Simplorer and Mechanical R14 - Ansys UK/staticassets... · ANSYS Simplorer and Mechanical Overview...

Simplorer and Mechanical

© 2012 ANSYS, Inc. February 14, 20121

David Twyman

Technical Services

Overview

• Simplorer

– Architecture, Methodology and Operation

• Simplorer and Mechanical

– Rigid Body Dynamics to Mechanical Link (Cosimulation)


– Rigid Body Dynamics to Mechanical Link (Cosimulation)

– Mechanical to Simplorer (Reduced Order Modelling)

Electromechanical (EM) systems are designed by integrating

electromagnetic, mechanical, electronic and control technology

to build physical systems

Electromechanical systems are an integration of EM components

Electromechanical Systems


Electromechanical systems are an integration of EM components

and EM subsystems

Visual Definition

ElectromechanicalElectrical

Current

Voltage

Mechanical

{Fluid}

{Thermal}

{…}

Force

Position


Control

Position

SpeedCurrent

Voltage

Control Signals

Nonlinear

Circuit

System

ANSYSANSYS

MixedMixed--Signal MultiSignal Multi--DomainDomain

System SimulatorSystem Simulator

ANSYS Simplorer and Mechanical Overview


Electrical Magnetic Fluid Mechanical Thermal Acoustic

Circuit

ComponentANSYSANSYS WorkbenchWorkbench

Model Extraction &Model Extraction &

CosimulationCosimulation

Matlab

Simulink

Simplorer Architecture

Simulation Data Bus/Simulator Coupling Technology

Co-Simulation

Matlab

Real Time

Workshop

C/C++

User Defined

Model

ANSYS

RBD

ANSYS

Maxwell

Electrical, Electromagnetic Mechanical, Hydraulic, Thermal


States:

Electromagnetic

(FEA)

Mechanical

(FEA)

Model Extraction: Equivalent Circuit, Dynamic State

Space, Impulse Response Extracted LTI, Stiffness Matrix

Fluidic

(CFD)

VHDL-AMS

IF (domain = quiescent_domain)

V0 == init_v;

ELSE

Current == cap*voltage'dot;

END USE;

Blocks:

Thermal

(FEA)

JA

MMF

L

HΘ

J

STF

M(t)

GN

D

m

STF

F(t)

GN

D


Simplorer: Design Environment

Windows-like

Single project file

Modeling

• Graphical, SML, C/C++

• VHDL-AMS, PSpice

Hierarchical models

All quantities accessible


All quantities accessible

Postprocessing on sheet

or in reports

VB, Java, Python, ...

Model libraries

Wizards

Optimetrics

Distributed Solve

Simplorer Component Characterization

NL

NL_Charact

YZ

X

V3DLUT

In general:

Each parameter can be made

dependent on time or any

other quantity by

expressions or tables.

E1Y t

V_LUT

M3 ~

B

A

C

IM1

Y t

M_LUT1

L1


2D, 3D, MD

lookup table

# L1

# C1• Characteristics

• Stimuli

• Loads

Data Acquisition, Processing, Transfer

L1

L := L0 - k1 * arctan( k2 * L1.I ) H

0

EQU

FML1

A1 := 10

A2 := A1/10

f1 := 50

f2 := 2k

E1

EMF := A1*sin(2*pi*f1*t) + A2*sin(2*pi*f2*t)

Electric circuits

Conservative electrical systems+ V


+ Additional component libs

+ Vendor specific component libs

+ VHDL-AMS and Spice models

+

-

Ideal switch Two states defined by a short circuit or

an open circuit

Logical control 0/1

Static semi-

conductor

Three states defined by high resistance

in nonconducting area, low resistance in

conducting area and commutation

characteristic

Logical control 0/1

Scalable Model Detail/Accuracy

Open Circuit Short Circuit

bCtrl


characteristic

Dynamic

semi-

conductor

Physics based dynamic model providing

basic dynamic effects, advanced

dynamic effects, losses, switching

behavior and thermal behavior in

various selectable levels

Control circuit

(current or

voltage)

Spice

compatibility

Import Spice compatible models in

Simplorer

Control circuit

(current or

voltage)

bCtrl

Simplorer – State Machines

Discretize a discontinuous process into states and transitions.

State is active or inactive.

Actions assigned to a state are executed when state active.

Switch between states on transition = TRUE.

SET: itrcn:=0

• Easy to understand


ucref-utri<=0

lcn

SET: itrcn:=0

SET: itrcp:=0

DEL := lcn##td

SET: itrcn:=0

SET: itrcp:=1

ucref-utri>=0

SET: itrcp:=0

SET: itrcn:=1

SET: itrcp:=0

SET: itrcn:=0

DEL := lcp##td

ucref-utri<=0

ucref-utri>=0

lcp

• Easy to understand

algorithms

• Fast

• Simulator control

possible

System Level (Park Transformation)

Linear and nonlinear,

lumped parameters

System Level(Park Transformation,

Mechsim1D components)

Linear and nonlinear,

lumped parameters,

provides advanced

mechanical properties

RMxprt – equivalent

circuit generation

Nonlinear, losses,

space harmonics,

Electromechanical Systems

3 ~

BA C

M3 ~

BA C

3 ~

BA C

( w. Damper )

MS3 ~

BA C

( w. Damper )

#

M

#

B11A11 C11

A12 A2

B12 B2

C12 C2

ROT2ROT1

ASMS

3~M

N1 N2

ROT1 ROT2

M

DCMP

ROT2ROT1

C12

B12

A12

C11B11A11

3~M

SYMPD

N_1


circuit generation space harmonics,

lookup tables

Maxwell2D/3D(Static and Transient)

As accurate as FEA

simulation performed

N_2

N_3

N_4

Simplorer internal model

• Analytical model, linear

• Park transformation

Simplorer with RMxprt ECE

• Analytical model, look-up table

• Nonlinear saturation, eddy effects

Multi-Level Techniques – Cosimulation: Compare Modeling Depth


• Nonlinear saturation, eddy effects

Maxwell2D Transient + External Circuits

(cosimulation)

• Transient field simulation model

• All dynamic effects from dB/dt

– Saturation, slot harmonics

– Eddy, current displacement

– Skin, proximity, diffusion, etc

Compare

• Torque

• L = L(f, µ)

• Inrush:

– Smaller inductance

3~M

ASMS

3~M

A

B

ROT1



– Smaller inductance

– Higher current

– Stronger damping

• Maxwell most accurate

RMX

B

C

N

ROT2

Compare

• Currents

A ROT1

3~M

ASMS

3~M



RMX

A

B

C

N

ROT1

ROT2

Implications for system design

• Doubled inrush current affects electrical system

design

• Doubled inrush torque burdens mechanical

system

• Stronger damping affects control dynamics

• Slot harmonics affect motion quality,



• Slot harmonics affect motion quality,

control/inverter design

Motor design considerations

• Interactions with system affect motor design,

e.g. losses

Example 1 Simplorer RBD Cosimulation Link

Highlights:

• Easy setup through simple UI

• Fast Robust TR-TR Co-simulation Algorithm

Released in R14

Capabilities:

• Continuous rigid sub-systems


• Continuous rigid sub-systems

– (RBD was formerly known as MBD)

Example 1 Link Setup: 1. Add pins in RBD UI


Example 1 Link Setup 2: Set Up Link in WB


Example 1 Link Setup 3: Add RBD Component and schematic


Forces applied every cycle

Two forces out of phase

Small starting torque

Measure rotation (used in

force calculation)

Example 1 Simulation Results

Force Applied on Pistons


Rotational Displacement

Rotational Velocity

Example 2 : Simplorer - ANSYS Mechanical Link

Create ANSYS Modal

Analysis System

Setup, define inputs

and outputs, etc

Add Mechanical

Component

Reads exported

.spm file

ANSYS WB/MechSimplorer


APDL SPMWRITE

Command Snippet

Solve

Mech ROM Created

In Simplorer

Simplorer

.spm

Example 2: ANSYS Mechanical to Simplorer

Input Torque Here


Observe Rotation/Oscillation at These Locations

Φ1 Φ2 Φ3 Φ4

Example 2: Model the Same Driveshaft Using Reduced Order Model in System

Rotational Torque source

1Nm Torque


Reduced Order Model From ANSYS

Mechanical FEM

Example 2: Simplorer Circuit Simulation:Proportional-Integral-Derivative (PID) Controller


ANSYS Mechanical Coupling

General State Space Coupling

Simplorer state-space model

• Description: New capability to simulate multi-domain state-space models

Thermal


Mechanical

Electrical

Matlab

Simulink

Simplorer (Summary)

Simulation Data Bus/Simulator Coupling Technology

Co-Simulation

Matlab

Real Time

Workshop

C/C++

User Defined

Model

ANSYS

RBD

ANSYS

Maxwell



States:

Electromagnetic

(FEA)

Mechanical

(FEA)

Model Extraction: Equivalent Circuit, Dynamic State

Space, Impulse Response Extracted LTI, Stiffness Matrix

Fluidic

(CFD)

VHDL-AMS

IF (domain = quiescent_domain)

V0 == init_v;

ELSE

Current == cap*voltage'dot;

END USE;

Blocks:

Thermal

(FEA)

JA

MMF

L

HΘ

J

STF

M(t)

GN

D

m

STF

F(t)

GN

D


Thank You


Simplorer and Mechanical R14 - Ansys UK/staticassets... · ANSYS Simplorer and Mechanical Overview...

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Transcript of Simplorer and Mechanical R14 - Ansys UK/staticassets... · ANSYS Simplorer and Mechanical Overview...