Hanoi University of Technology, 1 Dai Co Viet Road, Hanoi, Vietnam, e-mail: minhtc-auto@mail.hut.edu.vn
Opal-RT Technologies Inc., 1751 Richardson, Montreal, H3K 1G6 Canada, e-mail: christian.dufour@opal-rt.com
I. INTRODUCTION
Today, before using a motor controller with a real
motor drive, it is a common industrial engineering practice
to test a controller against a simulated motor model
running in real-time. This has several advantages. For
example, the simulated motor drive can be tested with
borderline conditions that would damage a real motor,
often a costly prototype. The motor itself may be under
development in parallel to the controller and therefore not
available for testing. While testing, a controller is
interfaced with the real-time simulated motor drive
through a set of proper I/Os: this approach is called
hardware-in-the-loop (HIL) simulation. Such motor drive
simulation is required by hybrid vehicle OEMs and other
power electronic motor drive manufacturers to speed up
development and testing time by using real-time
simulation before conducting tests on physical prototypes.
At the production stage, HIL simulation can also be used
to verify code integrity with automated correlation tests.
The switched reluctance motor drive is interesting
because of its low manufacturing costs, rugged
construction and simplicity of controller design. Since the
rotor has no windings and no magnets, it is a good
candidate for drive operation at high speed and in adverse
environments. Position sensor reliability poses a more
important problem in the latter case. A developer or
0.50
35
30
25
20
15
10
5
0
40 - 45
0.45
0.40
0.35
0.30
0.25
0.20
0.05
0
50
100
350
400
450
Aligned
phases
Vbus
Phase
Voltage
0.10
Active
control
region
T= (40-70)
Ideal
Phase
Inductance
0.15
Unaligned
phases
Tload
Vabc
-Vbus
Imax
Phase
Current
1/s
i=f
Te=fi
Te
1/(Js+B)
Imin
0
Rs
1/s
(V
abc
(1)
( I , )dI
K ( , i) 2Te ( I , )
i2
Te ( I , )
i* =
2Te*
K(,i)
(2)
gx =
K(,i x )
gy =
K(,i y )
(3)
Tx* =
g 2x
g +g 2y
2
x
Ty* =
2
y
2
x
g +g 2y
0-150
150 300
Ta*
g a2
T*
2
2 e
ga gc
Tb*
Tc*
Angle
Ta*
300 450
g a2
T * (Tb* 12 gbib2 )
2
2 e
g a gb
450 - 600
0
Tb*
gb2
Te*
g a2 gb2
Tc*
Angle
600 - 750
0
750 - 900
Tb*
g b2
Te* (Tc* 12 g cic2 )
g b2 g c2
Tc*
g c2
T*
2
2 e
gb g c
Ta*
g c2
T * (Ta* 12 g aia2 )
2
2 e
g a gc
Te* is the
Fig. 8. Phase current, phase torques and total torque at speed of 3000
rpm and load torque of 100 Nm (red line real torque and green line
command torque).
Hardware
Real-time operating
system
RT-LAB version
Digital I/O
Analog I/O
8.2.5
16 Din-16 Dout (Time Stamped)
16 Analog Inputs and 16 Outputs
Drive
a a'
b b'
Vdc
c c'
a'
b
c
IGBT pulses
motor
i motor
Motor controller
Simulink
Subsystems
Rate=10-100 s
RTW
RT-LAB
Fig. 11. Motor currents: all 3 phases (upper); phase A with gate signals
(lower).
Xilinx/ ISE
PCIe
DIO
AIO
Simulink
Model
Code
Generation
Distributed
Real-Time
Target
[11]
[12]
[13]
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