FPGA based RTMiL analysis of variable reluctance machines for EV applications

Transcription

1 FPGA based RTMiL analysis of variable reluctance machines for EV applications Mircea Ruba, Nagy Hunor, Claudia Martis Technical University of Cluj-Napoca, Romania

2 Introduction Motivation: Using wise tools for aided design, testing and control Necessity to pass from PC simulations to Real-Time simulations Take advantage of the NI-FPGA platforms Construction of RTMiL simulators for realistic analysis

3 Development process HIL 16 summer school 1 1 ECU code 1

4 Simulator RTMiL Development process HIL 16 summer school Control & machine model

5 Development process HIL 16 summer school Control tip E-drive Machine model

6 I[A] T[Nm] The SRM in study HIL 16 summer school Rs=0.01Ω J=0.006kg m 2 B=0.003N m s DC link voltage U DC =24 V RMS current I=80 A Output power P 2N =1.2k W Rated torque T=3.4Nm Rated speed n N =3400 rpm Number of stator poles 8 Number of rotor poles t[s] t[s]

7 The SRM s simulation model Hybrid model: Voltage and mechanical equation u R f i dt Flux and torque versus current and rotor position look-up-tables (LUT)

8 SRM Drive modelling in LV FPGA The general scheme of the drive (machine, converter and controller)

9 SRM Drive modelling in LV FPGA LUT data management

10 SRM Drive modelling in LV FPGA Hysteresis current controller ON condition (Vph=Vdc) 0 condition (Vph=0) OFF condition (Vph=-Vdc)

11 SRM Drive modelling in LV FPGA Treating velocity and position

12 SRM Drive modelling in LV FPGA The main program in LV FPGA 100kHz sampling 10us step Parallel computations

13 SRM Drive modelling in LV FPGA Results of FPGA analysis 1000rpm 1Nm 1000rpm 4Nm

14 Ia Ib Ic [A] T [Nm] The SyncREL in study HIL 16 summer school Variable Reluctance Synchronous Machine Ld= H Lq=0.0006H Rs=0.21Ω J= kg m 2 DC link voltage U DC =60 V RMS current I=27 A Output power P 2N =1.2k W Rated torque T=3.4Nm Rated speed n N =2600 rpm Number of stator slots 30 Number of rotor barriers per pole 4 B= N m s t [s] t [s]

15 The SyncREL mathematical model with control The 3 phase machine is converter to 2 phase machine (Park transf.) The mathematical model in DQ coordinates did dt u d R i s d L ωl i d q q di q dt uq Rsiq ωldid T pidiq Ld Lq L q T d J B T rst dt The control strategy with Field Oriented Control (FOC) - Maximum Torque Per Ampere control (MTPAC) Iq* + - PI + + Uq i i d q T d ref p L L q Ω* + - Ω PI Id* Iq + - Ld ω Iq PI + + Ud Id Lq ω Id

16 The RTMiL model in LabView FPGA Ω* + - Ω PI Iq* Id* + - Iq + - PI Ld ω Iq PI Uq Ud DQ converter D Q SyncREL DQ model Id Lq ω Id PWM generator

17 AIO DIO HIL 16 summer school The RTMiL model in LabView FPGA G P I C R S E R I E S Ω* + - Ω PI Iq* Id* + - Iq + - PI Ld ω Iq PI Uq Ud DQ converter D Q SyncREL DQ model Id Lq ω Id PWM generator

18 The RTMiL model in LabView FPGA Two FPGAs are engaged NI-GPIC and Rseries The PC is used just as GUI via the RT of GPIC GPIC runs the FOC+MTPAC control Rseries runs the SyncREL model DIO and AIO communication T, Tref, Ω Ω* Control tip E-drive Simulator RTMiL Idq Ω DQ pwm Tref Iabc Model VRSM

19 The FPGA model of the SyncREL Fixed Point (FXP) models are created

20 The FPGA model of the FOC control Fixed Point (FXP) models are created

21 Experimental results of RTMiL platforms Rseries + GPIC for the main models Connection boxes for communication Two oscilloscopes for data acquisition and plotting Rseries GPIC Rseries DIO con. Rseries AIO con.

22 Experimental results of RTMiL platforms Testing PWM frequency, abc and DQ currents

23 Experimental results of RTMiL platforms 280rad/s variable load 100rad/s variable load 3.4Nm and variable speed

24 Conclusions Complete RTMiL models of a SyncREL and SRM used for LEV designed and validated in FEA -good accuracy -deterministic calculations -fast development speed -safety Acknowledgement This work was supported by a grant of Strengthening the Research potential of CAREESD in the field of Electromechanical Systems and Power Electronics for Sustainable Applications, ESPESA, /2015 H2020- TWINNing

25 Thank you for your attention!