16. Copyright(C) MARUTSU ELEC 2015 16
1.1 リチウムイオン電池のシンプルモデル
PSpice Version
LTspice Version
MATLAB Version
17. Parameter Settings
C is the amp-hour battery capacity [Ah]
– e.g. C = 0.3, 1.4, or 2.8 [Ah]
NS is the number of cells in series
– e.g. NS=1 for 1 cell battery, NS=2 for 2 cells
battery (battery voltage is double from 1 cell)
SOC is the initial state of charge in percent
– e.g. SOC=0 for a empty battery (0%), SOC=1 for
a full charged battery (100%)
TSCALE turns TSCALE seconds into a second
– e.g. TSCALE=60 turns 60s or 1min into a second,
TSCALE=3600 turns 3600s or 1h into a second,
• From the Li-Ion Battery specification, the model is characterized by setting parameters
C, NS, SOC and TSCALE.
Copyright(C) MARUTSU ELEC 2015 17
Model Parameters:
+ -
U1
LI-ION_BATTERY
SOC = 1
NS = 1
TSCALE = 1
C = 1.4
(Default values)
1.1 リチウムイオン電池のシンプルモデル
SPICE
18. • The battery information refer to a battery part number LIR18500 of EEMB BATTERY.
Copyright(C) MARUTSU ELEC 2015 18
+ -
U1
LI-ION_BATTERY
SOC = 1
NS = 1
TSCALE = 60
C = 1.4
Battery capacity is
input as a model
parameter
Nominal Voltage 3.7V
Nominal
Capacity
Typical 1400mAh (0.2C discharge)
Charging Voltage 4.20V±0.05V
Charging Std. Current 700mA
Max Current
Charge 1400mA
Discharge 2800mA
Discharge cut-off voltage 2.75V
1.1 リチウムイオン電池のシンプルモデル
SPICE
23. + -
U1
LI-ION_BATTERY
SOC = 1
NS = 4
TSCALE = 60
C = 4.4
• The battery information refer to a battery part number PBT-BAT-0001 of BAYSUN Co., Ltd.
Copyright(C) MARUTSU ELEC 2015 23
The number of cells in
series is input as a
model parameter
Output Voltage DC 12.8~16.4V
Capacity of Approximately 4400mAh
Input Voltage DC 20.5V
Charging Time About 5 hours
Basic Specification
Li-ion needs 4 cells
to reach this
voltage level
1.1 リチウムイオン電池のシンプルモデル
SPICE
28. 1. Benefit of the Model
2. Model Feature
3. Simulink Model of Lithium-Ion Battery
4. Concept of the Model
5. Pin Configurations
6. Li-Ion Battery Specification (Example)
6.1 Charge Time Characteristic
6.1.1 Charge Time Characteristic (Simulation Circuit)
6.1.2 Charge Time Characteristic (Simulation Settings)
6.2 Discharge Time Characteristic (Simulation Circuit)
6.2.1 Discharge Time Waveform - 1400mAh (0.2C discharge)
6.2.2 Discharge Time Waveform - 1400mAh (0.5C discharge)
6.2.3 Discharge Time Waveform - 1400mAh (1.0C discharge)
6.2.4 Discharge Time Characteristic (Simulation Settings)
6.3 Vbat vs. SOC Characteristic
6.3.1 Vbat vs. SOC Characteristic (Simulation Circuit)
6.3.2 Vbat vs. SOC Characteristic (Simulation Settings)
7. Extend the number of Cell (Example)
7.1.1 Charge Time Circuit - NS=4, TSCALE=3600
7.1.2 Charge Time Waveform - NS=4, TSCALE=3600
7.2.1 Discharge Time Circuit - NS=4, TSCALE=3600
7.2.2 Discharge Time Waveform - NS=4, TSCALE=3600
7.3 Charge & Discharge Time (Simulation Settings)
8. Port Specifications
Simulation Index
Appendix Diode
28Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
29. 1. Benefit of the Model
• The model enables circuit designer to predict
and optimize battery runtime and circuit
performance.
• The model can be easily adjusted to your
own battery specifications by editing a few
parameters that are provided in the datasheet.
• The model is optimized to
reduce the convergence error and the
simulation time
29Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
30. • This Li-Ion Battery Simplified Simulink Model is for users who require the
model of a Li-Ion Battery as a part of their system.
• Battery Voltage(Vbat) vs. Battery Capacity Level (SOC) Characteristic, that can
perform battery charge and discharge time at various current rate conditions,
are accounted by the model.
• As a simplified model, the effects of cycle number and temperature are
neglected.
VSOC
2
MINUS
1
PLUS
VOC
+-
Rtransient_S
+-
Rtransient_L
+-
Rseries
Ibatt
+-
Ctransient_S
+-
Ctransient_L
+-
Capacity
2. Model Feature
30
Battery Circuit Model
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
31. 3. Simulink Model of Lithium-Ion Battery
31
Equivalent Circuit of Lithium-Ion Battery Model using Matlab
Copyright(C) MARUTSU ELEC 2015
1
VSOC
2
MINUS
1
PLUS
f(x)=0
Solver
Configuration
PSS
V
+
-
PS S
+-
0.03
RTS
0.034
RTL
IBAT
RTS
CTS
CAH
N
TSCALE
RTCT_S
RTCT_S_EQV
IBAT
RTL
CTL
CAH
N
TSCALE
RTCT_L
RTCT_L_EQV
IBAT
RS
N
CAH
RSO
RS_EQV
0.045
RS
PS S
PSS
+
-
U
+
-
U
-K-
-K-
f(u)
SOC VOUT
EOCV
I
+
-
1800
CTS
15000
CTL
TSCALE
CAH
IBAT
SOC_SETTING
SOC0
CAPACITY
+-
4
%SOC
3
Tscale
2
C
1
NS
1.1 リチウムイオン電池のシンプルモデル
MATLAB
32. 4. Concept of the Model
32
Li-Ion battery
Simplified Simulink Model
[Spec: C, NS]
Adjustable SOC : 0-100(%)
+
-
• The model is characterized by parameters: C, which represent the battery
capacity and SOC, which represent the battery initial capacity level.
• Open-circuit voltage (VOC) vs. SOC is included in the model as a behavioral
model.
• NS (Number of Cells in series) is used when the Li-ion cells are in series to
increase battery voltage level.
Output
Characteristics
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
33. VB
VIN
5V
1
Tscale
100
Soc
V
+
I
+
-
SENSE_IBAT
PSS
PS S
OUTPUT
1
Ns
NS
C
Tscale
%SOC
VSOC
PLUS
MINUS
LI-ION_BATTERY
ICHG
0.5C (700mA)1.4
Capacity
5. Pin Configurations
C is the amp-hour battery capacity [Ah]
– e.g. C = 0.2, 1.4, or 2.0 [Ah]
NS is the number of cells in series
– e.g. NS=1 for 1 cell battery, NS=2 for 2 cells
battery (battery voltage is double from 1 cell)
SOC is the initial state of charge in percent
– e.g. SOC=0 for a empty battery (0%), SOC=100
for a full charged battery (100%)
TSCALE turns TSCALE seconds into a second
– e.g. TSCALE=60 turns 60s or 1min into a second
TSCALE=3600 turns 3600s or 1h into a second
• From the Li-Ion Battery specification, the model is characterized by setting parameters
C, NS, SOC and TSCALE.
33
Model Parameters:
Probe
“SOC”
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
37. 6.1.2 Charge Time Characteristic
Simulation Settings
37
Table 2: Simulation settings
Property Value
StartTime 0
StopTime 12000
AbsTol auto
InitialStep auto
ZcThreshold auto
MaxConsecutiveZCs 1000
NumberNewtonIterations 1
MaxStep 1
MinStep auto
MaxConsecutiveMinStep 1
RelTol 1e-3
SolverMode Auto
Solver ode23t
SolverName ode23t
SolverType Variable-step
SolverJacobianMethodControl auto
ShapePreserveControl DisableAll
ZeroCrossControl UseLocalSettings
ZeroCrossAlgorithm Adaptive
SolverResetMethod Fast
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
38. 6.2 Discharge Time Characteristic
Simulation Circuit
38
• Battery voltage vs. time are simulated at 0.2C, 0.5C, and 1C discharge rates.
battery starts from 100% of capacity
(fully charged)
VBAT
1
Tscale
100
Soc
V
+
-
PSS
1
Ns
NS
C
Tscale
%SOC
VSOC
PLUS
MINUS
LI-ION_BATTERY
IDIS
0.2C (280mA)
1.4
Capacity
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
50. 50
2200mA (0.5C)
16.4V
12.8V
Output
voltage
range
7.2.2 Discharge Time Waveform
NS=4, TSCALE=3600
• Output Voltage: 12.8~16.4V
• Capacity: 4400mAh
• Discharge Current: 2200mA (0.5C)
BATTERY PACK LI-ION 12.8~16.4V
Number of Cells: 4
(hour)
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
51. 7.3 Charge & Discharge Time
Simulation Settings
51
Table 5: Simulation settings
Property Value
StartTime 0
StopTime 8, 3
AbsTol auto
InitialStep auto
ZcThreshold auto
MaxConsecutiveZCs 1000
NumberNewtonIterations 1
MaxStep 0.01
MinStep auto
MaxConsecutiveMinStep 1
RelTol 1e-3
SolverMode Auto
Solver ode23t
SolverName ode23t
SolverType Variable-step
SolverJacobianMethodControl auto
ShapePreserveControl DisableAll
ZeroCrossControl UseLocalSettings
ZeroCrossAlgorithm Adaptive
SolverResetMethod Fast
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
52. 8. Port Specifications
52
Table 6
Parameter Simulink Simscape
NS O
C O
TSCALE O
%SOC O
VSOC O
PLUS O
MINUS O
VSOC
VIN
5V
60
Tscale
0
Soc
SENSE_
I
+
-
SENSE_IBAT
PS S
PS S
1
Ns
NS
C
Tscale
%SOC
VSOC
PLUS
MINUS
LI-ION_BATTERY
ICHG
0.5C
IBAT
1.4
Capacity
Battery Model
Copyright(C) MARUTSU ELEC 2015
1.1 リチウムイオン電池のシンプルモデル
MATLAB
53. Appendix
53Copyright(C) MARUTSU ELEC 2015
If Diode is error, Please choice Diode of SPICE-Compatiable
Semiconductors/Diode
1.1 リチウムイオン電池のシンプルモデル
MATLAB
81. Motenergy, Inc (ME0913)
Motor Electrical Parameters
• Operating Voltage Range..........................0 – 72 VMAX
• Rated Continuous Current........................140 Arms
• Peak Stalled Current.................................400 Arms
• Voltage Constant.......................................50 RPM/V
• Phase Resistance (L-L).............................0.0125 Ω
• Phase Inductance......................................105uH at 120Hz, 110uH at 1kHz
• Maximum Continuous Power Rating……..17KW at 102VDC Battery Voltage
14.3KW at 84VDC Battery Voltage
12KW at 72VDC Battery Voltage
Motor Mechanical Parameters
• Rated Speed.............................................3000 RPM
• Maximum Speed.......................................5000 RPM
• Rated Torque............................................288 Lb-in
• Torque Constant.......................................1.6 Lb-in/A
Copyright (C) Bee Technologies2013 81
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
82. • The Torque are defined by :
At 140Arms (Rated Continuous Current)
KT = 1.6 Lb-in/A
Tphe = 1.6 140 = 224Lb-in
Te = 224*3= 672Lb-in
• The Back-EMF are defined by :
At 5000 RPM (Maximum Speed)
Ephe ≈ VBAT (In an ideal motor, R and L are zero)
Ephe = 102V
KE = Ephe /ωm = 102 / 5000
KE ≈ 0.02V/RPM
Copyright (C) Bee Technologies2013 82
wTw
vTv
uTu
IKT
IKT
IKT
mEw
mEv
mEu
KE
KE
KE
phe: u, v, w
Vphe : Phase voltage applied from inverter to
motor
VAC : Operating voltage range (Maximum
voltage)
VBAT : DC Voltage applied from battery
Iphe : Phase current
Tphe : Electric torque produced by u, v, w phase
Te : Electric torque produced by motor
Ephe : Phase Back-EMF
KE : Back-EMF constant
KT : Torque constant
ωm : Angular speed of rotor
1 Pound Inch equals 0.11 Nm
TwTvTueT
(1)
(2)
(3)
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
83. Copyright (C) Bee Technologies2013 83
L1
1 2
BEMF1
R1
L2
1 2
BEMF2
R2
L3
1 2
BEMF3
R3
N0
U
V
W
Phase Resistance (L-L) : 0.0125Ω
Phase Inductance : 105uH
: 110uH
Frequency Response
105uH
110uH
Fig.2 Phase-to-GroundFig. 1 Scheme of the 3-Phase Model
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
84. PARAMETERS:
KT = 1.6
KE = 0.02
LL = 105U
RLL = 0.0125
PARAMETERS:
LOAD = 140
U3
LM = {LL}
IL = {LOAD}
KT0 = {KT}
RM = {RLL*0.5}
1
2SPTQ
emf _u
0
IN+
IN-
OUT+
OUT-
EMF_V
eu
0
IN+
IN-
OUT+
OUT-
EMF_W
0
IN+
IN-
OUT+
OUT-
ELIM_V
0
lim_v
IN+
IN-
OUT+
OUT-
ESP
0
0
IN+
IN-
OUT+
OUT-
ELIM_W
lim_w
0
emf _vev
emf _u
-
+
+
-
E2
0
emf _v
emf _wew
-
+
+
-
E3
emf _w
0
n1
tu
0
tv
0
tw
N0
n2
U
n3
W
V
Vu
speedU4
AND3AMB
IN+
IN-
OUT+
OUT-
ETQ
0
mul
Vv
torque
Vw
-
+
+
-
E1
0
0
IN+
IN-
OUT+
OUT-
EMF_U
0
IN+
IN-
OUT+
OUT-
ELIM_U
0
lim_u
sp_v
sp_u
sp_u
sp_w
sp_w
sp_v
U1
LM = {LL}
IL = {LOAD}
KT0 = {KT}
RM = {RLL*0.5}
1
2SPTQ
U2
LM = {LL}
IL = {LOAD}
KT0 = {KT}
RM = {RLL*0.5}
1
2SPTQ
The 3-Phase AC Motor Equivalent Circuit
This figure shows the equivalent circuit of AC motor model that includes
the |Z|-frequency part ,Back-EMF voltage part ,and Mechanical part.
The Back-EMF voltage is the voltage generated across the motor's
terminals as the windings move through the motor's magnetic field.
Copyright (C) Bee Technologies2013 84
|Z| - Frequency Back-EMF Voltage
Mechanical part
Fig. 3 Three-Phase AC Motor Equivalent Circuit
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
85. Parameters Settings
Copyright (C) Bee Technologies2013 85
LOAD : Load current each phase of motor [Arms]
– e.g. LL = 125Arms, 140Arms, or 400Arms
LL : Phase inductance [H]
– e.g. LL = 10mH, 100mH, or 1H
RLL : Phase resistance (Phase-to-phase) [Ω]
– e.g. RLL = 10mΩ, 100mΩ, or 1Ω
KE : Back-EMF constant [V/RPM]
– e.g. KE= 0.01, 0.05, or 0.1
KT : Torque constant [Lb-in/A]
– e.g. KT= 0.1, 0.5, or 1
1 Pound Inch equals 0.11 Nm
Model Parameters:
Fig. 4 Symbol of 3-Phase Induction Motor
From the 3-Phase Induction Motor specification, the model is characterized by
setting parameters LL, RLL, KE, KT and LOAD.
M N0
U1
ME0913
LL = 105U
LOAD = 140
KT = 1.6
KE = 0.02
RLL = 0.0125
1
2
3
4
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
86. Simulation Circuit of 3-Phase AC Motor Model
Copyright (C) Bee Technologies2013 86
Fig.5 Analysis of motor operation powered by
alternating voltage variation involves using the model
of three-phase induction motor.
N0
N0
RU
RV
RW
U2
GDRV
UD
UP
VD
VP
WD
WP
RU, RV, RW: 173.75m
UP UD VDVP WP WD
V1
102V +
-
+
-
S1 D1
DMOD_01
+
-
+
-
S2 D2
DMOD_01
UP
UD
0
0
+
-
+
-
S3
M N0
U1
ME0913
LL = 105U
LOAD = 140
KT = 1.6
KE = 0.02
RLL = 0.0125
1
2
3
4
D3
DMOD_01
+
-
+
-
S4 D4
DMOD_01
VP
VD
0
0
+
-
+
-
S5 D5
DMOD_01
+
-
+
-
S6 D6
DMOD_01
WP
WD
0
0
U
0
V
W
V2
102V
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
87. Phase Current Characteristics Under Load Variation
- Simulation Results
Copyright (C) Bee Technologies2013 87
Fig. 6 Current Characteristics under load Condition
Time
0s 500ms
I(RU)/SQRT(2)
-500A
0A
500A
Time
0s 500ms
I(RU)/SQRT(2)
-500A
0A
500A
Time
0s 500ms
I(RU)/SQRT(2)
-500A
0A
500A
Load 50Arms
Load 140Arms
Load 200Arms
Reference of Phase U
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
92. Simulation Result
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2013
92
SPEED
SOC
VBATT
VUN
4. ACモーターのスパイスモデルとインバータ回路全体シミュレーション
Lithium Ion Battery
99. About Motor Generator Model
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
99
Phase angle between V1 and V2, V2 and V3, V3 and V1 are equaled 120 degree ()
0
V1
FREQ = 50
VAMPL = {Vrms*sqrt(2)}
VOFF = 0
PHASE = 0
V2
FREQ = 50
VAMPL = {Vrms*sqrt(2)}
VOFF = 0
PHASE = -120
V3
FREQ = 50
VAMPL = {Vrms*sqrt(2)}
VOFF = 0
PHASE = -240
PARAMETERS:
Vrms = 280
5.回生回路(発電機)全体シミュレーション
100. About Control Signal (1/3)
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
100
VD
WD
U
SPWM
CTL1
CTL2
CTL3
Vref 1
Vref 2
Vref 3
VP
WP
-
+
+
-
E7
E
-1
0
-
+
+
-
E8
E
-1
0
UP
UD
-
+
+
-
E9
E
-1
0
Double click
Output voltage (3-phase motor generator) feed to Vref1, Vref2 and Vref3
Control Signal of
Switching IGBT
To Connected to Motor
Generator
5.回生回路(発電機)全体シミュレーション
101. About Control Signal (2/3)
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
101
V4TD = 0
TF = {(0.5/Freq)}
PW = 1n
PER = {1/Freq}
V1 = {Vsawh}
TR = {(0.5/Freq)}
V2 = {Vsawl}
0
PARAMETERS:
Freq = 500
m1 = {Vsawh-Vsawl}
m2 = {Vsawl-Vsawh}
PARAMETERS:
Vsawh = 3
Vsawl = -3
IN+
IN-
OUT+
OUT-
E1
IF(V(%IN+)>V(%IN-),1,-1)
EVALUE
0
IN+
IN-
OUT+
OUT-
E2
IF(V(%IN+)>V(%IN-),1,-1)
EVALUE
0
IN+
IN-
OUT+
OUT-
E3
IF(V(%IN+)>V(%IN-),1,-1)
EVALUE
0
saw
CTL3
CTL2
CTL1
-
+
+
-
E4
E
0.01
00
Vref 1
-
+
+
-
E5
E
0.01
0 0
Vref 2
-
+
+
-
E6
E
0.01
0 0
Vref 3
SPWM
Reference voltage compared with sawtooth signal
Sawtooth Signal
5.回生回路(発電機)全体シミュレーション
102. About Control Signal (3/3)
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
102
Vref1
Vref2
Vref3
CTL1
CTL2
CTL3
5.回生回路(発電機)全体シミュレーション
103. About Buck Converter (1/2)
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
103
GND
GND_SW
Riso
100MEG
0
D8
DCT300DJH060
DMOD
D7
Vrectif ier
Cout
880uF
GND_SW
VG2
TD = 0
TF = 100n
PW = {Duty _buck*(1/Freq_buck)}
PER = {1/Freq_buck}
V1 = 0
TR = 100n
V2 = 0
R9
15k
U8
CT300DJH060
-
+
+
-
E11
E
1
G2
VG1
TD = 0
TF = 100n
PW = {Duty _buck*(1/Freq_buck)}
PER = {1/Freq_buck}
V1 = 0
TR = 100n
V2 = 15
L1
225uH
1 2
C1
315uF
VBATT
PARAMETERS:
Freq_buck = 10k
Duty _buck = 0.44
rl1
10m
n1
rc1
0.05m
G1
R8
15k
U7
CT300DJH060
-
+
+
-
E10
E
1
No Use
Voltage and Current are controlled
by adjust “Duty_buck” parameter of
Upper IGBT (U7)
5.回生回路(発電機)全体シミュレーション
104. About Buck Converter (2/2)
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
104
UPPER IGBT:VDS
UPPER IGBT:VGS
LOWER IGBT:VGS
5.回生回路(発電機)全体シミュレーション
105. About Li-Ion Battery
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
105
GND
GNDGND
D_disch
D9
V101
{(4.2*N)-8.2m}
IBATT
0Vdc
PARAMETERS:
N = 85
CAh = 50
rate = 1
PARAMETERS:
Voch = {(4.2*N)-8.2m}
Capacity = 1
HI
+ -
U9
LI-ION_BATTERY
SOC = 0
NS = {N}
TSCALE = {3600*4}
C = {CAh}
C2
10n
“N” is Amount
of Battery Cell
“TSCALE={3600*4}” is meant
1second (simulation setting-runtime)
equal 4 hours
“CAh” is Capacity of Battery
(ampere-hour capacity)
5.回生回路(発電機)全体シミュレーション
106. Simulation Result (parametric sweep)
All Rights Reserved Copyright (C) Bee
Technologies Corporation 2015
106
Duty_buck=0.44 Duty_buck=0.34 Duty_buck=0.24
Battery Voltage
Battery Charging Current
Buck: Output Voltage
Buck: Gate Drive Voltage
3-phase rectifier: Output Voltage
3-phase Generator: Output Voltage
6 Hours
Simulation time for 1 condition is about 15 minute
5.回生回路(発電機)全体シミュレーション