Computer Aided Analysis and Design of Power Electronic Systems - Simulator Based Approach

Yasuaki Kuroe Department of Information Science Kyoto Institute of Technology Matsugasaki, Sakyo-ku, Kyoto 606-8585, Japan kuroe@kit.ac.jp

Abstract- In this paper we present a new approach to computer-aided analysis and design of power electronic systems, which we call simulator based approach. Most common computer aided approach is to utilize a transient simulator which is developed for power electronic systems. We give more advanced role to transient simulators. We discuss a method to develop simulator based analysis and design tools of power electronic systems. The developed tools make it possible to analyze and design target systems with considering duly their detailed models which the simulators adopt. Index Terms- power electronics, computer aided analysis and design, simulator

I. INTRODUCTION

performance of which is shown through analysis and design examples.

II. MODELING

design method based on the algorithm models, that is a method to develop software tools for analyzing and designing power electronic systems based on their transient simulators. The software tools thus developed make it possible to analyze and design based on the algorithm models of the target systems implemented in the simulators, which are usually more detailed ones, that is, possible to consider detailed nonlinear switching behavior of power semiconductors and so on. Along with the approach we have developed simulator based analysis and design tools of power electronic systems, the

With the advent of power semiconductor technology, power electronic systems have been gaining a wide range of industrial and domestic applications, which control power effectively using marvelous switching functions of power semiconductors. These switching functions, however, make it difficult to analyze and design power electronic systems in systematic and unified ways because the switching functions make them nonlinear hybrid systems in which continuous and discrete dynamics coexist and interact. This fact leads us to utilize computer-aided analysis and design tools. Most widely used computer-aided method for analysis of circuits and systems are computer simulations. There have been developed a lot of simulators for analysis of power electronic systems, especially simulation methods of transient behavior have been extensively studied and several transient simulators of power electronic systems are developed [1], [2], [3]. In this paper we present a new approach to computer-aided analysis and design of power electronic systems, which we call simulator based approach. We give more advanced role to computer simulators. In analysis and design of any system, the first thing to do is modeling, that is, deriving appropriate mathematical models of the target system. In general the mathematical models which transient simulators utilize are more detailed ones than those utilized in usual analysis and design. We regard transient simulators kinds of models of target systems which are expressed by computer algorithms, we call them algorithm models. We propose an analysis and

In analysis and design of any system the first thing to do is modeling of the system, that is, to derive appropriate mathematical models. In modeling of target systems it is necessary to note that a model should be build in such a way that it is as close to the target systems as possible along the objective of analysis and design, and also it is as simple as possible. The simplicity of models is especially important because the more complicate a model of the target systems is, the more difficult analysis and design based on the model become. In modeling of power electronic systems, it is essentially important how to appropriately treat power semiconductor devices. There exist several levels in modeling such power semiconductor devices, according to how detailed behavior should be taken into consideration. The following four levels are usually considered from simple to detailed: (i) the level in which switching behavior of power semiconductor devices is neglected or averaged, (ii) the level in which power semiconductor devices are treated as ideal switches or time varying nonlinear resistors, (iii) the level in which power semiconductor devices are treated as equivalent nonlinear circuits and (iv) the level in which detailed physical properties of power semiconductor devices are taken into consideration. Many of transient simulators of power electronic systems which are now available adopt the models of Level (ii), (iii)

1-4244-0844-X/07/$20.00 2007 IEEE.

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or more detailed ones.

III. FROM COMPUTER-AIDED To COMPUTER-BASED

Recently the role of simulators for analysis and design of power electronic systems are becoming more and more important but has been rather complementary in analysis and design. We will give more advanced role to simulators. Figure 1 illustrates the conventional role of simulators in analysis and design of systems. As stated before the first step of analysis and design is modeling target systems. Models are obtained through idealization and simplification of the target systems. In general there are two stages of modeling in analysis and design shown in Fig. 1. The models of target systems obtained through idealization and simplification in the first stage are used for developing simulators of the systems and they are models of (ii), (iii) or more detailed ones. Those models are usually too complicated for analytical analysis and design for the systems. For analysis and design, we derive more simpler models through further idealization and simplification of target systems, which is the second stage of modeling. The more simper model is obtained, the more analysis and design methods are available. For instant, analysis and design methods have been extensively studied for linear time-invariant models such as transfer function models and linear state-space models in the area of control and system theory. Based on these methods several computer software tools for analysis and design have been developed and are now available, one of famous such tools is MATLAB Tool Box. By using those tools, we can analyze and design target systems easily. However it is necessary to confirm whether the obtained results do work for the target systems because the results are obtained based on rather simpler model for the target systems. These confirmations usually performed by computer simulations using simulators in which more detailed models are implemented. Figure 1 illustrates this procedure and the role of the simulators is rather complementary in analysis and design, that is, the role is confirmations of the results obtained by analysis and design tools. We give more advanced role to the simulators, that is, development of simulator-based analysis and design tools. Figure 2 illustrates the proposed approach. Since simulators can predicts behavior of target systems and good simulators are required to realize close analogy of target systems, we can regard the simulators kinds of models for target systems. Since, in the simulators the models of target systems are represented by computer algorithm, we call them algorithm models. If we can develop analysis and design methods of the target systems based on their simulators, that is, the algorithm models, they must become effective and powerful tools because the simulators (the algorithm models) can deal with more detailed and complicated models of target systems. The features of the approach are: (1) the simulator based analysis and design tools make it possible to analyze and design based on the same models of target systems implemented in the simulators,

(2) it is not necessary to derive further simpler mathematical models of the target systems through idealization and simplification, (3) the users receive the benefit of using the user-interface with which the simulators are equipped, that is, the users are only required to prepare netlist data. Along with the approach, we have developed simulator based analysis and design tools. In the following sections, we show two development examples: stability analysis tool[4] and optimal design tool[5].

Real Circuits or l Systems

Modeling
Idealization Simplification

modelSiuao
Modeling
* -

Idealization

Simplification

Mathemihatical Model for

Analysis and Design
I

Confirmation

Anaysis and Desigr

Fig. 1.

Ale l.d U~~Softwazre Tool|

Conventional role of simulators for analysis and design.

Real Circuits or

Systems 1*

Modeling

|__ Idealization

Simplification

(Algorithm Model)

Simulatoir

Simulator Based nalysis and Design Tools

Fig. 2. Simulator-based analysis and design.

IV. DEVELOPMENT EXAMPLE - STABILITY ANALYSIS Stability analysis is a fundamental and important problem in analysis and design of any dynamical system. It is, however,

880

difficult to check stability of power electronic systems due to the nonlinear switching behavior. The conventional and usual methods to check stability of power electronic systems begin with deriving a simplified behavioral model such as an average model, in which detailed switching behaviors are neglected. Linearizing such a simplified model at an operating state of interest, we obtain a transfer function model or linear statespace model whose stability can be easily checked by stability analysis methods of linear systems such as the Nyquist's method. We have developed stability analysis tool by using a transient simulator of power electronics systems. The developed stability analysis tool makes it possible to check stability of any power electronics system with considering detailed switching behavior which the transient simulator can treat.
A. Stability of Periodic Solutions In usual operating modes power electronic systems, solution orbits are periodic due to the periodic switching operations of power semiconductor devices. We firstly discuss a method of checking stability of such periodic solutions. It is known that an important tool for investigating stability of periodic solutions is the Poincare map, which replaces a continuoustime system by a discrete-time system [6],[7]. Consider a nonlinear dynamical system described by dx f x (1) dt f(t,x) where x and f are n dimensional vectors. We suppose that the system has a periodic solution, dented by p(t), with a period T: p(t) = p(t + T). Stability of the periodic solution p(t) can be investigated as follows. Let b(t, to, xo) be the solution of the system (1) at time t with the initial condition x(to) = x0. Define the map P Rn > Rn by

with respect to xo at xo = Po. It is known that stability of the periodic solution p(t) can be investigated by estimating eigenvalues of the matrix DP(cp0) and the stability conditions of which are slight different between non-autonomous systems and autonomous systems. For non-autonomous systems, the periodic solution p(t) is asymptotically stable if all the eigenvalues of the Jacobian matrix DP(cp0) are inside the unit circle in the complex plane (i.e. have magnitudes less unity). For autonomous systems, the Jacobian matrix DP(po0) always has one eigenvalue of unity and the periodic solution p(t) is asymptotically stable if the magnitude of n -1 other eigenvalues of the Jacobian matrix DP(cp0) is less than unity.
B. Implementation of Stability Analysis Method by Transient Simulators In order to check stability of a periodic solution of power electronic systems, the analysis method discussed in the previous subsection leads us to taking the following procedure. Step 1 Obtain the periodic solution p(t). Step 2 Compute the Jacobian matrix DP(Qp0) of the Poincare map at the periodic solution. Step 3 Evaluate the eigenvalues of DP(p0). In Step 1, obtaining the steady-state solution of the system is usually done by solving, that is, integrating the system equation (1) from some initial states until the transient response appears to be negligible and the solution becomes periodic. However, since many power electronic systems are very stiff due to high-frequency switching operation, this integration could extend over many periods, which requires extensive computing time. Furthermore this integration cannot reach an unstable steady-state solution (although the reverse time integration may reach an unstable steady-state solution). As stated in the previous subsection a periodic solution with period T corresponds to a fixed point of the Poincare map defined by (2):
xo

P(xo) = (to + T, to, xo).

(2)

-P(xo)

O.

The map thus defined corresponds to the stroboscopic Poincare map for the system. It maps the initial values of the state to those one period T later, and thereby defines a discrete-time dynamical system: k+1 - p(Xk) to o (3)
=

(5)

The above equation can be considered a nonlinear algebraic equation with respect to x0. The Newton-Raphson method can be utilize to solve (5) numerically. Its iteration is expressed by:

xi+l X'0 [I 0
=

where xk is the state at the kth strobe instant. Note that, if In order to perform the above iteration, one has to compute we choose a point on the periodic solution p(t) as the initial the terms P(x') and DP(x') with reasonable accuracy and state, xo = fp(to) = po, then efficiency. Note that the period T of the periodic solutions in non-autonomous systems is usually known a priori. For power (4) electronic systems the periods can be determined by periods 'Po = P(0) because p(t) = p(t + T). This implies that a periodic of voltage or current sources, or of clock pulses used in the solution of the system (1) corresponds to a fixed point of the control logic of power semiconductor devices. The term P(X') in (6) can be obtained by solving the Poincare map (2). Thus the problem of stability analysis of a periodic solution of the continuous-time system is reduced system equation (1) starting from the initial condition x(O) to that of the corresponding fixed point of the discrete-time X' for 0 < t < T, which can be done by using a transystem. Stability of the fixed point is investigated via the sient simulator of power electronics systems. The Jacobian linearized map DP(cp0) of the Poincare map at the fixed matrix DP(X') can be evaluated by sensitivity analysis. point po. DP(cp0) C IRi' is the Jacobian matrix of P The sensitivity-analysis methods say that the Jacobian matrix

DP(x')] 1 [x'0 P(x')]. 0 0

(6)

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TABLE I COMPUTATIONAL RESULTS OF EIGENVALUES OF THE JACOBIAN MATRIX OF THE POINCARE MAP

(a) Obtained eigenvalues and their absolute values where the drive frequency is 30Hz. Eigenvalues Absolute values A1 -1.07845 +j( 2.63005 x 10-1) 1.11006 + j(-2.63005 x 10- 1) 1.11006 -1.07845 A2 A3 2.01863 x 10-1 +j( 2.92803 x 10-1) 0.35564 A4 2.01863 x 10-1 + j(-2.92803 x 10-1) 0.35564 ) 4.19935 x 10-2 A5 4.19935 x10-2 +j( 0. ) 3.67627 x 10-14 A6 -3.67627 x 10-14+j( 0. ) 3.04833 x 10-15 A7 3.04833 x 10-15+j( 0. (b) Obtained eigenvalues and their absolute values where the drive frequency is 60Hz. Eigenvalues Absolute values A1 -4.03497 x 10-1 +j( 4.61322 x 10-1) 0.61288 A2 -4.03497 x 10-1 + j(-4.61322 x 10-1) 0.61288 A3 9.52654 x 10-2 +j( 4.25792 x 10-1) 0.43632 A4 9.52654 x 10 -2 + j(-4.25792 x 10-1) 0.43632 9.04532 x 10-3 +j( 4.49096 x 10-2) 4.58115 x 10-2 A5 9.04532 x 10 -3 + j(-4.49096 x 10-2) 4.58115 x 10-2 A6 A7 ) 0.37088 3.70880 x 10-1 +j( 0.

checked by evaluating the eigenvalues of the Jacobian matrix DP(~p0) in the Newton-Raphson iteration when it converges. As stated above Step 1 and 2 in the analysis procedure can be implemented by transient simulators of power electronic systems.
C. Examples of Stability Analysis

DP(x') can be obtained by solving the adjoint systems which are derived for power electronic systems [11]. This can be also done by using a transient simulator of power electronics systems. Note that the Jacobian matrix DP(cpo) corresponds to that in the iteration (6) when it converges (xi -> 0) This means that the periodic solution p(t) and the Jacobian matrix DP(cp0) in Step 1 and 2 are obtained at the same time. Therefore stability of the periodic solution p(t) can be

LF

Inverter

Induction Motor

Fig. 3. An inverter-fed induction motor drive system.

We have implemented the procedure of stability analysis by using the programs NETCAP [8], [10] and ANASP [9] which are general purpose transient and steady state simulators for power electronic systems and developed stability-analysis

software tool. We give examples of stability analysis by using the software tool. Consider an inverter-fed induction motor drive system shown in Fig. 3. It is well known that such variable frequency induction motor drives become unstable at certain operating conditions, which causes unusual vibrations in the systems. We analyze stability of the system for various drive frequencies of the inverter. The parameters are given as follows: Rr : resistance of rotor windings = 0.2674 Q; R, := resistance of stator windings = 0.5145 Q; Lr := self inductance of rotor windings = 0.09088 H; LS := self inductance of stator windings = 0.09088 H; M := mutual inductance = 0.08953 H; J := moment of inertia = 1.3988 x 10-2Kgm2; d := damping coefficient = 3.043 x 10-4 Kgm2/s; TL := external load torque = 9.31 Nm; E = 240.0 V; LF = 0.8 mH; CF = 1500 ,uF. Table I shows examples of evaluated results of the eigenvalues of the Jacobian matrix, where the obtained eigenvalues and their absolute values are shown at two different drivefrequency conditions: (a) 30Hz and (b) 60Hz. From the table we can determine that the nominal periodic solution in the 30Hz drive condition is unstable and that in the 60Hz drive condition is stable. We have done simulation studies to verify these results of the stability analysis. We simulated the system with zero initial condition (xo = 0) until the steady-state was reached. The periodic solution thus obtained is physically realized one. Figures 4 and 5 show the obtained steady-state waveforms (for four periods) of ia and Wm for the drivefrequency conditions 30Hz and 60Hz, respectively. The waveforms in these figures are quite different and an extraordinary oscillation with large amplitude is observed in the waveforms of the motor speed for the 30 Hz drive condition, which is determined to be unstable. The simulation results show the validity of the analysis result obtained by the developed tool.

882

150F
100

straints:
minimize
p

50 tO
m so

J= f(p)

(7)

subject to
-100 -150
240
220

g(p) > 0 h(p) = 0

V
0

X
0.08 0.1 0.12 0.14

0.02

0.04

0.06

Time [sec]

200

180 160 140 0

W I

where p is a vector of adjustable design parameters. There have been proposed several iterative algorithms to solve the nonlinear programming problems. One of the popular algorithms is the sequential unconstrained minimization technique (SUMT) [13]. The SUMT algorithm is utilized to determine the optimal parameters. Let k be the number of iteration. Then the problem given by (7) is replaced by a sequence of unconstrained minimization problem:

0.02

0.04

0.06

0.08

0.1

0.12

0.14

Jk(p, rk)
where
d
=

f(p) +
'

{h(p)}2 +

Time [sec]

drg(P)2

(8)

Fig. 4.

Steady state waveforms of ia and Wm (30 Hz drive condition).

25
20

when g(p) > 0 when g(p) < 0.

15

: ~10
0

and rk is chosen suitably so as to satisfy rk -> 0 as k --> oc. In order to search the optimal solution of (8) the steepest descent method

pk+l
-

pk A. &Jk(Pk)
Up

(9)

-15

-20-

-25I 0

0.01

0.02

0.03

0.04

0.05

0.06

0.07

Time [sec]

370 368

366364 362 360

can be utilized, where A > 0. In the above iteration it becomes a problem how to compute the sensitivities &Jk (pk ) /0p with reasonable efficiency and accuracy. It can be shown that the sensitivities aJk (pk) /&p can be obtained by solving the adjoint systems, which are derived for power electronic systems [11], [12]. This can be also done by using a transient simulator of power electronics systems.

0.01

0.02

0.03

0.04

0.05

0.06

0.07

Time [sec]

Fig. 5. Steady state waveforms of ia and wm (60 Hz drive condition).

B. Optimal Design Example We have developed optimal design software tool for power electronic control systems by using NETCAP which is a transient simulator for power electronic systems. We give an example of optimal design by using the software tool.
Sw
E-F
A

V. DEVELOPMENT EXAMPLE - OPTIMAL DESIGN In this section we discuss a simulator based approach to optimal design for transient behavior of power electronic systems. We formulate the problem as optimization of adjustable parameters with regard to a specified performance index which evaluates transient behavior of power electronic systems. There have been developed several iterative algorithms in order to search the values of adjustable parameters which minimize

~L
dc dc Convrte

SWM

the performance index. The most of them require computations of sensitivities of the performance index with respect to the adjustable parameters.

Fig. 6. A dc-dc converter

A. Problem of Optimal Design In general many of optimal design problems are formulated as nonlinear programming with equality and inequalities con-

We consider a dc-dc converter shown in Fig.6 as a design example. The parameters are given: E = 12.0 V; RL = 5.0 Q; L = 0.4 mH; C = 50 ,uF; R = 10.0 kQ; E2 = 5.0 V; f =

883

100.0 kHz; Gain of OP AMP index is given by

1.Oe + 6. The performance

= 1

-VRL) +W2(VinRL tvi-) }dt (10)

0-

where we let VRL = 5.OV, Vin = 1.67V and tf = 500T. The problem here is to find the value of the feedback gain p = K := l/RiCi which minimize the performance index defined by (10). The problem is formulated as follows. minimize J = f (K) (1 1) K K*-K>O subject to where K* is a given upper bound of K The weighting parameters are chosen: w= 10 and w2 = 1. A typical convergence behavior to the optimal value obtained by the optimal design tool is shown in Table 2 where the steepest descent method is used. For reference the values of J and &J/IK versus K are computed and shown in Fig. 7. From this figure the optimal value of K is estimated to be K = 840 (the value K at &J/IK = 0). Then it can be seen that the proposed algorithm reaches the optimal value of K. It is important note that, obtaining a linear state space model of the dc-dc converter we can apply the linear quadratic optimal control theory to obtain the optimal gain, the result of which cannot consider the nonlinear switching characteristics of the power semiconductors, that is, neglect the switching characteristics of power semiconductors. On the other hand, the result obtained by the developed optimal design tool can consider the nonlinear switching characteristics of the power semiconductors
TABLE II CONVERGENCE BEHAVIOR OBTAINED BY THE PROPOSED OPTIMAL

U)
0.VU

Gain K
Fig. 7. Values of J and

dJldK Versus K

REFERENCES

Iteration k=0 k=1 k= 2 k=3 k=4 k= 5 k=6 k=7 k=8

K 4.000000e+02 4.185970e+02 4.303832e+02 9.844683e+02 8.099845e+02 8.103490e+02 8.284466e+02 8.381457e+02 8.432037e+02

DESIGN PROGRAM

5.763900e-03 5.635800e-03 4.071800e-03 3.885400e-03 3.884400e-03 3.875800e-03 3.872600e-03 3.871500e-03

5.983700e-03

-1.055400e-05 3.323500e-06 -7.085500e-07 -7.035000e-07 -3.770300e-07 -1.966200e-07 -1.047800e-07

-1.239800e-05 - 1.122500e-05

&J &K

VI. CONCLUSION In this paper we have presented a new approach to computer-aided analysis and design of power electronic systems, which we call simulator based approach. There have been developed a lot of simulators for analysis of power electronic systems. We have discussed a method to develop simulator based analysis and design tools of power electronic systems. The developed tools make it possible to analyze and design target systems with considering duly their detailed models such as switching characteristics of power semiconductors, which the simulators adopt.

[1] Y. Kuroe, "Overview- Where are We Now and will be in the Future on Simulation Technology in Power Electronics," Trans. of IEE Japan,Vol.118-D, NO.7/8, pp.822-827, 1998 (in Japanese). [2] Y. Kuroe and M. Matsui, "Simulation of Power Electronic Systems Difficulties and Keys -," Trans. of IEE Japan,Vol.122-D, NO.8, pp.775780, 2002 (in Japanese). [3] Y. Kuroe, "Overview- Where are We Now and will be in the Future on Simulation Technology in Power Electronics," Journal of IEE Japan,Vol.126, NO.6, pp.348-351, 2006 (in Japanese). [4] Y. Kuroe, "Computer Algorithm to Analyze Stability of Power Electronic Systems," Proc. of the Power Conversion Conference-Osaka, pp.293-298, 2002 [5] Y. Kuroe," Computer-Aided Method of Optimal Design for Transient Behaviors of Power Electronic Control Systems," Proc. of 1995 International Power Electronics Conference, pp.228-233, 1995 [6] J. Guckenheimer and P. Holms, Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Field. New York: Springer-Verlag, 1983. [7] S. Banerjee and G. C. Verghese (Eds), Nonlinear Phenomena in Power Electronics -Attractors, Bifurcations, Chaos, and Nonlinear Control. New York, IEEE Press, 2001. [8] Y. Kuroe, H. Haneda and T. Maruhashi, "Computer Aided Analysis of Power-Electronic DC-Motor Drives: Transient and Steady-State Analysis," Proc.IEEE Power Electronics Specialists Conference, pp.128, June 1982 [9] Y. Kuroe, H. Haneda and T. Maruhashi, " General Steady-state Analysis Program ANASP for Thyristor Circuits Based on Adjoint-Network Approach, " Proc. IEEE Power Electronics Specialists Conference, pp.180-189, 1980. [10] Y. Kuroe, H. Haneda and T. Maruhashi, " Digital Simulation of Induction-Motor Drive Systems Containing Thyristor Circuits, - Efficient Simulation Method by Means of Decomposed Tableau Approach, Trans. of IEE Japan, Vol.101-B, No.4, pp.189-196, 1981. [11] Y. Kuroe, H. Haneda and T.Maruhashi," A New Computer-Aided Method of Distortion Sensitivity-Analysis and Its Elimination Scheme for Power Electronic Circuits," IEEE Transactions on Power Electronics, Vol.1, No.4, pp.200-209, Oct. 1986. [12] Y. Kuroe, T. Maruhashi and T. Kanayama, "Computation of Sensitivities with Respect to Conduction Time of Power Semiconductors and Quick Determination of Steady State for Closed Loop Power Electronic Systems," Proc. of IEEE Power Electronics Specialists Conference, pp.756-

[13] A. V. Fiacco and G. P. Mccormick, Nonlinear Programing: Sequential Unconstrained Minimization Techniques, John Willey and Sons Inc., New York, 1968.

764,June 1988.

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