embedded software system simulation: example of control...
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1 © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential
Embedded Software System Simulation: Example of Control Simulation of an Electric Drive Design
Aubanel Monnier, Jean-Luc Fock-Sui-Too, Todd McDevitt, Vincent Delafosse ANSYS, Inc.
2 © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential
ANSYS is a leading provider in simulation software. It is has been known for his 3D simulation capabilities in Mechanical, Fluidic and Electromagnetic domains.
System engineering help designing complex products. It involves multiple disciplines that need to be combined in the more efficient way so that the complexity of the system can be apprehended.
ANSYS also has the vision of providing a system engineering approach, and we aim to briefly introduce our system engineering vision on a particular case: combining Embedded Software simulation with hardware design of an electrical drive.
Introduction
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Electric Drives are a key component in the power conversion chain in between the power sources (the grid, battery, …) and the loads (industrial equipments, traction motors for cars, trains, …)
As the price of energy increases, developing very efficient drives is critical. A system approach has become mandatory to create new generations of drives, as it enables designers to have a global view of their design early on in the development cycle.
Introduction
CPU, ASIC, Memory Controller
Drive
Controller
Power
- +
Load
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ANSYS Systems Engineering Vision
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Detailed 3D Design
Maxwell
Fluent
Mechanical
Simplorer
Software Engineering
ANSYS Systems Engineering Vision System
Validation
Sub-System Integ. & Verification
Component Integration
& Verification
Requirements and Specifications
Sub-System Design
System Functional & Architectural Design
Mechanical Electrical Software
Detailed Design & Optimization
Systems Functional Engineering
Functional Allocations
Detailed Architecture Architecture
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PLM Backbone
Mechanical E/E
Software
System Validation
Detailed Design & Optimization
Requirements & Specifications
Functional & Architectural Design
Sub-System Design Component Integ. & Verification
Sub-System Integ. & Verification
ANSYS System Engineering Solution Map
Simplorer
Mechanical Fluent
Maxwell HFSS
Simplorer
DX HPC
EKM
Apache
Multiphysics Rigid Body Dynamics
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World Class 3D
Physics Mechanical,
Fluids, Thermal, Emag
Our Systems Engineering Strategy
Embedded Software
Simulation & Certified Code
Generation
0D Simulation
VHDL-AMS Modelica Standard
Compilers & Libraries
0D – 3D Co-Simulation
Full or Reduced Order Models
Open & Collaborative Environment
PLM Interoperability
& Support for 3rd Party Tools
HW – SW Co-Simulation HiL, SiL, MiL
Model-Based System Design
Based on SysML
8 © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential
• Enabling technology built on open standards – SysML for model-based system engineering – VHDL-AMS – standard hardware description language – Modelica – equation based modeling language – FMI/FMU standards for co-simulation – HTML5 & Python for next generation UI
• Interoperability with 3rd Party Tools – Matlab/Simulink – LMS AMESim – Dassault Dymola – NI LabView Veristand – More …
Our Commitment to an Open Platform
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SCADE Suite
PROTOTYPE & DESIGN
Control Software Design
Model Coverage Analysis
VERIFY
Formal Verification
Time & Stack Analysis
Debug & Simulation
Model Checking
Model Diff
SCADE Suite KCG
C & Ada
RTOS & PLC Adaptors
GENERATE
Object Code & Compiler Verification
DO-178B IEC 61508 EN 50128
Certification Kits
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ANSYS Simplorer
Matlab Simulink
Simulation Data Bus/Simulator “0D” Coupling Technology
Co-Simulation
Circuits: States:
VHDL-AMS IF (domain = quiescent_domain) V0 == init_v; ELSE Current == cap*voltage'dot; END USE;
Matlab Real Time Workshop
C/C++ User Defined
Model
ANSYS RBD
ANSYS Maxwell
Blocks:
Electromagnetic (FEA)
Mechanical (FEA)
Model Extraction: Equivalent Circuit, Impulse Response Extracted LTI, Stiffness Matrix
Fluidic (CFD)
Thermal (FEA/CFD)
ANSYS CFD
SCADE Suite
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Practice: Electric Drive with Embedded Software
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Practice: Electric Drive with Embedded Software
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Typical Electrical Drives Development Flow Prototypes/Verification
Hardware Design
Behavioral Level Detailed Level
Software Design
Electrical Design
Open Loop Control Close Loop Control Code Generation
Electrical behavior Losses – EMC/EMI
CAD – Stress Analysis Cooling –Fatigue
?
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Each discipline has independent flow:
-Power electronics designers are only focusing on Semiconductor selections, electrical performances, EMC-EMI effects, efficiency
- Software developers validate codes with elementary and non realistic test cases
-Mechanical and Thermal engineers use approximate values as load cases and boundary conditions
No system validation is realized up until a prototype is build
Takeaways
15 © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential © 2013 ANSYS, Inc. November 6, 2014 ANSYS Confidential
ANSYS Electrical Drives Development Flow Prototypes/Verification
Hardware Design
Behavioral Level Detailed Level
Software Design
Electrical Design
Open Loop Control Close Loop Control Code Generation
Electrical behavior Losses – EMC/EMI
CAD – Stress Analysis Cooling –Fatigue
System Validation System Validation
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Each disciple conserves its flow and his design tools. There is no need to sacrifice accuracy to have a common simulation environment
Early validation is possible as system engineers can incorporate simulation models early on in the design process.
The outputs of the system simulation also benefits each discipline: – Power Electronics designers have realistic temperature operating
points – Software developers can test codes also with realistic hardware
models early on – The exact same control model can be implemented as it is in the
hardware plant. – Mechanical and Thermal engineers have knowledge of accurate loss
values and distributions
Takeaways
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Development of a Electric Drive considering the power electronic design and the embedded control development
Electrical Drive Example
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An incremental approach to design the system is used
Electrical Drive Example
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Level 1: Open loop control, behavioral electric
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Level1: system validation
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Level4: Close loop control, Detailed Electrical
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Level4 system validation
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We have illustrated our system strategy, combining Embedded software development with power electronics hardware design.
The SCADE Suite model that is used at the simulation level is the exact same one that is going to be implemented in the controller.
We have yet to implement more detailed models of the different hardware components that are typically designed using 3D simulations
Conclusion