion model.

• If continuous systems are modeled by a block diagram, the determination of the control-ler sampling time involves a very similar procedure.

• All the values recommended above are based on numeric requirements and experience

The smaller the maximum integration step size, the more correct the results achieved will be, but the processing time of the simulation will also be longer.

Model properties Recommended What is the smallest time constant (τmin) of the electric circuit (R*C or L/R) or of the block diagram (PTn-elements)?

What is the largest time constant (τmax) of the electric circuit (R*C or L/R) or of the block diagram (PTn-elements)?

Which is the smallest cycle (Tmin) of oscillations that can be expected (natural frequencies of the system or oscillating time functions)?

Which is the largest cycle (Tmax) of oscillations that can be expected (natural frequencies of the system or oscillating time functions)?

What is the smallest controller sampling (TSmin)?

What is the fastest transient occurrence (TUmin) (edge changes of time functions)?

What is the time interval to be simulated (Tend)?

Hminτmin10

----------<

Hmaxτmax10

-----------<

HminTmin20

-----------<

HmaxTmax

20------------<

HminTSmin

5---------------

Hmax

<

TSmin=

HminTUmin

20----------------<

Hmax TEND50

-----------------<

80 Appendix

and do not guarantee a successful simulation. Please consider the algorithm as a guide-line.


• In case of doubt, decrease the maximum and minimum step size by dividing by 10, repeat the simulation and compare the results. If the second set of results (with the step size decreased) shows conformity with the first results, then the step sizes chosen for the first simulation were appropriate (remember that smaller values increase the simulation time).

If the number of iterations is identical with the defined maximal value (NEWTON) during the simulation, the model may be incorrect. The simulation monitor displays the current number of iterations.

82 Appendix


Index

Symbols^ (function) 76

AABS (function) 76ACOS (function) 76Action types 78Advanced Analysis Functionality 71ARCCOS (function) 76ARCSIN (function) 76ARCTAN (function) 76ARCTAN2 (function) 76ARG (function) 76Arithmetic operators 75Arranging components 11, 22, 34, 41, 46, 50, 52, 55Arrow system 77ASIN (function) 76Assignment operators 75ATAN (function) 76ATAN2 (function) 76Automatic block sorting 38

BBlock diagram

Hysteresis controller 25Modeling PI controller 36Modeling PWM controller 55

Block sample time 25Block sequence 38BREAK (Action type) 78Button 1

CCALC (Action type) 78Capacitor 14CATI (Action type) 78Characteristic component 14, 35Chopper transistor 25Comparator block 56Comparison operators 75Components

Connecting 12, 23, 29, 35, 42, 53, 56, 59Copying, Cutting, Deleting and Inserting 60Deactivating 31Deleting 22, 34Editing 59Moving 59New version 6.0 63Placing 11, 22, 34, 41, 46, 50, 52, 55

Selecting 59Connecting

Components 59Connecting components 12, 23, 29, 35, 42, 53, 56Constant block 36, 56Controller

Modeling using block diagram 25Modeling using state graph 28PI controller 36

COS (function) 76COSH (function) 76Co-simulation Interfaces 72Current and speed controlled DC motor 33

DDAY Post Processor 19DB (function) 77DC machine component 23DC machine component (VHDL-AMS) 42Deactivating components on the sheet 31DEG (function) 77DEGEL (function) 77DEL (Action type) 78Deleting

Components 22, 34DELRES (Action type) 78Diode 14, 25

Characteristic 26DIS (Action type) 78Displaying

Diode characteristic 26Node names 60Parameter names 60Pin names 60Pins 23, 24, 36, 42Simulation results 15, 44, 48, 51, 54, 57

EEdit Functions 59Editing Components 59Equations 47, 51

Modeling PWM controller 46Excel format 20EXP (function) 76

FFFT 19Formulas and expressions 75FRAC (function) 77Freewheeling diode 25

84 Index

GGain block 36Getting Started

About 1Symbols 2

Graphic card 2Ground node 12

HHMAX 79HMIN 79Hysteresis block 25, 37Hysteresis current-controlled DC motor start-up 21

IIF (function) 77If-Else (function) 77IM (function) 76Inductor 13Info window 8Initial value component 24, 30, 47Installation 2

Basic Installation Procedure 3Hardware and Software requirements 2Operating systems 2

INT (function) 77INTEG (function) 76Integrator block 36

KKEY (Action type) 78

LLayers 62Layout and font 61Limiter block 36LN (function) 76LOG (function) 76Logical operators 75LOOKUP (function) 77

MManual block sorting 38Mechanical load

Characteristic 35Initial value 24

Menu sequence 1MOD (function) 77Model Agent 8Model Development Wizards 69Model sheet

Representation and layout 59Modeling

3-phase rectifier bridge 10Current and speed controlled DC motor 33Hysteresis controller 25, 28Hysteresis current-controlled DC motor start-up 21PWM controller 45With block diagram 25, 55With circuit components 10, 21, 33With state graph components 28, 52With VHDL-AMS components 40

ModifyingDisplay Elements 26, 37

MovingComponents 59Pins 24, 43

NName Reference 31Names

Displaying 60Restrictions 73

Network configurations 78New Components, Functions, and Modeling Features 63New features in version 6.0 63New Modeling Features 67New Simulator Features 66Node names

Displaying 60Numeric data 73

OObject browser 8Operating systems 2Operators 75Optimization Functionality 71

PParameter names

Displaying 60Pentium 2PI (predefined constant) 47PI controller 36Pins

Displaying 23, 24, 36, 42Displaying names 60Moving 24, 43

Placing components 11, 22, 34, 41, 46, 50, 52, 55Predefined

Constants 47, 75Variables 47, 74

ProjectsCreating 6


Titles 6Properties

Blocks 56Characteristics 35Circuit components 13DC machine 23Initial values 47State graph components 29Time functions 50

PWM ModelingModeling with block diagram 55With equations 46With equations and time function 50With state graph 52

QQualifier of parameters 74

RRAD (function) 77RE (function) 76Reference arrow system 77Report browser 8Resistor 13Revolution in Model Design 63ROOT (function) 76

SSAVE (Action type) 78Schematic

Main window 8Scripting interface 71Selecting components 59SET (Action type) 78SGN (function) 76Shortcut menu 1SI units 74Sign (signal processing block components) 56SIMPLORER

Installing 2Reference arrow system 77Starting 4

Simulation parameters 16, 27, 48, 74Simulation results 15, 44, 48, 51, 54, 57

3-phase rectifier with resistive/inductive load 17Current and speed controlled DC motor 38Hysteresis current-controlled DC motor start-up 28,

32Using VHDL-AMS components for modeling 44Variants of PWM modeling 49, 58

SIN (function) 76SINH (function) 76SML

Keywords 74SQRT (function) 76SQU (function) 76Standard mathematical functions 76Starting

Setup 3SIMPLORER 4Simulation 17, 49

State component 29, 53State graph properties 29Static characteristic 14STEP (Action type) 78Step size 79STOP (Action type) 78Summation 36, 56System constants 74

TT (simulation time) 47TAN (function) 76TANH (function) 76Text in menus 13-Phase Rectifier with resistive/inductive load 10Time function 50Transistor 25, 31Transition component 30, 54Triangular wave function 50, 54, 56Two-point Element 25TXT (Action type) 78

UUnit prefixes 73User name 4Using name references 31Using VHDL-AMS components for modeling 40

VVariables

Names 73Predefined 74

Variants of PWM modeling 45VHDL-AMS components 40Voltage source 13

WWindows 2000 2Windows arrangement 62

ZZoom functions 62

86 Index

Documents

SIMPLORER Getting Started