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Block

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Table of Contents

Description

This block processes the communication and configuration between the RT-LAB CPU-based model and the FPGA-based Electrical Machine model. It supports up to 4 machines, and each of them can be one of the following machine types:

• Synchronous Machine with Round Rotor

• Synchronous Machine with Salient-pole Rotor

• Induction Machine with Squirrel-cage Rotor

• Induction Machine with Double Squirrel-cage Rotor

• Doubly-fed (Wound Rotor) Induction Machine

• Permanent Magnet Synchronous Machine

• Brushless DC motors

The Synchronous Machine model is presented in Synchronous Machine Model page.

The Induction Machine model is presented in Induction Machine Model page.

The Permanent Magnet Synchronous Machine model is presented in Permanent Magnet Synchronous Machine Model page.

The Brushless DC Machine Machine model is presented in Brushless DC Machine Model page.

Mask Parameters

General TAB

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Block mode: This parameter is used to select which type of FPGA-based machine model that is available in the firmware. It supports:

• Quad generic machine model mode for simulation of up to 4 Synchronous Machine or Asynchronous machine models.

• Dual PMSM Variable DQ mode for simulation of up to 2 Permanent Magnet Synchronous Machine or Brushless DC motor models.

Once the selection is made, the available model types will be refreshed in each machine tab. This parameter is global to the block. For simulating of a Induction machine and a Permanent magnet machine in the same CPU model, it will be require to use two seperate Generic Machines CPU block, one configured with the generic machine model option and the second configured with the PMSM option.

Number of Machines: In the General tab, the number of machines (up to 4 for Generic Machine mode, up to 2 for PMSM modes) can be selected.

Solver Time Step [Ts(sec)]: Time step of the FPGA solver of the Generic Machines in seconds. It is 500ns by default.

Hardware Controller Name (OpCtrl): FPGA controller name that refers to the motor model bitstream (in OpCtrl or Oplnk block). It is usually 'OpCtrl'.

FPGA Clock Period [Tfpga(sec)]: The clock period of the FPGA. It is 5ns by default.

CPU Clock Period [Tcpu(sec)]: The time step of the CPU model. It is 20μs by default.

Communications Settings Automatic Configuration:This will enable the automatic setting of the communications ports. The *.conf file linked to the *.bin file selected in the OpCtrl Controller will be parsed and the communications settings will be set accordingly. If unchecked, the fields become modifiable for manual user settings.

Machine Core: If Communications Settings Automatic Configuration is enabled, Machine Core allows the selection of which machine defined in the *.conf to use for automatic configuration. To know more about how cores are defined inside a *.conf file, see: Conf File Writing Conventions.

Configuration Port Number: Data In/Load In/Data Out port: Number of communication ports from/to FPGA to send/receive solver data. Port numbers depend on the bitstream. See the associated bitstream *.conf file to get the right port numbers. These parameters should be updated at every firmware update.

The description keys to look depend on the selected block mode:

• For Generic machine mode, the description key used is IM_SM

• For PMSM Vdq mode, the description key used if PMSMVDQ

Machine TABs

Depending on the number of machines selected in the General tab, corresponding tabs will appear. Each tab has Configuration, Electrical, Mechanical, Resolver, and Encoder Parameters sections:

Configuration

Machine Type: In the dropdown list of each tab, the machine and its rotor type can be selected as Synchronous Machine Round Rotor/Salient-pole Rotor or Doubly-fed Induction Machine or Induction Machine with Squirrel-cage when the Generic machine mode is selected in the general tab. In PMSM mode, the machine parameter can be set as "Fixed Ld Lq values" for PMSM with salency simulation or "BLDC" for brushless dc motor emulation with trapezoidal back emf.

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• Configure Machine Inputs: This button opens a voltage mapping table for each machine as follows:

• Input Name shows the stator and rotor (if applicable) supply voltage names for the selected machine type and rotor type,

• Input Source gives the option of selecting between different available eHS sources,

• Measurement Index is to assign the eHS indexed measurement to the corresponding machine input.

   

  For different types of machine voltage mapping, refer to the info below:

• For Synchronous Machine, the stator voltages and field rotor voltage should be mapped,

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• For Doubly-fed (Wound Rotor) Induction Machine, the stator voltages and rotor voltages should be mapped,

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• For Induction Machine with Squirrel-cage Rotor, PMSM or BLDC, the stator voltages should be mapped.

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Configure eHS inputs: This button opens a current mapping table for each machine as follows:

• Input Name shows the stator and rotor (if applicable) current names for the selected machine type,

• Input Source gives the option of selecting between different machine types, either PMSM or generic machine,

• Measurement Index is to assign the eHS current measurement to the corresponding machine.

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Same as Machine Inputs, eHS inputs mapping could be different for each type of machine.

• For Synchronous Machine, stator currents and field rotor current should be mapped,

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• For Doubly-fed (Wound Rotor) Induction Machine, stator currents and rotor currents should be mapped,

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• For Induction Machine with Squirrel-cage Rotor, stator currents should be mapped.

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• For PMSM or BLDC, stator currents should be mapped. Since the model supports only balanced mode, only 2 currents needs to be injected to the eHS.

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For more info about the number of current measurements for each type of machine, refer to the following link: Generic Machine Outputs

For measurement index, eight current measurements channels are assigned for each machine, while up to the first six of them could output current values during real-time simulation.

Refer to the following table for the right signal indexes of the Generic machine outputs to the eHS, SM represents for Synchronous Machine.

Refer to the following table for the right signal indexes of the PMSM VDQ outputs to the eHS.

Notes: Ic current is not available for coupling eHS with PMSM VDQ model since the model supports balanced mode only.

Electrical Parameters

Synchronous Machine with Round Rotor: This configuration is used for dynamic modeling of a Round Rotor Synchronous Machine, which models stator, field, and up to three damper windings one on the D-Axis (Kd) and two on the Q-axis (Kq1 and Kq2). All the rotor parameters, including the field and damper windings, are referred to the stator identified by a prime sign. By choosing open-winding option, the model has the option of having neutral point connection for the star-connected stator winding. The mask and electrical parameters of a Round Rotor Synchronous Machine are presented as follows:

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Synchronous Machine with Salient-pole Rotor: This configuration is used for dynamic modeling of a Salient-pole Rotor Synchronous Machine, which models stator, field, and up to two damper windings one on the D-Axis (Kd) and one on the Q-axis (Kq1). All the rotor parameters, including the field and damper windings, are reffered to the stator identified by a prime sign. By choosing open-winding option, the model has the option of having neutral point connection for the star-connected stator winding. The mask and electrical parameters of a Salient-pole Rotor Synchronous Machine are presented as follows:

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Induction Machine with Squirrel-Cage Rotor: This configuration is used for dynamic modeling of a Squirrel-cage Induction Machine, which models the stator winding and squirrel-cage rotor. All the rotor parameters are reffered to the stator identified by a prime sign. By choosing open-winding option, each stator induction can be access allowing wie with neutral or delta connection on the stator side. The mask and electrical parameters of a Squirrel-Cage Induction Machine are presented as follows:

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Induction Machine with Double Squirrel-cage Rotor: This configuration is used for dynamic modeling of a Double Squirrel-cage Induction Machine, which models the stator winding and two squirrel-cages for the rotor. All the rotor parameters are reffered to the stator identified by a prime sign. The mask and electrical parameters of a Double Squirrel-cage Induction Machine are presented as follows:

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Doubly-fed Induction Machine: This configuration is used for dynamic modeling of a Doubly-fed Induction Machine, which models the stator and rotor windings. All the rotor parameters are reffered to the stator identified by a prime sign. The mask and electrical parameters of a Doubly-fed Induction Machine are presented as follows:

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PMSM Fix Ld Lq mode: This configuration is used for dynamic modeling of a PMSM with constant parameters. The mask and electrical parameters of the PMSM in Fix DQ mode are presented as follows:

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BLDC mode: This configuration is used for dynamic modeling of a BLDC with constant parameters. The mask and electrical parameters of the BLDC mode are presented as follows:

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Mechanical Parameters

In the mechanical section, the Mechanical Mode drop down list gives the following options

• Speed, which excludes the mechanical model to run the machine in speed mode. In this mode, Enable Mechanical Port gives the option of setting the speed command as a constant parameter in the mask, or as an extrenal port at the input of the block.

• Mechanical Torque, which includes the mechanical model to run the machine in torque mode. In this mode, Enable Mechanical Port gives the option of setting the torque command as a constant parameter in the mask, or as an external port at the input of the block. The machines can operate in both motor mode, when the torque (load) is positive, and generating mode, when the torque (input) is negative.

• External mode, which allows controling the mechanical mode from outside of the block specially when the mechanical mode change during the simulation is required. By selecting this option three ports of Mechanical Mode, Speed, and Torque will appear at the input of the block. Mechanical Mode input constant of 0 or 1 corresponds to the speed or mechanical torque mode, respectively.

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Be aware the max number of pole pair supported is increased to 127 rather than 31 since eFPGAsim 2.7.

Resolver and Encoder Parameters

By checking the Enable Resolver/Encoder, the resolver/encoder parameters appear in the mask. Two encoder mode can be available (Quadrature or Hall effect). Direction of Sensor Rotation determines if it is either clockwise or counter clockwise. For the resolver, the Excitation Source Type determines the source from which the excitation of the resolver is generated. It can either be AC, which is generated inside the FPGA with the specified frequency, DC, which is generated with a 90-degree from the rotor and External, which is generated from outside the model through Analog In Channel assignment. The Resolver Sine and Cosine Gains are in a vector of 4×1.

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For Resolver Sine and Cosine Gains [Rk], four parameters are Sin.Sin, Sin.Cos, Cos.Sin and Cos.Cos. The resolver Sine and Cosine outputs are calculated by using the following two equations. To simulate the resolver ideally, set Sin.Sin and Cos.Cos to 1 while Sin.Cos and Cos.Sin to 0.

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Inputs

Mechanical Mode:This port allows controling the mechanical mode from outside of the block specially when the mechanical mode change during the simulation is required. Mechanical Mode input constant of 0 or 1 corresponds to the speed or mechanical torque mode, respectively.

Speed: This port is used for the speed command. It is available when the mechanical mode is set to external, or it is set to speed and the Enable Mechanical Port is set to external port.

Torque: This port is used for the load torque command. It is available when the mechanical mode is set to external, or it is set to torque and the Enable Mechanical Port is set to external port.

Outputs

Machine signals (Generic machine mode): For each machine, the following signals are available at the monitoring port:

Machine signals (PMSM mode): For each machine, the following signals are available at the monitoring port:

Characteristics and limitations

Offline simulation: This block is not capable of offline simulation.

Communication delays: The block latency is 2 CPU Time steps.

If you require more information, please contact https://www.opal-rt.com/contact-technical-support/.