IPM Motor Analysis Using JMAG-RTread.pudn.com/downloads802/doc/3163641/jmagLHFZ.pdfreferred to...

©2005 The Japan Research Institute, LTD. All Rights Reserved. 1

Engineering Technology Division The Japan Research Institute, Limited

JMAG-Studio Ver.8.3 Upgraded Version

IPM IPM MotorMotor AnalysisAnalysis Using JMAGUsing JMAG--RTRT


ConceptsConcepts

JMAG-RT is a simulation system that incorporates the results obtained from JMAG-Studio FEM analysis into a circuits/control simulator for further detailed simulations.

For example, when simulating motor control by circuit/control simulators using a motor model of general simulators commonly available, the characteristics of the motor such as material properties or geometry effects will be rather simplified.

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

By incorporating the output data into the original circuit/control simulation, it is possible to obtain more accurate results that fully reflect the motor characteristics.

Two-phase stepper motor and three-phase PM synchronous motor can be used in JMAG-RT.

This document describes the procedure for JMAG-RT simulation while showing the example of a three-phase PM synchronous motor.


ObjectiveObjective

To run a simulation of a motor driving by current vector control using JMAG-RT which links the results obtained from JMAG-Studio simulation with the circuit/control simulator (MATLAB/simulink or PSIM).


Coupling of JMAGCoupling of JMAG--Studio and Studio and Circuit/Control simulatorCircuit/Control simulator

Electromagnetic Analysis Using JMAG-StudioJMAG-Studio runs magnetic field analysis while taking into account non-linear material properties and shape effects. However, it takes time to accurately compute the motor drive circuit properties to be included in the simulation, or control the rotation speed by feedback.

Circuit/Control SimulatorProperties of the circuit and controller can be simulated in detail, but taking into account the motor non-linear material properties and shape effects is difficult.

Coupling of JMAG-Studio and Circuit/Control SimulatorIn JMAG-RT simulation, the first step is to run an FEM magnetic field analysis using JMAG-Studio to obtain the inductance and torque of a motor. And then, transfer the resultant values as a model that can be replaced with an ideal motor model contained in the circuit/control simulator. As a result, the detailed properties both for the motor driver and motor can be calculated in the simulation.

• JMAG-RT can deal with three-phase PM synchronous motors and stepper motors.

• JMAG-RT couples JMAG-Studio with the circuit/control simulator Matlab/simulink or PSIM.


• JMAG: Pre/Post

• JMAG: Magnetic Field Analysis

• DP (2D and axial symmetric transient response analysis module)

Used for the case of 2D model.For 3D models, TR (3D transient response magnetic field analysis module) is used.

• JMAG-RT

Requires an exclusive license.

• PSIM

Version 6.1,6.2 and 7.0 are supported.

• MATLAB/simulink

Version R13 SP1~

Programs To Be UsedPrograms To Be Used

This document is created based on JMAG-Studio Ver.8.31101d or later. For the versions before 8.31101d, install the latest version of SP available from the JMAG Users Download Site at http://www.jri.co.jp/pro-eng/jmag/.

For running FEM analysis in JMAG-RT using the Distributed Processing feature, JMAG Remote System R/L Edition is required.

The programs used in this material are:


Sample ModelSample Model

• 2D IPM Motor Model (1/4 model)

The following is the description of the model used in this analysis.

60Thickness (mm)

3.3Coil resistance (per phase) (Ω)

2000Rated speed (rpm)

35Number of coil turns (per phase)

Y connectionConnection pattern

Sine wave driveDrive type

24Slots

4Poles

Φ55Rotor outside diameter (mm)

Φ112Stator outside diameter (mm)

The allow indicates the direction of rotor rotation.

U+U+U+U+VV--VV--W+W+

W+W+


Sample DataSample Data

Directory “JMAG_Data”• RT_IPM.jcf

Ready to be loaded into JMAG-RT with the conditions already set in JMAG-Studio.

Directory “Simulink_Data”• RT_IPM.mdl

Used with MATLAB/simulink

Directory “PSIM_Data”• RT_IPM.sch

Used with PSIM• RT_IPMsub.sch

Used with PSIM• RT_IPMeom.sch

Used with PSIM

MATLAB/simulink Main Circuit

PSIM Main Circuit

The data used in this analysis are:

The “Conditions preset” directory located in “Simulink_Data” and “PSIM_Data” contains the data with the condition settings for the operations in Simulink and PSIM covered in this document.


Analysis FlowAnalysis Flow

1.7276E-01, -6.9236E-02, …1.6548E-01, -4.7175E-02, …

…

1.7276E-01, -6.9236E-02, …1.6548E-01, -4.7175E-02, …

…

Property TableUsed as the result of JMAG calculation.

JMAG

Current, Torque

Circuit/Control Simulator

Create the model in JMAG-Studio

Create the input data for JMAG-RT

Run the Analysis

Create the control circuit ofcircuit/control simulator Voltage, Location

JMAG-RT


Tasks OverviewTasks Overview

Tasks performed using JMAG-Studio1. Motor model creation

2. JMAG-RT library manager start-up

3. Condition Setting

4. Running FEM analysis

5. Data copy to circuit/control simulator

Tasks performed using Circuit/Control Simulator (MATLAB/simulink or PSIM)

1. Preparation of the circuit/control simulator

2. Running simulation

3. Results display


Tasks performed using JMAG-Studio


Motor Model CreationMotor Model Creation

• Set three FEM coil conditions.

For a three-phase PM synchronous motor, a model with more or less than 3 FEM coil conditions can not be applied.

Which coil will correspond to which phase (U, V, W) can be specified in JMAG library manager.

• Set motion conditions.

Be sure that the target of condition setting is correctly specified, and leave all other settings at default values. This is because the settings such as Motion are not referred to during the FEM analysis by JMAG-RT.

In this example, an RT model is created based on the imported motor model with all the required conditions preset. The following are notes on motor model creation.

JMAG-Studio

• Set the electromagnetic force/torque calculation conditions to the rotor.

• Set the slide condition.

The following sections will explain the actual operations to be performed in JMAG-RT.


JMAGJMAG--RT Library Manager StartRT Library Manager Start--UpUp

To Start up JMAG-RT library manager:

1. Click the Start button >> All Programs >> JMAG-Studio8.3 >> JMAG-RT

2. In the JMAG-RT library manager dialog box, click New to open the Model typedialog box.

3. In the Model type box, select Three-phase PM synchronous motor.

4. Click Browse next to the Jcf file box, and select RT_IPM.jcf.

5. Click OK.

The Three-phase PM synchronous motor dialog box appears.

2.

3.4.

5.

JMAG-RT


Setting Conditions for FEM Analysis 1To set the parameters for FEM analysis:

1. Click the Data information tab, enter RT_IPM in the Data name text box.

2. Click the Data creation parameter tab

3. In the Number of poles text box, enter 4.

4. Specify the each item under Assignmentof FEM coil as below.

• U-phase： 1 U

• V-phase： 2 V

• W-phase： 3 W

• Number of turn： 35

• Connection pattern： Y connection

• Phase resistance: 1

5. Confirm that Sine wave drive is selected for Drive type.

6. Click the Confirm the setting of resolution check box, and click Resolution.

1.

2.

JMAG-RT

3.

4.

5.

6.


Setting Conditions for FEM Analysis 2

7. Under Inductance, enter 48 in the Number of rotation angle divisiontext box.

With this setting, the inductance variation is calculated for each of 48 divisions of the one period electric angle.

8. Click Point Sequence next to theCurrent at the time of electric conduction text box.

9. In the Point Sequence field, enter the point sequence 1, 3, 5, 7 as shown in the left figure.

For this case, input data are the range of the current expected in the drive circuit and resolution.

10. Click OK.10.

9.

8.

JMAG-RT

7.



11. Under Torque, enter 30 in the Rotation angle text box.

Here, the motor’s machine angle of the torque variation per period is defined. For this example, it is set to 30 deg. (1/12) according to the 4 poles 3 phases motor.

Similarly, in the number of rotation angle division text box, enter 30.

12. Click Point Sequence next to the current at the time of electric conduction text box.

13. In the Point Sequence field, enter 0, 1, 3, 5, 7 as shown in the left.

Here, 0［A］ is included to the range of current to be modeled to measure cogging torque.

14. Click OK.

15. In the Resolution dialog box, click Point Sequence next to the Current phase at the time of electric conduction text box.

JMAG-RT

11.

12.

13.

14.

15.



16. Enter from 0 to 360°at 15°intervals. e.g. 0,15, 30, 45, 60,………,330, 345, 360.

17. Click OK to close the Point Sequencedialog box.

18. Click OK to close the Resolution dialog box.

JMAG-RT

16.

17.

18.


19. Click OK in the Three-phase PM synchronous motor dialog box.

JMAG-RT

Condition setting for the FEM analysis is completed following the procedure up to here. Other than the tools explained in this document JMAG-RT includes the following features.Distributed ProcessingThis function can run calculations on other machines on the same network. It effectively saves the calculation time by distributing multiple computations to multiple machines. For the detailed information see the User’s Manual.Calculation ModeThis function is used to recalculate the data that have been calculated once. For rerunning only the failed calculations due to machine failures, Select Re-perform only calculation which went wrong. For rerunning entire calculation with different settings for number of poles or coil turns, etc., select All calculation is redone.


19.


Running FEM Analysis 1Running FEM Analysis 1

• The output JMAG-RT data will be sorted by types and stored in the directories created under “C:\My Document\JMAG-Studio\JMAG_RT ” by default after the calculation.

1. In the RT model library list, select the model data to be used in the FEM analysis.

2. Click Data Creation to run FEM analysis on JMAG-RT.

1.

2.

JMAG-RT


Running FEM Analysis 2Running FEM Analysis 2

3. When the calculation is completed, a report shown below is automatically displayed.

4. Check for any trouble occurred during the analysis, then click Close.

JMAG-RT

2.


Data Copy to Circuit/Control Simulator 1Data Copy to Circuit/Control Simulator 1

To copy the data output from JMAG-RT to the circuit/simulator simulator:

JMAG-RT

1. In the JMAG-RT Model Library Manager dialog box, select the data to be copied to the circuit/control simulator.

2. Click Copies to a circuit/control simulator.

1.

2.


Data Copy to Circuit/Control Simulator 2Data Copy to Circuit/Control Simulator 2

3. In the directory to be copied text box, enter or select the directory to be used for the analysis using circuit/control simulator.

• The name of the JMAG-RT model data file （*.rtt） can be changed in this dialog box. To do so, enter a new name in the New File Name text box of the data to be changed.

JMAG-RT

4. Make sure the Copy of sub-circuit file check box is selected.With this option on, all three types of files stated at the bottom of this page are copied.When it is off, only the JMAG-RT model data file （*.rtt） is copied.

5. From the Platform list, select the type of circuit/control simulator to be used.

6. Click OK. The following files are output to the directory specified in step 3 above.

• JMAG-RT model data file (*.rtt) of the selected model.• DLL block data file (*.dll) to be used in the simulator.• PSIM sub-circuit file (*.sch) or Simulink mdl file(*.mdl)

3.

4.5.

6.


Confirmation of RT Model Data CharacteristicsConfirmation of RT Model Data Characteristics

• From the resultant data obtained after the RT model calculation, torque, inductance, and induced voltage can be checked.

1. In the RT model library manager dialog box, select the model to be confirmed.

2. Click Modify.

3. Click the Motor properties tub.

• The RT correction and Motor properties tubs are only available with the RT model data for which the calculation has been completed.

JMAG-RT

3.

2.1.


Confirmation of RT Model Data CharacteristicsConfirmation of RT Model Data Characteristics4. Select the Torque check box.

5. In the Current Phase text box, enter 45.

Select the phase angle to evaluate the torque rotation angle (mechanical angle) dependency.

6. Click Write to output the following csv files.

AveTrq_graph.csv ：Trq-β-Icharacteristics

Trq_graph.csv ：Trq-θ-I characteristics

7. Edit the data using MS Excel, etc. to enhance the appearance.

JMAG-RT

4.5.

6.

-0.5

0.0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

4.5

0 5 10 15 20 25 30

I=0.000000

I=1.000000

I=3.000000

I=5.000000

I=7.000000

-5

-4

-3

-2

-1

0

1

2

3

4

5

0 60 120 180 240 300 360

I=0.000000

I=1.000000

I=3.000000

I=5.000000

I=7.000000


Tasks Performed Using Simulink


Preparing the Circuit/Control Simulator: Preparing the Circuit/Control Simulator: SimulinkSimulink 11

Preparing the data for Simulink.

If you intend to use PSIM, jump to Tasks Performed Using PSIM on page 33.

For this example, we will use the existing Simulink data adding some modifications.

1. Open the Simulink model “RT_IPM.mdl”.

• For more detailed instructions, refer to the MATLAB/simulink manual.

RT_IPM

Simulink



2. Display the Subsystem view.

3. Remove the part of the circuits that represents the motor.

RT_PSIM/Subsystem

3.

RT_PSIM2.

Simulink



4. In Command Window, enter “JMAG_RT_pmsm.mdl” to open“JMAG_RT_pmsm.mdl”.

5. Copy the JMAG_RT_pmsm block and place it as shown in the figure.

4.

5.

• “JMAG_RT_pmsm block” is written in “JMAG_RT_pmsm.mdl” output from JMAG-RT. Apply this block to the part that has been removed.

Simulink


10. To convert the output rotation speed ［rad/s］ to ［rpm］ and put it back to the circuit, multiply by a constant 60/2/pi and configure the connection as in the schematic.

11. Add Scope to measure three-phase current, d-/q-current, d-/q-voltage, rotation angle, torque.


6. Connect A(U-phase), B(V-phase), C(W-phase) as shown in the schematic.

7. Set the load torque to a constant value 0.5.

8. Set Switch_signal A, B, C, to a constant value 1.

Then, set the values output from the JMAG_RT_pmsm block.

9. Configure the connection as shown in the schematic to allow the output three-phase current to flow back.

6.

7.

8.

9.

10.

To set up the JMAG_RT_pmsm block:

Simulink

11.

11.



12. Double-click JMAG_RT_pmsm block to open the Block Parameters dialog box.

13. Enter the parameters as follows:

• RT data file： ’RT_IPM.rtt’

– Calculation will be run based on the RT data specified here.

– The name of RT data must be enclosed in single quotation marks.

• Moment of Inertia： 0.0002

• Friction factor： 0.00004059595

• Resistance of coil： 3.3

13.

To set up the parameters for JMAG_RT_pmsmblock:

Simulink



14. If you do not use coefficients, click OK to finish the setup for Block Parameters.

15. Select the Set Coefficients Manuallycheck box to use coefficients. This option extends the block parameter allowing the setting for correction coefficient.

16. Set coefficients as shown in the panel. For more detailed explanation on correction coefficients, refer to the Pre-ＰｏｓｔManual >> JMAG-RT System >> Notes on Each Model Type.

17. Click OK to close the Block Parameters dialog box.

• The Simulink_data\conditions preset directory attached to this document includes the data with all the required settings preset as coverd in this document.

15.

Simulink

17.

16.

14.

To set up the parameters for JMAG_RT_pmsmblock (continued) :


Running Circuit/Control Simulation Using Running Circuit/Control Simulation Using SimulinkSimulink

Running the simulation:

1. Select Simulation >> Start.

• When running the simulation, the files below need to be saved in the same directory.

– RT_IPM.mdl– RT_IPM.rtt– RT_simulink.dll

Simulink


Results Display: Results Display: SimulinkSimulink

1. Double-click Scope to view the analysis results.

• The diagram on the right below shows the rotation number reaching toward 2000rpm.

Three-Phase Current Rotation Speed

Simulink


Tasks Performed Using PSIM


Preparing the Circuit/Control Simulator: PSIM 1Preparing the Circuit/Control Simulator: PSIM 1

Preparing the data to be used for the simulation using PSIM.

If you intend to use Simulink, jump to Tasks Performed Using Simulink on page 24.

For this example, we will use the existing PSIM data adding some modifications.

2.

PSIM

1. Open the PSIM circuit RT_IPM.schFor the detailed instructions see the PSIM manual.

2. Remove the Sub-circuit indicated in the schematic.


3. Select Element >> Power >> MagCoupler-RT_Module >> MagCoupler_RT PMSM Machine, and place the new element to the location indicated in the schematic.

Preparing Circuit/Control Simulator: PSIM 2Preparing Circuit/Control Simulator: PSIM 2

To add a new element to the spot from which the Sub-circuit was removed:

PSIM

Double-click MagCoupler_RT PMSM Machine to open the dialog box.

4. Specify the name of the simulation.

5. In the Netlist XML File text box, select RT_IPM.xml created as an RT model.

• With this setting, corresponding rtt files are automatically loaded including the data of RT model analysis and motor constant defined in JMAG-RT Library Manager.

3.

4.5.


• The dialog box is extended to include the setting for coefficient once the Netlist XML File is loaded.

6. Click the Close × button to exit the MagCoupler_RT PMSM Machine dialog box.

7 Connect the three-phase output voltage terminal of the inverter circuit to the three-phase input terminal of the sub-circuit.


5.

7.

PSIM

6.



To set load torque:

10. Select Elements >> Power >> Mechanical Load and Sensor >> Mechanical Load (constant- torque), and place the element as indicated in the schematic.

11. Right-click Elements in step 10 above, and enter 0.5 in the Constant Torquetext box.

12. Click the Close × button.

And then, to set the speed sensor:

13. Select Elements >> Power >> Mechanical Load and Sensor >> Speed Sensor, and place the speed sensor as marked 13 in the schematic.

10.

12.

11.

PSIM

13.


Running Circuit/Control Simulation: PSIMRunning Circuit/Control Simulation: PSIM

Run the analysis using the circuit/control simulator.

1. Select Simulate >> Run Simulation, or click the Run Simulation button.

2. The progress indicator appears at the bottom of the screen as shown in the lower figure.

• When running the simulation, the following files need to be saved in the same directory.

• RT_IPM.sch• RT_IPM.rtt• RT_DLL.dll• RT_IPM.xml

PSIM

1.

2.


Results Display: PSIMResults Display: PSIM

1. Select Simulate >> Run SIMVIEW to start SIMVIEW.

2. In the SIMVIEW menu, select File >> Open to open the analysis result file (txt).

3. From the Variables Available list, select the item to display, and then click Add→.

4. Click OK, and the result is shown.

PSIM

Number of Rotation (Speed)It shows that the number of rotation increase toward 2000rpm.

4.

Three-Phase Current (Ia, Ib, Ic)

3.


Appendix Initial Position of the MotorAppendix Initial Position of the Motor

In JMAG－RT, the initial position of the three-phase PM synchronous motor is state where the a(U) axis and the d axis .

+U

-U

d-axis direction

For the analysis shown in this material, a distributed winding IPM motor was applied.

In this type of model, the U-axis (U-phase magnetic flux direction) is directed to the direction of d-axis at the initial position as shown in the left figure.

Also, the orientation of the magnetic flux due to the U-phase current is in the middle of the +U coil slot and –U coil slot.

Direction of the d-axis and U-phase magnetic flux at the initial position(A 180 °model shown for better

understanding)

IPM Motor Analysis Using JMAG-RTread.pudn.com/downloads802/doc/3163641/jmagLHFZ.pdfreferred to...

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