OPAL-RT TECHNOLOGIES
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SPS WORKFLOW
Introduction
This firmware includes:
One eHS x64 Gen4 Solver
One Dual Permanent Magnet Synchronous Machines (PMSM-VDQ) model
Two Asynchronous Induction Machine (IM) models
One Five-phase Switched Relutance Machine (SRM) model
One Analog Output Mapping and Rescaling (AOMR) module
One Analog Input Differential Rescaling (AIR) module
One Resolver and Encoder Out module
LoadIn/DataIn/DataOut mapping
LoadIn | DataIn | DataOut | |
1 | Config eHS | Inputs eHS | eHS Averaged |
2 | Scenario / Rst eHS = Status | TSDO 1 - eHS 0 to 7 | eHS DownSample |
3 | TSDO 2 - eHS 8 to 15 | Analog In 2A - 0 to 7 | |
4 | Config eHS PWM - 0 to 7 | TSDO 3 - eHS 16 to 23 | Analog In 2A - 8 to 15 |
5 | Config eHS PWM - 8 to 15 | TSDO 4 - eHS 24 to 31 | Digital In 1A - 0 to 7 |
6 | Config eHS PWM - 16 to 23 | TSDO 5 - eHS 32 to 39 | Digital In 1A - 8 to 15 |
7 | Config eHS PWM - 24 to 31 | TSDO 6 - eHS 40 to 47 | Digital In 1A - 16 to 23 |
8 | Config PMSM VDQ 1/2 | TSDO 7 - eHS 48 to 55 | Digital In 1A - 24 to 31 |
9 | Config IM 1 | TSDO 8 - eHS 56 to 63 | PMSM VDQ 1/2 |
10 | Config IM 2 | TSDO 9 - eHS 64 to 71 | IM 1 |
11 | Config SRM 1 | eHS PWM - 0 to 7 | IM 2 |
12 | Config AOMR | eHS PWM - 8 to 15 | SRM 1 |
13 | PWM 1B - 24 to 31 | eHS PWM - 16 to 23 | Resolver/Encoder 1/2 |
14 | PWM 1B - 16 to 23 | eHS PWM - 24 to 31 | Encoder Input on RS422 |
15 | PWM 1B - 8 to 15 | PMSM VDQ 1/2 | PQ Estimation |
16 | PWM 1B - 0 to 7 | IM 1 | |
17 | Config eHS to Machines Mapping | IM 1 Mtx | |
18 | Config MechMux | IM 2 | |
19 | Config Resolver/Encoder 1/2 Offset | IM 2 Mtx | |
20 | Config Resolver/Encoder 1/2 | SRM 1 | |
21 | Config Resolver/Encoder 1/2 PhaseShift | AOMR/Analog Out 2B - 0 to 7 | |
22 | Config Encoder Input on RS422 | Digital Out 1B - SDO 24 to 31 | |
23 | Digital Out 1B - SDO 16 to 23 | ||
24 | Digital Out 1B - SDO 8 to 15 | ||
25 | Digital Out 1B - SDO 0 to 7 | ||
26 | Config Encoder Output on RS422 | LEDs | |
27 | Config AIR | Analog Out 2B - 8 to 15 | |
28 | eHS SWG | ||
29 | Encoder Output on RS422 |
System Overview
Extensive I/O compatibility (Polymorphism)
Listed cards are compatible at the same location
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eHS solver
SPECIFIC TO SPS WORKFLOW
Connectivity
SPS WORKFLOW SPECIFIC
Source Type | Source Index | Source Name | Details |
|---|---|---|---|
Input | 0 | CPU Input | |
1 | eHS Analog In | Slot 2A - Ch00-15 | |
2 | PMSM VDQ 1/2 | PMSM1 Ia/PMSM1 Ib | |
PMSM2 Ia/PMSM2 Ib | |||
3 | Sine Wave Generator | ||
4 | Induction Machine | IM1 Stator Ia/IM1 Stator Ib/IM1 Rotor Ia/IM1 Rotor Ib | |
IM2 Stator Ia/IM2 Stator Ib/IM2 Rotor Ia/IM2 Rotor Ib | |||
5 | Switched Relutance Machine | SRM1 Ia/SRM1 Ib/SRM1 Ic/SRM1 Id/SRM1 Ie | |
Gate | 0 | CPU Gating Signal | |
1 | PWM | ||
2 | Digital Input | Slot 1A - Ch00-31 |
SPS WORKFLOW SPECIFIC
To contextualize the Input and Gate Configuration table with this firmware configuration, the eHS firmware config tab must be configured with the following custom input source enumeration:
{'CPU Model',0,64;'Sine Wave Generator',3,32;'PMSM',2,4;'IM',4,8;'SRM',5,5}
And this custom gate sources enumeration:
{'CPU Model',0,72;'Digital Inputs',2,32;'PWM',1,32}
Permanent Magnet Synchronous Machine (PMSM - VDQ) model
SPS WORKFLOW SPECIFIC
A total of two PMSM (VDQ) are available and are configured using the Dual PMSM VDQ block in the CPU model. The following communication ports need to be configured.
SPS Workflow - Dual PMSM Motors VDQ
Communication port configuration for the Dual PMSM (VDQ) block
| Dual PMSM Motors VDQ 1 | |
Machine Label | PMSM 1 | PMSM 2 |
Data In Port Number | 15 | |
Load In Port Number | 8 | |
Data Out Port Number | 9 | |
Induction Machine (IM) model
SPS WORKFLOW SPECIFIC
One IM is available and configured using the Induction Machine block in the CPU model. The following communication ports need to be configured.
SPS Workflow - Induction Machine
Communication port configuration for the Induction Machine (IM) block
IM 1 | IM 2 | |
|---|---|---|
Data In Port Number | 16 | 18 |
Data In Mtx Port Number | 17 | 19 |
Load In Port Number | 9 | 10 |
Data Out Port Number | 10 | 11 |
Switched Reluctance Motor (SRM) model
SPS WORKFLOW SPECIFIC
One switched reluctance machine is available and are configured using the “Switch Reluctance Motor” block in the CPU model. The following communication ports need to be configured.
SPS Workflow - Switched Relutance Motor
Communication port configuration for the Switched Relutance Machine (SRM) block
SRM 1 | |
|---|---|
Data In Port Number | 20 |
Load In Port Number | 11 |
Data Out Port Number | 12 |
Resolver and Encoder Outputs
SPS WORKFLOW SPECIFIC
There are resolver/encoder outputs that can be assigned to any of the motors. Resolver excitation can be configured either as internal or external.
The cpuhilsensors_lib/DualAngleSensors_wfaults Simulink block in the figure below is used for configuration of the Resolver/Encoder Out feature. Please refer to the block help and the User Guide for eHS & Machine package for further information.
SPS Workflow - Resolver/Encoder out configuration block
The mapping of the Resolver/Encoder out is achieved with the mapping block below. A total of 5 machine angles can be mapped to any of the 2 Resolvers/Encoders. Follows the correct configuration of the CPU block.
SPS Workflow - Resolver/Encoder mapping block
SPS Workflow - Resolver/Encoder mapping block configuration
Communication port configuration for the Resolver and Encoder block
Resolver/Encoder 1/2 | |
|---|---|
Load In Port Number | 20 |
Offset Load In Port Number | 19 |
PhaseShift Load In Port Number | 21 |
Data Out Port Number | 13 |
Connectivity (Input)
The signals received could be used as external carrier for machine resolver module.
Analog In - Slot 2A - Ch00-01
Communication port configuration for the Resolver and Encoder Mapping block
Resolver/Encoder 1/2 | |
|---|---|
Load In Port Number | 18 |
Analog Output Mapping and Rescaling module (AOMR)
AUTOMATIC AND NOT VISIBLE IN SCHEMATIC EDITOR WORKFLOW
There is one AOMR block allowing to configure all 32 analog outputs.
AOMR Master Subsystem (SM) block
Communication port configuration for the Analog Output Mapping and Rescaling (AOMR) block
AOMR - Slot 2B | |
|---|---|
Version | V1 |
Data In Port Number | 21 |
Load In Port Number | 12 |
AOMR Output
Index | Signal Source |
|---|---|
0 | Resolver 1 Sine |
1 | Resolver 1 Cosine |
2 | Resolver 2 Sine |
3 | Resolver 2 Cosine |
4 .. 47 | Not Used |
48 .. 127 | User Defined |
128 .. 191 | eHS Y01 to Y64 |
Analog Input Differential Rescaling module (AIR)
AUTOMATIC AND NOT VISIBLE IN SCHEMATIC EDITOR WORKFLOW
AIR block configures analog inputs for eHS.
AIR block
Communication port configuration for the Analog Input Differential Rescaling (AIR) block
AIR - Slot 2A | |
|---|---|
Channels | Ch00-15 |
Load In Port Number | 27 |
Analog In module (AI)
AI block reads signals from analog input channels on the simulator.
SPS Workflow - AI block
Communication port configuration for the Analog Input (AI) block
Slot 2A | ||
|---|---|---|
Channels | Ch00-07 | Ch08-15 |
Data In Port Number | 3 | 4 |
Connector Pin Assignment
Please refer to your hardware documentation
Analog Out module (AO)
AO block configures analog output channels on the simulator.
SPS Workflow - AO block
Communication port configuration for the Analog Output (AO) block
Slot 2B | ||
|---|---|---|
Channels | Ch00-07 | Ch08-15 |
Data Out Port Number | 21 | 27 |
Connector Pin Assignment
Please refer to your hardware documentation
Digital In module (DI)
DI block reads signals from digital input channels on the simulator. It could be static, TSDI or PWMIn.
SPS Workflow - DI block
Communication port configuration for the Digital Input (DI) block
Slot 1A | ||||
|---|---|---|---|---|
Channels | Ch00-07 | Ch08-15 | Ch16-23 | Ch24-31 |
Data Out Port Number | 5 | 6 | 7 | 8 |
Connector Pin Assignment
Please refer to your hardware documentation
Digital Out module (DO)
DO block configures digital output channels on the simulator. It could be static, TSDO or PWMOut.
SPS Workflow - DO block
Communication port configuration for the Digital Output (DO) block
Slot 1B | ||||
|---|---|---|---|---|
Channels | Ch00-07 | Ch08-15 | Ch16-23 | Ch24-31 |
Data In Port Number | 25 | 24 | 23 | 22 |
Load In Port Number | 16 | 15 | 14 | 13 |
Connector Pin Assignment
Please refer to your hardware documentation
Encoder Input module (ENC IN)
Encoder Input block reads signals from specific input channels on the simulator.
SPS Workflow - Encoder Input block
Communication port configuration for the Encoder Intput (ENC IN) block
Slot 3A - RS422 | |
|---|---|
Nb of Encoder Signals | 2 |
Load In Port Number | 22 |
Data Out Port Number | 14 |
Connector Pin Assignment
Please refer to your hardware documentation
Encoder Output module (ENC OUT)
Encoder Output block configures specific output channels on the simulator.
SPS Workflow - Encoder Output block
Communication port configuration for the Encoder Output (ENC OUT) block
Slot 3B - RS422 | |
|---|---|
Nb of Encoder Signals | 2 |
Data In Port Number | 29 |
Load In Port Number | 26 |
Connector Pin Assignment
Please refer to your hardware documentation