FPGA-based real-time simulation of nonlinear permanent magnet synchronous machines for power hardware-in-the-loop emulation systems

Abstract

Abstract-This paper presents an FPGA-based real-time simulation system of a nonlinear permanent magnet synchronous machine and its qualification for power hardware-in-the-loop emulation systems. The machine model considers the magnetic anisotropy of the rotor, the saturation of the iron as well as dynamic cross-coupling effects between the direct-and quadrature axis of the machine. A specifically designed high performance signal processing system is developed to calculate the machine behavior with a frequency of 1.5 MHz. The developed model calculates the state variables of the machine as well as the counter voltage for an emulation converter in a way that the coupling network of the power hardware-in-the-loop emulation test bench could be equipped with any inductance. Measurements validate the proper function of the machine model and demonstrate the accurate solution of the nonlinear differential equation system of an anisotropic synchronous machine with nonlinear magnetics in real-time.

Advanced Features and Industrial Applications of FPGAs—A Review

“…Another similar DSP-FPGA platform for digital real-time simulation, targeting in this case the analysis of a permanent magnet synchronous generator, is described in [29]. Real-time digital simulation of PMSMs is also addressed in [38], whereas modular multilevel converters are targeted in [37] [39]. These solutions, based on system-level modeling, are mostly oriented to a behavioral analysis (waveforms, harmonics, and the like) and use ideal models of switching devices.…”

Real-Time Hardware-in-the-Loop Simulation of Permanent-Magnet Synchronous Motor Drives Under Stator Faults

“…The use of incremental inductances proposed e.g. in [21] might have increased storage requirements resulting in the need for additional external memory with additional overhead in terms of access time. Three phase converter emulation has been carried out considering only 8 switching states including two zero states as seen in Table I.…”

“…However, these require proprietary tools and are based on variable inductances which pose problems in real-time simulation in voltage-driven models as the nonlinear relation between flux linkages and currents may not be easily inverted in real-time calculations. The use of differential inductances and pre-calculated inversion of current-flux relationship is proposed in [21].…”

A novel modulation scheme for a modular multiphase multilevel converter in a power hardware-in-the-loop emulation system

“…Instead, there is now an integrator which integrates the difference of the reference voltage v x,w and the measured voltage v x,meas . The DSM integrator and the sorting algorithm are realized quasi continuous with the same frequency as the machine model in the PHIL test bench (1.5 MHz [11]) and are directly connected to the machine model. Due to the quasi continuous integration of the reference voltage v x,w , the DSM avoids the additional dead time T c for the dutycycle calculation.…”

“…According to [11] the set values v x,CV for the emulation converter have to be calculated with a very high frequency (e.g. 1.5 MHz).…”