1. Simulation of Electric Drive Systems Using MATLAB/Simulink

2. Agenda
Introduction of MATLAB/Simulink library and Simscape  SimPowerSystems library
Create a new model – DC motor driven by a DC supply
Use .m script to initialize symbolic parameters used in the model
Use Power electronics to control the machine – Armature voltage (duty-cycle) control of DC motor
Use controller and power electronics – Armature current and speed control of DC motor
Change parameters of the blocks in the model on the fly
Save and plot the results in the workspace

3. Introduction
MATLAB:
Command Window: Create variables, execute command, display messages
Workspace: Store variables, data sent from Simulink model
File Browser:
Simulink,:
An environment for multidomain simulation and Model-Based Design for dynamic and embedded systems;
To design, simulate, implement, and test a variety of time-varying systems, including communications, controls, signal processing, video processing, and image processing;
Library Browser: Simulink, Simscape  SimPowerSystems  Second Generation.
D: Viscous Friction
Tau=La/Ra
MathWorks Webinar:
file:///C:/Program%20Files/MATLAB/R2013b/toolbox/matlab/demos/html/GettingStartedwithMATLAB.html

4. Demo 1: DC Motor Driven by a DC Supply

5. DC Motor Driven by a DC Supply

6. DC Motor Driven by a DC Supply
Dynamic Model of DC Machine

7. DC Motor Driven by a DC Supply

8. Initialize Symbolic Parameters
clc;clear;
%DC motor parameters
Rf=894;
Lf=29.4;
If=0.2;
Ra=2.9;%Armature resistance
La=51.5e-3;%Armature inductance
Ke=1.27;%Back EMF constant V/rad/s
Kt=Ke;
K=Kt/If;%mutual inductance Laf
J=0.0324/2;
F=0.000;
D=0.006;
P=2;% Pole pairs
Ts=2e-6;
Tcs=200e-6;%PWM Freq

9. Demo 2: DC Motor Driven by H-bridge

10. DC Motor Driven by H-Bridge
Va=d*200Vdc

11. Demo 3: DC Motor Drive with Armature Current Control

12. DC Motor Drive with Armature Current Control

13. Demo 4: DC Motor Drive with Armature Current and Speed Control

14. Speed and current control of DCM

15. Save and Plot Results in WorkSpace
D: Viscous Friction
Tau=La/Ra

16. Save and Plot Results in WorkSpace
Example m file code to create a figure with 3 stacked subplots
%followed by comment
Figure;%Open a new figure
subplot(3,1,1);%create 3(r) x 1(c), open the first plot
plot(t,Ia(:,1),t,Ia(:,2));%(:,1) first variable (armature current % reference) in the saved array
subplot(3,1,2); %open the second plot
plot(t,spd(:,1),t,spd(:,2));%Array spd has two
%columns, speed reference and speed
subplot(3,1,3);%open the third plot
plot(spd(:,2),Ia(:,2));%plot DCM characterestic
D: Viscous Friction
Tau=La/Ra

17. Expt. 1: Speed control of a DC motor with an inner current loop

18. DCM_DRV_Blocks.mdl -- Model with blocks to create a DC Motor drive, incl.
Initialization,
Speed and current controllers,
PWM generator,
H-bridge driven DC motor and PMDC generator,
Resistive load with switches to load the generator,
Tuning gains of two controllers,
Measurement and scopes.
DCM_DRV_init.m – Initialize the parameters used in the model
Automatically initialize the parameters after the model file is opened.
The model and .m file should copied to the same folder, which is your current folder in MATLAB/Simulink.

19. Expt. 2: IM Drive with Slip Power Recovery

20. IM_DRV_SlipPwRecov_Block.mdl
Initialization,
Varia controlled by CB1 (circuit Breaker 1)
Firing pulse generator with enable control, phase adjustable between deg,
Short-circuit DC bus by CB3
Three-phase diode bridge
Smoothing inductor
4:1 three-phase transformer and CB2 (circuit Breaker 2)
Induction motor and PMDC generator,
Resistive load with switches to load the generator,
Measurement and scopes.
IM_DRV_SlipPwRecov_init.m
Parameters initialization
Two files in the same folder, current folder in MATLAB/Simulink.

21. Expt. 3: IM drive under V/f and
IRFOC

22. SVPWM_IM_IRFOC_Block.mdl
V/f controller,
dq current controller, speed controller,
Synchronous speed (ωs)/position and rotor flux calculator,
abc/αβ, abc/dq transformation
Decoupling, PWM Generator,
PMDC generator, Load with switches, Inverter and IM
Measurement and scopes.
SVPWM_IM_init.m
Parameters initialization
Two files in the same folder, current folder in MATLAB/Simulink.

26. Flux linkages and voltages in synchronous dq frame
After a lot of trigonometric manipulations, and using
For stator
For rotor

27. Dynamic equivalent circuits in dq-axes
Ls=L1-M1
Lr=L2-M2

28. Dynamic equivalent circuits in dq-axes
Ls=L1-M1
Lr=L2-M2

29. IRFOC of IM

30. Expt. 4: PMSM drive with V/f and
RFOC

31. SVPWM_PMSM_Block.mdl
V/f controller,
dq current controller, speed controller,
abc/αβ, abc/dq transformation
Decoupling, PWM Generator,
PMDC generator, Load with switches, Inverter and PMSM
Measurement and scopes.
SVPWM_PMSM_init.m
Parameters initialization
Two files in the same folder, current folder in MATLAB/Simulink.

34. Dynamic Model of SM