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Real–Time Simulation of Electric Machine Drives with

Hardware-in-the-Loop

Abstract

This paper presents a real-time Hardware-in-the-Loop (HIL) simulator on PC-cluster, of electric systems and drives for research and education purpose. This simulator was developed with the aim of meeting the simulation needs of electromechanical drives and power electronics systems while minimizing the complexity and programming burden on the student of traditional real-time simulators. This simulator consists of two main subsystems, the software and hardware subsystems. The two subsystems were tuned together to achieve the real time simulation time. The software subsystem contains MathWorks MATLAB®, C++ compiler, and the real time shell. The hardware subsystem includes FPGA data acquisition card, the control board, the sensors, and the controlled motor. The use of a real-time simulator to achieve Hardware-in-the-Loop (HIL) simulation allows rapid prototyping, converter-inverter topologies testing, motors testing, control system evaluation, and minimize the complexity of conducting real time simulations. Several real time simulations of different motors drive system were conducted using this simulator. The simulation results are outlined and discussed.

Introduction

A drive system that consists of a motor controlled by a power electronics converter is a complex and nonlinear system. For undergraduate and graduate courses in power electronics and electrical drives there are a demand for high level modeling of the integrated motor drive, real time testing of different control algorithms, and evolution of fault tolerant controllers. Thus performing these types of studies provide the student with the hands-on experience which is the main objective of electric drives courses. The simplicity of the system and the building blocks programming will allow the students to focus his effort on the drive system methodology and the practical implementation rather than the programming aspect.

In order to evaluate the interaction between the control system and the controlled target in real time a simulator in which the inputs and outputs of the tested control system can be connected to a real-time simulation of the target process is needed. This means that the controller is fully connected across the controlled target. This technique is known as hardware-in-the-loop (HIL) simulation. By using the HIL simulations we can evaluate different subsystem interaction and between the control algorithms and the controlled process in real time. In HIL simulations, we can connect certain hardware device to a simulated dynamic equivalent of an apparatus and run this system in real time. A particular advantage of this simulator is that it allows the gradual change from pure software simulation environment to mixed simulation environment by gradually integrating actual electrical and mechanical subsystems into the simulation loop. This is done be replacing a certain device model in the

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Mohammed, O., & Abed, N. (2008, June), Real–Time Simulation Of Electric Machine Drives With Hardware In The Loop Paper presented at 2008 Annual Conference & Exposition, Pittsburgh, Pennsylvania. 10.18260/1-2--3521