Kazuhiro Kawamura ANSYS Japan · Simplorer Differentiation Unmatched versatility for System Simulation Standard modeling languages, mixed digital and analog solver technology, and

1 © 2014 ANSYS, Inc. October 7, 2014

System Modeling and SimulationTrends and Enablers for Electrified Vehicle Systems

Kazuhiro KawamuraANSYS Japan


1. Today’s Electrified Vehicle Systems– Motivations & Requirements for System Simulation

2. System Modeling and Simulation in Practice– Multi‐Domain Vehicle Simulation with ANSYS Simplorer

3. Directions in System Simulation Trends– ANSYS / Modelon Partnership

Agenda


Today’s Electrified Vehicle Systems

Introduction of New Technologies To reduce

environmental impact

To enhance safety

To Improvecomfort

・Motors & Electric Drives・Idling stop・Regenerative control・Power saving technology・Heat recovery

・Information technologyutilization

・Inter‐vehicle distance sensing

・Interlocking functions with car navigation system

・ITS : Intelligent Transport Systems• ( http://www.its‐jp.org/english/ )

・Driver Assist functions (brake etc.)・Noise control technology

System simulation is necessary and getting applied more broadly.


Utilizing CAE for Electric MotorsPrecise Verification of Performance

A large amount of computation is conducted in parallel by distributed processing.CAE is getting applied to precisely evaluate losses and coupling with thermal effects.

Iron lossdistribution

Steady‐state temperature distribution

Thermal demagnetization of the permanent magnet

(Magnetic flux density distribution)

20℃ 110℃

Efficiency and torque maps(Over 180 operation conditions must

be considered.)

Updating maps

Maxwell

Fluent


Utilizing CAE for Distance SensingMillimeter‐wave Radar Simulation

75mm(19.1λ)20mm(5.1λ)

75mm(19.1λ)

Millimeter‐wave radar transceiver

Reflection analysis on millimeter‐wave radar,with Boundary Integral Equation Method

Simulated with 250GB memory

・Too many meshes・Too large space to be analyzedCAE simulation is getting applied toobjects with above difficultiesfurthermore.

HFSS


CAE Utilization for Noise ControlVibration and noise analysis with Motor

Electromagnetic force analysis⇒ Modal analysis ⇒ Acoustic field analysis

Coupling simulation is realized in conjunction with different CAE tools.CAE simulation is applicable for harmonic distortion analysis on coils and capacitors.

Maxwell

Mechanical


Needs to simulate the Whole System for Optimization

ConceptDevelopment

Design Production & Testing

Maintenance & Support

Retirement & Disposal

Portfolio Planning

Requirements Engineering

Systems ModelingSystem Integration

& Test

Validation & Verification

Integrated Product Change Management

SystemsEngineering

Service and Asset Management

MECHANICALELECTRONICSOFTWARE

With the use of CAE technologies , concurrent design has already been ready for each component.

For further accuracy improvement of conceptual design, concurrent framework including system requirements and component design.‐Model‐based concurrent development realizes reduced time‐to‐market.


Systems are:• Dynamic: they move, transmit, convey, transform, emit,

measure, ...

• Multi‐Domain: product behaviors span multiple engineering domains & physical phenomena that interact with one another

• Uncertain: they under/over perform, they interact with the environment, they drift, they fail...

• Multi‐Disciplinary: conception through production spans engineering and organizational disciplines and processes

The Complexity of SystemsChallenges Motivating System Simulation


Integrating Multiple Domains:

Heat Exchangerhigh_t

low_t

outlet_hinlet_h

outlet_c

inlet_c

U2_heat_ex

inletoutlet

U1_low_pump

inletoutlet

U3_h_pump

temp

temp

0.00 2.50 5.00 7.50 10.00 12.50 15.00 17.50 20.00Time [s]

300.00

350.00

400.00

450.00

500.00

550.00

600.00

Y2

[kel

]

Ansoft LLC Simplorer1XY Plot 1Curve Info

U2_heat_ex.tc100TR

U2_heat_ex.th100TR

0

100

200

300

400

500

600

700

800

0 0.5 1 1.5 2

時間　（us）

電圧

　（V）

0

100

200

300

400

500

600

700

800

電流

　（A）

VCE-実測

VCE-SIM

IC-実測IC-SIM

T TT

MASS_ROT1

DAMP_ROT1

SPRING_ROT1

MASS_ROT2

DAMP_ROT2

SPRING_ROT2

MASS_ROT3

DAMP_ROT3

SPRING_ROT3

MASS_ROT4

DAMP_ROT4

DAMP_ROT5

DAMP_ROT6

DAMP_ROT7

F_ROT1 F_ROT2F_ROT3

SteamTurbine

GearCompressor

Motor Expander

Air Gap Torque of Motor

• Simplorer is a powerful environment for modeling, simulating, and analyzing virtual system prototypes...

• ...enabling product development teams to verify and optimize performance of their software‐controlled, multi‐domain system designs before physical prototypes are available.


SML VHDL-AMS C / C++Languages

SPICE

Physical Modeling Breadth & Depth

Modelica

ConservedAnalog/Mixed-Signal

Signal FlowBehaviors

Discrete Event

Model Characterization & GenerationReduced Order Models

Electromagnetic

Mechanical Fluidic

ThermalPower Electronic

Devices & Modules

LibrariesAnalog DigitalMulti-Domain

App-SpecificPower Systems Manufacturers

Models

3rd PartySimulink

Functional Mock-up Interface (FMI)

Embedded SW FMUs

ANSYS Co-Simulation

RBDEM CFD

Interfaces


• Multi‐Domain Components• Semiconductors (advanced power electronics devices and characterization tools)

• Digital & Logic (state‐machines, blocks, etc.)

Native Simplorer Model Libraries

Magnetics

JA

MMF

J

STF

M(t)

GN

D

mSTF

F(t)

GN

D

Mechanics

L

Hydraulics

Electrical Circuits

H

Thermal





NIGBT_Average_T1

NIGBT_BasicDyn1

NIGBT_AdvDyn1

-231.0 618.00 200.0 400.050.0

00.0

0

66.7

33.3

00.0

-172.0 750.00 200.0 400.0 600.050.0

00.0

0

66.7

33.3

00.0





Block Diagrams

Digital Logic


Reduced Order Models (ROMs)Direct Link from 2‐D/3‐D Physics to System Simulation

Thermal

Magnetic

Electrical

Mechanical


Examples: ROMs for E/E SimulationLinking 2/3‐D with the System‐Level

Parasitic Extraction

Wireless Power Transfer

Electric Machine Design

Excitations for EMC/EMI


Platform for Testing the Virtual System

• Verify performance• Tune responses• Explore alternatives• Identify optimums• Assess fault effects• Predict reliability• ...

Models ‐ More performant‐ More efficient‐ More reliable‐ Less expensive‐ ...

0

R1

RC

L1

25mH

C1

1e-006farad

Rload

1000ohm

E1

+V

VM1TR

Probe

TR_Probe110

9.09 9.09

10

9.09 9.090.00909

0.00909

0.009090.000227

00

0.00909

0.00909

0.00909

0.009090.000227

00

0.00909

Time‐Domain

Frequency‐Domain

Steady‐State

Quickly Evaluate Basic Performance

Explore & Optimize System Performance


In Practice: System Modeling and Simulation for Vehicles

Control Algorithm

Hydrodynamic/Rigid-body dynamicsmodel

1

_'_exp_

slgassthgassVcurrrI cell

gass

tsdTT

self ehrs

capsdpdI _0

24100

20

24

40

202

22

224

4

ln2 SOH

OHOHSOH

FRTEd

Battery and Motor model

FuelConsumption

ResponsespeedPower

Management

Heatrecovery

),()(),(

)()(

),()(),()()(

11

111

11

111

ttpdttd

Rtitv

ttpdttdRtitv

dq

qq

qd

dd


Simplorer Differentiation

Unmatched versatility for System SimulationStandard modeling languages, mixed digital and analog solver technology,

and standard co‐simulation interfaces for simulation of electrical, electronics and embedded software systems.

Adheres to physical lawsBehind every modeling component is a corresponding

conservation law which ensures real‐world physics are being respected.

Leader in electromechanical and power electronicsRich modeling libraries and design automation designed especially for high

performance power electronics and electromechanical simulation.

3D precision when you need itCo‐simulation with 3D solvers and reduced order modeling (ROM) captures complex multi‐physics interactions when

precise system verification is required.


System‐Level Hybrid Electric Vehicle ModelFull Description in VHDL‐AMS


HEV Simulation: Fuel consumption (10‐15 mode)

0.00 250.00 500.00 750.00 1000.00 1250.00 1500.00 1700.39Time [s]

-3.75

0.00

5.00

10.00

15.00

20.00

25.00

Y1

Simplorer1XY Plot 4

0.00 250.00 500.00 750.00 1000.00 1250.00 1500.00 1700.39Time [s]

0.00

10.00

20.00

30.00

0.69

0.70

0.71

0.71

Curve Info

driver1.v_istTR

SubSheet1.batcell_t_test1.soc_cellTR

Simplorer1XY Stacked Plot 3

v_soll: desired speed from driving cycle data. v_ist: simulated actual vehicle speed.v_ctrl: is the difference between v_soll and v_ist.


HEV Simulation:Battery Cell Thermal Behavior

1006.18 1010.00 1015.00 1020.00 1025.00 1030.00Time [s]

295.85

295.90

295.95

296.00

Y1

Simplorer1XY Plot 12

0.00 500.00 1000.00 1500.00 2000.00 2500.00 3000.00 3500.00 4000.00Time [s]

-0.60

-0.48

-0.35

-0.23

-0.10

0.02

Y1

Simplorer1XY Plot 13

0.00 500.00 1000.00 1500.00 2000.00 2500.00 3000.00 3500.00 4000.00Time [s]

293.00

294.00

295.00

296.00

296.64Y

1Simplorer1XY Plot 12


FMU

Review: Simplorer CapabilityMulti‐Domain System Modeling & Verification

Embedded SWEmbedded SW

Links with 3‐DLinks with 3‐D

Detailed Power Electronics

Detailed Power Electronics

Flexible Model Exchange

Flexible Model Exchange

0.00 250.00 500.00 750.00 1000.00 1250.00 1500.00 1750.00Time [s]

0.00

10.00

20.00

30.00

0.00

10.00

20.00

30.00

Curve Info

driver_hev1.v_refTR

driver_hev1.v_vehTR

Simplorer1XY Plot 1

Simulation‐based TestSimulation‐based Test


Directions in System SimulationANSYS / Modelon Partnership

Focus on:• Awareness & expertise• Reuse & portability• Exchange & distribution

FMIFunctional Mock-up Interface


Modelica Significance

Modelica is a standard languageused to model behavior of complex, multi‐domain systems

Modelica is an expanding collection of librariesused to model applications in automotive, aerospace, industrial equipment, energy, and more

Modelica is a vibrant, global communityof users and contributors in industry, research and academia


Modelica advances our Vision

Today, Simplorer provides:1. Strongest focus and capabilities for electrical and

electromechanical system analysis

2. Tight connections with best‐in‐class embedded SW design (SCADE) and detailed simulation (ANSYS 2/3‐D)

3. Interoperability with the broadest set of languages, interfaces, and libraries

With the addition of Modelica:1. Allows us to extend competency to new domains (e.g. Fluid,

Mechanical), and bring a tighter link with VHDL‐AMS

2. Gives us opportunity to bring the E/E perspective to the Modelica community


Enabling System Virtual Prototyping

ANSYS has signed an agreement with Modelon to license their Modelica compiler and to integrate it into Simplorer

Key Modelon Technologies:

• Modelica compiler – the Optimica Compiler Toolkit

• Model Libraries – Spanning many domains and industrial applications

www.modelon.com


System Modeling Directions

Focus on:• Awareness & expertise• Reuse & portability• Exchange & distribution

FMIFunctional Mock-up Interface


The FMI is a tool‐independent standard for exchanging and simulatingcomplex multi‐domain system models

• Initiated by Daimler AG in 2008 and developed by the European ITEA 2 MODELISAR consortium

• A primary goal is to support the exchange of simulation models between suppliers and manufacturers

• Key contributions: FMI Specification, compliance checking tools

The Functional Mock‐up Interface


FMI Support in Simplorer

• Full support for FMI Model Exchange – Import• Standard connection with SCADE• Provides interoperability with several Modelica vendors

• Driving FMI interoperability with VHDL‐AMS components

AMESim

Vendor SupportFMI 1.0 Model Exchange – Export



low_t

outlet_hinlet_h

outlet_c

inlet_c

U2_heat_ex

inletoutlet

U1_low_pump

inletoutlet

U3_h_pump

temp

temp

0.00 2.50 5.00 7.50 10.00 12.50 15.00 17.50 20.00Time [s]

300.00

350.00

400.00

450.00

500.00

550.00

600.00

Y2 [k

el]

Ansoft LLC Simplorer1XY Plot 1Curve InfoU2_heat_ex.tc100

TRU2_heat_ex.th100

TR

0

100

200

300

400

500

600

700

800

0 0.5 1 1.5 2

時間　（us）

電圧　（V）

0

100

200

300

400

500

600

700

800

電流　（A）

VCE-実測

VCE-SIM

IC-実測IC-SIM

T TT

MASS_ROT1

DAMP_ROT1

SPRING_ROT1

MASS_ROT2

DAMP_ROT2

SPRING_ROT2

MASS_ROT3

DAMP_ROT3

SPRING_ROT3

MASS_ROT4

DAMP_ROT4

DAMP_ROT5

DAMP_ROT6

DAMP_ROT7

F_ROT1 F_ROT2F_ROT3

SteamTurbine

GearCompressor

Motor Expander


FMUFunctionalMock‐upUnit

(Compiled C‐code)

Modelica Support in Simplorer – via FMIAvailable Today in Version 2014 and later

Modelica Model Creation: 3rd Party Tool

FMI 1.0 for Model Exchange FMI 1.0 for Model Exchange ‐ Export

ANSYS Simplorer



low_t

outlet_hinlet_h

outlet_c

inlet_c

U2_heat_ex

inletoutlet

U1_low_pump

inletoutlet

U3_h_pump

temp

temp

0.00 2.50 5.00 7.50 10.00 12.50 15.00 17.50 20.00Time [s]

300.00

350.00

400.00

450.00

500.00

550.00

600.00

Y2 [k

el]

Ansoft LLC Simplorer1XY Plot 1Curve InfoU2_heat_ex.tc100

TRU2_heat_ex.th100

TR

0

100

200

300

400

500

600

700

800

0 0.5 1 1.5 2

時間　（us）

電圧　（V）

0

100

200

300

400

500

600

700

800

電流　（A）

VCE-実測

VCE-SIM

IC-実測IC-SIM

T TT

MASS_ROT1

DAMP_ROT1

SPRING_ROT1

MASS_ROT2

DAMP_ROT2

SPRING_ROT2

MASS_ROT3

DAMP_ROT3

SPRING_ROT3

MASS_ROT4

DAMP_ROT4

DAMP_ROT5

DAMP_ROT6

DAMP_ROT7

F_ROT1 F_ROT2F_ROT3

SteamTurbine

GearCompressor

Motor Expander


Native Modelica Modeling in SimplorerRelease R17 and Beyond

Modelica

Built‐in Modelica Modeling Capabilities

ANSYS Simplorer


Summary: To the multi‐language platform

MODELICA

VHDL‐AMS

Beha

vioral/D

escriptiv

e Mod

eling

‐Available Stan

dard M

odels ‐

3D‐Physics M

odeling

Electromagnetics Mechanical Thermal CFD

Reducer order modeling (ROM)

ANSYS Workbench ANSYS Workbench

Simplorer’s evolution is realizing the multi‐language modeling and simulation environment for wide‐spreading various fields and applications.

SCADE

MATLAB/Simulink

Modelica

FMI

dll

Co-S

im


Thank You

Documents

Kazuhiro Kawamura ANSYS Japan · Simplorer Differentiation Unmatched versatility for System Simulation Standard modeling languages, mixed digital and analog solver technology, and