ELECTRICAL ENGINEERING Rashid SPICE for Power Electronics and Electric Power Third Edition S Power electronics can be a difficult course for students to understand and for professors P to teach. Simplifying the process for both, SPICE for Power Electronics and Electric Power, I Third Edition illustrates methods of integrating industry standard SPICE software for design C E verification and as a theoretical laboratory bench. f o Helpful PSpice Software and Program Files Available for Download r P Based on the author Muhammad H. Rashid’s considerable experience merging design o content and SPICE into a power electronics course, this vastly improved and updated edition w focuses on helping readers integrate the SPICE simulator with a minimum amount of time e and effort. Giving users a better understanding of the operation of a power electronics circuit, r the author explores the transient behavior of current and voltage waveforms for each and E every circuit element at every stage. The book also includes examples of all types of power l e converters, as well as circuits with linear and nonlinear inductors. c t r o New in this edition: n i c • �Student learning outcomes (SLOs) listed at the start of each chapter s • Changes to run on OrCAD version 9.2 a • Added VPRINT1 and IPRINT1 commands and examples n d • Notes that identify important concepts E • Examples illustrating EVALUE, GVALUE, ETABLE, GTABLE, ELAPLACE, GLAPLACE, l EFREQ, and GFREQ e c • Mathematical relations for expected outcomes, where appropriate t r • The Fourier series of the output voltages for rectifiers and inverters i c • PSpice simulations of DC link inverters and AC voltage controllers with PWM control P o This book demonstrates techniques of executing power conversions and ensuring the quality w of the output waveforms rather than the accurate modeling of power semiconductor devices. e This approach benefits students, enabling them to compare classroom results obtained with r simple switch models of devices. In addition, a new chapter covers multi-level converters. Third Assuming no prior knowledge of SPICE or PSpice simulation, the text provides detailed step- by-step instructions on how to draw a schematic of a circuit, execute simulations, and Edition view or plot the output results. It also includes suggestions for laboratory experiments and design problems that can be used for student homework assignments. K12773 6000 Broken Sound Parkway, NW Suite 300, Boca Raton, FL 33487 711 Third Avenue New York, NY 10017 an informa business 2 Park Square, Milton Park www.taylorandfrancisgroup.com Abingdon, Oxon OX14 4RN, UK www.crcpress.com K12773_cover.indd 1 4/24/12 12:41 PM SPICE for Power Electronics and Electric Power Third Edition Muhammad H. Rashid Life Fellow IEEE Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2012 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Version Date: 20120424 International Standard Book Number-13: 978-1-4398-6047-2 (eBook - PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. 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Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com To my parents, my wife Fatema, my children Faeza, Farzana, and Hasan, and my grandchildren Hannah, Laith, and Laila Contents Preface....................................................................................................................xiii Acknowledgments...................................................................................................xvii Author......................................................................................................................xix PSpice.Software.and.Program.Files........................................................................xxi Chapter 1 Introduction...........................................................................................1 1.1. Introduction................................................................................1 1.2. Descriptions.of.SPICE................................................................2 1.3. Types.of.SPICE...........................................................................2 1.4. Types.of.Analysis.......................................................................3 1.5. Limitations.of.PSpice.................................................................4 1.6. Descriptions.of.Simulation.Software.Tools................................6 1.7. PSpice.Platform..........................................................................7 1.7.1. PSpice.A/D....................................................................7 1.7.2. PSpice.Schematics.........................................................7 1.7.3. OrCAD.Capture............................................................8 1.8. PSpice.Schematics.versus.OrCAD.Capture...............................8 1.9. SPICE.Resources........................................................................9 1.9.1. Websites.with.Free.SPICE.Models................................9 1.9.2. Websites.with.SPICE.Models......................................11 1.9.3. SPICE.and.Circuit.Simulation.Information.Sites........12 1.9.4. Engineering.Magazines.with.SPICE.Articles.............12 Suggested.Reading..............................................................................13 Chapter 2 Circuit.Descriptions............................................................................15 2.1. Introduction..............................................................................15 2.2. Input.Files.................................................................................16 2.3. Nodes........................................................................................17 2.4. Element.Values.........................................................................17 2.5. Circuit.Elements.......................................................................18 2.6. Element.Models........................................................................21 2.7. Sources.....................................................................................21 2.8. Output.Variables.......................................................................22 2.9. Types.of.Analysis.....................................................................23 2.10. PSpice.Output.Commands........................................................24 2.11. Format.of.Circuit.Files.............................................................28 2.12. Format.of.Output.Files.............................................................29 2.13. Examples.of.PSpice.Simulations..............................................30 2.13.1. Pulse.and.Step.Responses.of.RLC.Circuits.................30 v vi Contents 2.13.2. Sinusoidal.and.Frequency.Responses. of.RLC Circuits........................................................37 2.14. PSpice.Schematics....................................................................43 2.14.1. PSpice.Schematics.Layout...........................................43 2.14.2. PSpice.A/D..................................................................44 2.14.3. Probe...........................................................................44 2.14.4. OrCAD.Capture..........................................................44 2.15. Importing.Microsim.Schematics.in.OrCAD.Capture..............48 Problems..............................................................................................52 Suggested.Reading..............................................................................55 Chapter 3 Defining.Output.Variables..................................................................57 3.1. Introduction..............................................................................57 3.2. DC.Sweep.and.Transient.Analysis...........................................57 3.2.1. Voltage.Output.............................................................57 3.2.2. Current.Output............................................................59 3.2.3. Power.Output...............................................................60 3.3. AC.Analysis..............................................................................62 3.3.1. Voltage.Output.............................................................62 3.3.2. Current.Output............................................................63 3.4. Output.Markers.........................................................................64 3.5. Noise.Analysis..........................................................................66 Summary.............................................................................................66 Chapter 4 Voltage.and.Current.Sources...............................................................67 4.1. Introduction..............................................................................67 4.2. Sources.Modeling.....................................................................67 4.2.1. Pulse.Source................................................................68 4.2.2. Piecewise.Linear.Source.............................................69 4.2.3. Sinusoidal.Source........................................................70 4.2.4. Exponential.Source.....................................................71 4.2.5. Single-Frequency.Frequency.Modulation.Source.......73 4.2.6. AC.Sources..................................................................74 4.3. Independent.Sources.................................................................75 4.3.1. Independent.Voltage.Source........................................75 4.3.2. Independent.Current.Source.......................................77 4.3.3. Schematic.Independent.Sources..................................77 4.4. Dependent.Sources...................................................................77 4.4.1. Polynomial.Source......................................................79 4.4.2. Voltage-Controlled.Voltage.Source.............................81 4.4.3. Current-Controlled.Current.Source............................82 4.4.4. Voltage-Controlled.Current.Source............................82 4.4.5. Current-Controlled.Voltage.Source.............................84 4.4.6. Schematic-Dependent.Sources....................................85 Contents vii 4.5. Behavioral.Device.Modeling....................................................85 4.5.1. VALUE........................................................................87 4.5.2. TABLE........................................................................89 4.5.3. LAPLACE...................................................................91 4.5.4. FREQ..........................................................................94 Summary.............................................................................................96 Problems..............................................................................................97 Suggested.Reading............................................................................100 Chapter 5 Passive.Elements...............................................................................101 5.1. Introduction............................................................................101 5.2. Modeling.of.Elements............................................................101 5.2.1. Some.Model.Statements............................................103 5.3. Operating.Temperature...........................................................104 5.3.1. Some.Temperature.Statements..................................104 5.4. RLC.Elements.........................................................................104 5.4.1. Resistor......................................................................105 5.4.2. Capacitor...................................................................106 5.4.3. Inductor.....................................................................108 5.5. Magnetic.Elements.and.Transformers....................................112 5.5.1. Linear.Magnetic.Circuits..........................................112 5.5.2. Nonlinear.Magnetic.Circuits.....................................117 5.6. Lossless.Transmission.Lines..................................................123 5.7. Switches..................................................................................124 5.7.1. Voltage-Controlled.Switch........................................124 5.7.2. Current-Controlled.Switch........................................128 5.7.3. Time-Dependent.Switches........................................131 Summary...........................................................................................134 Problems............................................................................................135 Suggested.Reading............................................................................139 Chapter 6 Dot.Commands.................................................................................141 6.1. Introduction............................................................................141 6.2. Models....................................................................................141 6.2.1. .MODEL.(Model)......................................................142 6.2.2. .SUBCKT.(Subcircuit)..............................................142 6.2.3. .ENDS.(End.of.Subcircuit)........................................143 6.2.4. .FUNC.(Function).....................................................144 6.2.5. .GLOBAL.(Global)....................................................145 6.2.6. .LIB.(Library.File)....................................................145 6.2.7. .INC.(Include.File)....................................................146 6.2.8. .PARAM.(Parameter)................................................147 6.2.9. .STEP.(Parametric.Analysis)....................................149 viii Contents 6.3. Types.of.Output......................................................................151 6.3.1. .PRINT.(Print)...........................................................151 6.3.2. .PLOT.(Plot)..............................................................152 6.3.3. .PROBE.(Probe)........................................................153 6.3.4. Probe.Output.............................................................153 6.3.5. .WIDTH.(Width).......................................................157 6.4. Operating.Temperature.and.End.of.Circuit............................158 6.5. Options...................................................................................158 6.6. DC.Analysis............................................................................161 6.6.1. .OP.(Operating.Point)................................................161 6.6.2. .NODESET.(Nodeset)...............................................162 6.6.3. .SENS.(Sensitivity.Analysis).....................................162 6.6.4. .TF.(Small-Signal.Transfer.Function)........................165 6.6.5. .DC.(DC.Sweep)........................................................168 6.7. AC.Analysis............................................................................173 6.8. Noise.Analysis........................................................................177 6.9. Transient.Analysis..................................................................180 6.9.1. .IC.(Initial.Transient.Conditions)..............................181 6.9.2. .TRAN.(Transient.Analysis)......................................181 6.10. Fourier.Analysis.....................................................................185 6.11. Monte.Carlo.Analysis.............................................................189 6.12. Sensitivity.and.Worst-Case.Analysis......................................193 Summary...........................................................................................196 Problems............................................................................................197 Suggested.Reading............................................................................200 Chapter 7 Diode.Rectifiers.................................................................................201 7.1. Introduction............................................................................201 7.2. Diode.Model...........................................................................201 7.3. Diode.Statement.....................................................................203 7.4. Diode.Characteristics.............................................................204 7.5. Diode.Parameters...................................................................206 7.5.1. Modeling.Zener.Diodes.............................................208 7.5.2. Tabular.Data..............................................................208 7.6. Diode.Rectifiers......................................................................212 7.6.1. Examples.of.Single-Phase.Diode.Rectifiers..............212 7.6.2. Examples.of.Three-Phase.Diode.Rectifiers..............224 7.7. Laboratory.Experiments.........................................................231 7.7.1. Experiment.DR.1.......................................................232 7.7.2. Experiment.DR.2.......................................................233 7.7.3. Experiment.DR.3.......................................................233 Summary...........................................................................................234 Design.Problems...............................................................................234 Suggested.Reading............................................................................237 Contents ix Chapter 8 DC–DC.Converters...........................................................................239 8.1. Introduction............................................................................239 8.2. DC.Switch.Chopper................................................................239 8.3. BJT.SPICE.Model..................................................................243 8.4. BJT.Parameters......................................................................247 8.5. Examples.of.BJT.DC–DC.Converters....................................251 8.6. MOSFET.Choppers................................................................260 8.7. MOSFET.Parameters.............................................................265 8.8. Examples.of.MOSFET.DC–DC.Converters..........................272 8.9. IGBT.Model............................................................................275 8.10. Examples.of.IGBT.DC−DC.Converters.................................276 8.11. Laboratory.Experiment..........................................................278 8.11.1. Experiment.TP.1........................................................279 8.11.2. Experiment.TP.2........................................................279 Summary...........................................................................................281 Design.Problems...............................................................................281 Suggested.Reading............................................................................283 Chapter 9 Pulse.Width–Modulated.Inverters....................................................285 9.1. Introduction............................................................................285 9.2. Voltage-Source.Inverters........................................................285 9.2.1. Examples.of.Single-Phase.PWM.Inverters...............289 9.2.2. Examples.of.Single-Phase.SPWM.Inverters.............297 9.2.3. Examples.of.Three-Phase.PWM.Inverters................299 9.2.4. Examples.of.Three-Phase.SPWM.Inverters.............305 9.3. Current-Source.Inverters........................................................309 9.3.1. Example.of.Current-Source.Inverter.........................310 9.4. DC.Link.Inverters..................................................................314 9.4.1. Example.of.DC.Link.Three-Phase.Inverter..............314 9.5. Laboratory.Experiments.........................................................319 9.5.1. Experiment.PW.1.......................................................320 9.5.2. Experiment.PW.2......................................................321 9.5.3. Experiment.PW.3......................................................321 9.5.4. Experiment.PW.4.......................................................322 9.5.5. Experiment.PW.5......................................................322 9.5.6. Experiment.PW.6.......................................................323 9.5.7. Experiment.PW.7.......................................................324 Summary...........................................................................................326 Design.Problems...............................................................................326 Suggested.Reading............................................................................329 Chapter 10 Resonant-Pulse.Inverters...................................................................331 10.1. Introduction............................................................................331 10.2. Resonant-Pulse.Inverters........................................................331