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Co-Simulation Platform for AC Drives Control

Systems
CONFERENCE PAPER NOVEMBER 2012

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1 AUTHOR:
Constantin Apostoaia
Purdue University Calumet
15 PUBLICATIONS 16 CITATIONS
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Available from: Constantin Apostoaia

Retrieved on: 27 October 2015

Co-Simulation Platform for

AC Drives Control Systems
C. Apostoaia

AbstractThis paper presents a study results that allow the

designer of alternating current (AC) electric drives control systems to
model their individual components using an appropriate software
environment and then to integrate them into one common simulation
platform. The application is for a three-phase induction motor drive,
the simulation environment allowing the co-simulation of the electric
machine advanced model based on finite elements analysis (FEA)
using ANSYS Maxwell, the electric and electromechanical parts
using ANSYS Simplorer and the AC drive control system built in
Simulink/MATLAB.
KeywordsANSYS Maxwell, co-simulation, induction motor
drive, Simplorer, Simulink.
I. INTRODUCTION

HIS paper presents the study of the AC drives control

systems components co-simulation and integration into a
common simulation platform.
Simple linear models are not sufficient to analyze control
algorithms for high dynamic performance electric drives
systems. The motors behavior becomes more nonlinear
depending on the drive changing conditions and the effects of
magnetic saturation and spatial harmonics on the control
algorithms should be taken into account. The motor designers
and system circuit/control designers need advanced tools
capable of analyzing simultaneously different types of models
with the highest possible level of accuracy in the design
process.
First, the solution applied in this paper to respond to these
needs is utilizing technology centered on FEA to develop
advanced machine models with software based on finite
elements method (FEM), such as ANSYS Maxwell, [1]. The
application of FEA for the AC machines design became an
obligation in the recent years, [2], and is now relatively easy to
use first because of the capability to import geometry drawings
from CAD programs. The FEM has only recently become
automated to the point of being useful in modern machine
design. FEM offers unlimited flexibility in the geometrical
shape, material properties and boundary conditions in different
regions of the machine, [3].
Second, for the development of the drives electric and
electromechanical parts models, ANSYS Simplorer, [4], multidomain simulation program is the choice in this study. Finally,
Constantin Apostoaia is with the Electrical and Computer Engineering
Department, Purdue University Calumet, Hammond, IN 46323 USA (phone:
219-989-3106 ext.2268; e-mail: apostoai@ purduecal.edu).

the electric drive control algorithm is implemented using

Simulink/MATLAB, [5].
The designed common simulation platform allows a coupled
analysis that links FEA machine models, the external drive
circuit and the control system all together for the overall
electric drive control system implementation, simulation,
analysis and validation.
This paper presents the development of a simulation
platform of a three-phase squirrel-cage induction motor drive
control system. The machine models are first created in
ANSYS RMxprt, [6], a template-based electric machine design
tool fully integrated into Maxwell, then imported in Simplorer
for co-simulation, enabling the implementation of the
electromechanical parts of the drive. Finally, a two way
interface is established between Simplorer and Simulink. The
co-simulation is done by adding first a Simulink component to
Simplorer circuit, followed by the creation of an S-Function in
Simulink using the Sim2Sim Link interface.
The proposed simulation platform provides advanced
displays of the simulation results, including the visualization of
the electric machines magnetic fields which allows users to
capture new phenomena and improve the overall performance
of the controlled drive.
II. CO-SIMULATION PROCEDURE OF THE INDUCTION MOTOR
DRIVE
A. Maxwell Design Creation of the Induction Motor
The ANSYS software components provide multiple
methods to create the geometry and to perform detailed finite
element calculations of the machine models. Maxwell can
import geometry files from various external sources. Another
provided way to create machine models is the direct use of the
Maxwell own geometry utilities.
The method chosen in this study is the use of ANSYS
RMxprt, the template-based electric machine design tool, fully
integrated into ANSYS Maxwell to further perform a detailed
motor design and analysis based on FEM. The library includes
the three-phase induction motor template shown in Fig. 1, and
the corresponding motor main data are given in Appendix A.
Once the machine geometry is created by modifying the
predefined RMxprt template in accord with users design
needs, a complete Maxwell project can then be set up.

Fig. 1 RMxprt template of the three-phase squirrel-cage

induction motor

The required settings are: the motion setup, Fig. 2 (a), the
appropriate excitations for electromagnetic transient analysis,
Fig. 2 (b), assigning materials and boundary conditions.

Fig. 3 RMxprt dynamic model of the induction motor drive

imported in Simplorer drive simulator

For this initial simulator, the simulation results shown in

Fig. 4 are the motor phase current, torque and speed,
respectively.
XY Plot 1

1_Link_with_RMxprt

250.00

Curve Info

ANSOFT

rms

AM1.I

13.8848

TR

175.00

AM1.I [A]

50.00

-75.00

(a)

(b)
-200.00

Fig. 2 Settings for Maxwell design

(a) Motion setup (b) Phase excitations (phase A shown)

0.00

0.20

0.40

0.60

0.80

1.00

Time [s]

(a)
Rectangular Plot2

1_Link_with_RMxprt

ANSOFT

500.00

RMxprt can help the user to calculate initial machine

performance, make first sizing decisions, and perform multiple
analyses variants in a short simulation time.

Curve Info

50.00

STEP1.VAL
TR
FM_ROT1.TORQUE
TR

400.00
40.00

STEP1.VAL

200.00

20.00

100.00

10.00

0.00

0.00
-100.00
0.00

0.20

0.40

0.60

0.80

1.00

Time [s]

(b)
Rectangular Plot3

1_Link_with_RMxprt

175.00

ANSOFT

Curve Info
MASS_ROT1.OMEGA
TR

150.00

125.00

MASS_ROT1.OMEGA [rad_per_sec]

B. Simplorer Implementation of the Induction Motor Drive

The machine model created in RMxprt was first exported to
Maxwell for a rigorous finite element analysis to generate the
expected results. The FEA machine model created with
RMxprt and analyzed in Maxwell cannot be exported directly
to Simulink. A necessary intermediate step is to model the
electric drive in Simplorer program, which includes the
electric motor, drive mechanical loading. Simplorer is a multidomain simulation program enabling the implementation of the
electric drives systems including power electronic converters if
desired and mechanical loads.
The RMxprt dynamic component coupling link allows the
FEA electric machine model, previously created in Maxwell,
to be imported in Simplorer for co-simulation, Fig. 3. The
other electrical and mechanical schematics components are
provided in the basic elements library of the Simplorer
programs Project Manager. In this study case these
components are: the three phase voltage source, the voltage
and current meters, the rotational mass with inertia, the torque
source, speed and torque measurement, as can be observed in
Fig. 3.
RMxprt dynamic link allows running both programs,
Maxwell/RMxprt and Simplorer, interactively.

FM_ROT1.TORQUE [NewtonMeter]

300.00

30.00

100.00

75.00

50.00

25.00

0.00

0.00

0.20

0.40

0.60

0.80

1.00

Time [s]

(c)
Fig. 4 Maxwell/RMxprt-Simplorer co-simulation
results of the induction motor drive in Fig. 3:
(a) Stator phase current; (b) Torque; (c) Rotational speed

C. Maxwell/Simplorer/Simulink Co-Simulation
Finally, a two way interface is established between
Simplorer and Simulink for the overall electric drive control
system implementation and simulation.

Vd/2

2/3
1
1/3

Vu

-K-

Vc*

sqrt(2) x Vc

2/3

2
Vv

Demux

-Csin

1/3

3
Vw

theta_e*
2/3

V_tri
-Vd/2

1/3

Fig. 6 Three-phase, two-level PWM voltage-fed inverter

(subsystem structure in Fig. 5 (b))

The entire step-by-step procedure for the induction motor

drive control system co-simulation platform using Maxwell
RMxprt, Simplorer and Simulink is described in detail in
Appendix (B).
III. CONCLUSION

(a)

10
Boost
voltage

2*pi*50
Speed
Command

usa

Vc *

Vc*

-K- Va/wsyn
w_e *

usb

1
s
Int

AnsoftSFunction

Torque
[Nm]

teta_e *
theta_e*
usc

Speed
[rad/]
3-phase PWM
Voltage Fed Inverter

Induction Motor
Link to Simplorer

(b)
Fig. 5 Maxwell/Simplorer/Simulink co-simulation of an induction
motor drive V/f speed control: (a) Simplorer schematic and
simulation results; (b) Simulink block diagram

First, the Simplorer-Simulink co-simulation is done by

adding a (link to) Simulink component to Simplorer circuit, as
shown in Fig. 5 (a), where the simulation results are displayed
in Simplorers graphical environment.
Second, a MATLABs S-Function, with the required name
AnsoftSFunction, is created in Simulink using the Sim2Sim
Link interface, as shown in Fig. 5 (b).
Fig. 5 (b) displays the Simulink block diagram of a standard
open loop Volt/Hertz control system of an induction motor
drive that is used in this study for the co-simulation validation.
The three-phase voltage-fed inverter is modeled with
Simulink blocks and its internal structure is shown in Fig. 6.

In conclusion, the users are able to build advanced

simulation platforms of the electric machines and drives based
on the presented software tools in this paper.
The ANSYS software components which include Maxwell,
Simplorer, RMxprt, greatly help the designers to initially
evaluate the machine performance and perform multiple
analyses variants. Maxwell provides multi-domain interfacing
so that multiphysics couplings can be performed:
electromagnetic -structural with deformed mesh feedback,
electromagnetic - CFD, electromagnetic - mechanical - CFD.
The use of Simplorer, as an interface between Maxwell and
Simulink, does provide users an easier way to model and
analyze mechanical subsystems of the electric drives and
power electronic converters if desired.
The data generated by this research work will be post
processed in the near future applying the advanced virtual
reality visualization and simulation technologies installed at
PUC in the Center for Innovation through Visualization and
Simulation, thereby providing an intuitive understanding of
simulation results to help the design of AC machines and
drives as well as for education and professionals training.
APPENDIX
A. Three-Phase Induction Motor Data, using Maxwell
RMxprt
1. General Data
Given Output Power (kW): 7.5
Rated Voltage (V): 380
Number of Poles: 4
Speed (rpm): 1360
Frequency (Hz): 50
2. Stator Data
Number of Stator Slots: 48
Outer Diameter of Stator (mm): 210

Inner Diameter of Stator (mm): 148

Length of Stator Core (mm): 250
Type of Steel: M19_24G
Number of Parallel Branches: 2
Number of Conductors per Slot: 30
Number of Wires per Conductor: 2

i. The Simulink-Simplorer transient link consists in having

both programs running at the same time, exchanging data at
certain time steps.
ii. It is possible, using the Simulink Coder (former RTW) to
compile the Simulink block diagram into a C model. This C
model can be integrated into the Simplorer schematic.

3. Rotor Data
Number of Rotor Slots: 44
Air Gap (mm): 0.35
Inner Diameter of Rotor (mm): 48
Length of Rotor (mm): 250
Type of Steel: M19_24G

The procedure described below is applied for the Induction

Motor Drive simulation platform presented in section II, using
the first method.
2. Supported MATLAB Releases
The MATLAB releases that are supported are listed here:
C:\Program
Files\Ansoft\Simplorer10.0\Windows\cpl\matlab
For Simplorer 10.0 you can use r12, r13, r14, r2006a,
r2006b, r2007a, r2007b, r2008a, r2008b, r2009a, r2009b,
r2010a, r2010b, and r2011a.
ANSYS Simplorer is constantly updating the supported
releases with the different MATLAB releases.
Note: MATLAB x64 bit-versions are not supported

4. Rated-Load Operation
Stator Resistance at 20C (ohm): 0.550703
Stator Leakage Reactance (ohm): 0.615652
Rotor Resistance at 20C (ohm): 0.43119
Rotor Leakage Reactance (ohm): 0.823987
Resistance Corresponding to
Iron-Core Loss (ohm): 837.037
Magnetizing Reactance (ohm): 35.994

If you install Simplorer after Simulink, Simplorer

installation will automatically update the Simulink installation.
If you install Simulink after Simplorer, open MATLAB
and select File > Set Paths
Select Add Folder and enter the path:
C:\Program
Files\Ansoft\Simplorer10.0\Windows\cpl\matlab\r2010b if you
use r2010b, or
C:\Program
Files\Ansoft\Simplorer10.0\Windows\cpl\matlab\r2011a if you
use r2011a, and so on
Select Save

Stator Phase Current (A): 14.2959

Current Corresponding to
Iron-Core Loss (A): 0.247148
Magnetizing Current (A): 5.7474
Rotor Phase Current (A): 12.5638
Input Power (kW): 8.38835
Output Power (kW): 7.49976
Mechanical Shaft Torque (N.m): 49.317
Efficiency (%): 89.4069
Power Factor: 0.88757
Rated Slip: 0.0318752
Rated Shaft Speed (rpm): 1452.19
Stator-Teeth Flux Density (Tesla): 0.16253
Rotor-Teeth Flux Density (Tesla): 1.24454
Stator-Yoke Flux Density (Tesla): 1.59471
Rotor-Yoke Flux Density (Tesla): 0.642622
Air-Gap Flux Density (Tesla): 0.549398
Stator Current Density (A/mm^2): 5.26131
Rotor Bar Current Density (A/mm^2): 2.57218
Rotor Ring Current Density (A/mm^2): 2.7439
Estimated Rotor Inertial Moment (kg m^2):

0.090125

B. Procedure Description of the Maxwell/RMxprt Simplorer - Simulink Co-Simulationof an Induction Motor

Drive Control System
1. Introduction
Two methods exist at this moment (2012) for the Simplorer
v.10 co-simulation with Simulink:

3. Simulated Circuit
The following co-simulation will be performed using the
two-way link provided by the S-Function:
The three phase voltages are coming from Simulink
determining the three voltage source values E1, E2, E3
(Fig. B1 (a))
The torque (measured with FM_ROT1) and angular speed
(MASS_ROT1)will be sent to Simulink (Fig. B1 (b))
4. Simplorer Schematic
There is not a particular order in which you must create the
link. In this example, we create the link from Simplorer first.
Open a Simplorer project, name it SimpSimul and save
it.
On the Schematic1, place the electrical and mechanical
components provided in the basic elements library of the
Simplorer programs Project Manager as shown in Fig. B2: the
three phase voltage sources (E1, E2, and E3), a voltmeter
(VM1), an ammeter (AM1), ground elements, the rotational

inertial mass (MASS_ROT1), the torque source (F_ROT1)

with a step input (STEP1).

Fig. B1 (a)

We now create the link, Simplorer side.

Open Simplorer Circuit > Subcircuit > Add Simulink
Component
The windows shown in Fig.B4 pops up.
Keep the Model Name as Simulinkdata.
Under File (do not check these options at this time) you
can do the following:
Select Insert file in the project if you wish to attach the
Simulink file to the Simplorer project file, once the Simulink
file is created
We would have used the Read link information from the
file if the Simulink file would have been done before the
Simplorer schematic

Fig. B1 (b)

Fig. B3

Fig. B2

Use the RMxprt dynamic link which allows running both

programs, Maxwell/RMxprt and Simplorer, interactively. In
order to do these open Simplorer Circuit > SubCircuit > Add
RMxprt Dynamic Component. In the pop-up window (on right,
Fig. B2) browse the correct directory to find the created
Maxwell design source project (IM3_Class.mxwl, 1_Original,
in this example). Place the RMxprt dynamic motor model in
the Simplorer schematic (Fig. B2. See also the block labeled
RMxprt Induction Motor on Fig. B1).
Insert an Analysis Setup (Fig. B3). Leave default Hmin at
10us, change Hmax to 0.1ms, and set Tend to 400ms. Type
Transient_AN as the name of the Analysis Setup.
Note: The End Time Tend must have the same value as
the stop time which will be set in the Simulink block diagram!

Fig. B4

Under Link Assignment:

Click on the yellow square sign to add five variables:
torque and omega will be sent to Simulink. Select To
Simulink in the pull down menu
vsa, vsb, and vsc will be read from Simulink. Select
From Simulink for the direction
Click on OK, and place the Simulink block on the
schematic (Fig. B5, see the block labeled Link to Simulink).

Fig. B5

5. Simulink Block Diagram

Open Simulink
Create a new Model and save it with the name
Simplor2Simul.mdl(see Fig. B1 (b)). Save it also in the
project directory in the subfolder data of the folder
PersonalLib.
Place all the blocks on the Simulink schematic (see also
Fig. 5 (b) and Fig. 6 for the PWM 3phase inverter).
Specify the sample time to 0.001 (change the default -1 in
the Simulink blocks)
Drag and drop an S-Function block, click on it (Fig. B6)
and give the name AnsoftSFunction (this is case sensitive).
Click on OKand the Simplorer Link Assignment Dialog
window appears (Fig. B7)

Select the Read link information from file as the

Simplorer circuit has already been created
Browse to the Simplorer project SimpSimul
Select the Schematic Simplorer1
Select the simulation profile Transient_AN
The variables declared in Simplorer are available
In the window under the Link assignment
Highlight Node[0] and highlight torque variable, then
select Link radio button.
Repeat the procedure with Node[1] and omega, and
repeat the same procedure with all three pairs under
SIMULINK-OUTand SIMPLORER-IN sections.
Click on OK.
Place the created S-Function and link its inputs and
outputs with the rest of the Simulink block diagram
(Fig.B1 (b)).
6. Simplorer Circuit
Once the Simulink variables/Model have been created,
we need to assign them to Simplorer signals.
In the Simplorer schematic, double click on the Matlab
block component (labeled Link to Simulink in Fig. B5). A
properties window is opened (Fig. B8 (a))
On the Quantities tab in the Value column, enter the name
FM_ROT1.TORQUE in order to link torque to the
measured torque using the Simplorer block FM_PROT1
(Fig.B5).
Repeat
and
enter
in
the
second
row
MASS_ROT1.OMEGAin order to link omega to the motor
shaft Simplorer block MASS_ROT1 (Fig. B5). Note: the
speed variable named OMEGA measured in rad/s is checked
in the list available by double clicking and opening the
MASS_ROT1 block in Simplorer.
On the Parameter values tab, rename the component] in
the InstanceName row, Matlab, (Fig. B8 (b)) and click OK.

Fig. B6

Fig. B8 (a)

Open now the voltage source E1 component dialog

(Fig. B9)
Enter Matlab.vsa as the EMF value. Click OK.
Fig. B7

 Repeat for the voltage source E2 and enter Matlab.vsb,

and for the voltage source E3 and enter Matlab.vsc as the
EMF values.
These will link the Simulink (PWM 3phase inverter) outputs
as the Simplorer (induction motor) inputs.

Fig. B11

Fig. B8 (b)

Ensure that the SimulinkData Model is pointing to the

correct file:
Double click on SimulinkData under Models of the
Simplorers Project Manager (left screen)
Edit the text such that MatlabSheet is defined as
$Projectdir\Simplor2Simul.mdl (Fig. B10)
Click Save from the top menu
Click Yes and OK in the two window dialogs that follow.

In the Simulink block diagram, reestablish the S-Function

block link by opening the S-Function and clicking OK
(Fig. B11)
Enter the stop time in Simulink 0.4 s (remember that must
be the same value as the Tend time in the Simplorers transient
setup)
Note: The time stepping can be different from Simulink to
simplorer, but the end (stop) simulation time must be the same.
In this example, the sample time in Simulink is 1 ms.
7. Launching the Simulation
Save both schematics
Run the simulation from Simplorer (it should not matter if
the run is initiated from Simulink)
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]

Fig. B9

Fig. B10

ANSYS-Maxwell, software component of Ansys/Ansoft (USA), ANSYS

Maxwell 2D Users Guide, v.15.
Induction Machine Design, Taking Theory to Practice, Advanced
MotorTech, Training Course, January 11-13, 2012, Clearwater, FL
Thomas A. Lipo, Introduction To AC Machine Design, WPERC,
University of Wisconsin-Madison, 2007, ISBN 0-9745470-2-6
ANSYS-Simplorer Users Guide, v.10.
Simulink, registered trademark of the Mathworks, Inc.
ANSYS-RMxprt, software component of Ansys/Ansoft (USA).