How Real-Time Testing Improves the Design of a PMSM Controller

Transcription

1 How Real-Time Testing Improves the Design of a PMSM Controller Prasanna Deshpande Control Design & Automation Application Engineer MathWorks 2015 The MathWorks, Inc. 1

2 Problem Statement: Design speed control algorithm for PMSM Requirements Model-Based Design System Level Design 2

3 Problem Statement: Design speed control algorithm for PMSM + u System Level Design Closed-loop simulation helps in designing the control algorithm and verifying it in simulation 3

4 Why Real-time testing? To get confidence that the control design will work on hardware To validate the control functionality independent of production hardware Evaluate new ideas in real-time Demo 4

5 Real-time Test Scenario for PMSM 5

6 Real-Time Testing in the V Development Cycle Requirements Rapid Prototyping System Level Design 7

7 Real-Time Simulation and Testing Tasks: Rapid Control Prototyping I/O Output I/O Input 0 0 Wiring and Signal Conditioning Target Computer Hardware Physical Plant Hardware 8

8 Real-Time Testing in the V Development Cycle Requirements The V ECU Development Cycle Vehicle Testing Rapid Prototyping System Level Design System Level Integration and Test HIL Testing Subsystem Design C Subsystem Integration and Test Subsystem Implementation 9

9 Real-Time Testing Scenarios: Hardware-in-the-Loop (HIL) Simulation Code Generation Code Generation Wiring and Signal Conditioning ECU or MicroController Real-Time Target Computer 10

10 Challenges for setting up Model-based Real- Time Simulation Environment A scalable, flexible, generic hardware computer Interface the model with a real time kernel I/O Device Drivers in the form of Simulink library Host- Target communication for Logging, tuning and signal analysis 11

11 Agenda Common Real-Time Simulation and Testing Scenarios How Simulink Real-Time helps in preparing a Simulink model for real-time simulation? What Hardware is used with Simulink Real-Time? How can I take advantage of the Hardware? How to Interact with the real-time application? 12

12 What is Simulink Real-Time? From desktop simulation to real time Development Computer with MATLAB and Simulink Target Computer Hardware 1 Automatic Code Generation 3 2 Compiler.dlm Ethernet link Creation of real-time applications from Simulink models and loading them onto dedicated target computer hardware in 3 automated steps: 1 Code Generation 2 Compile and Link 3 Download and Ready to Run 13

13 What is Simulink Real-Time? Connect to your physical system Target Computer Hardware.dlm Access to device drivers of various I/O Cards from Simulink Easy drag and drop and configuration within a Simulink model 14

14 Prepare Simulink models for real-time simulation I/O Output I/O Input Target Computer Hardware 1. Remove Plant Model 2. Add I/O Device Drivers 3. Code Generation Settings 4. Build and Download 16

15 Open Loop Test for Encoder Testing 17

16 Open Loop Test for Encoder Testing 18

17 Prepare Simulink models for real-time simulation I/O Output I/O Input Target Computer Hardware 1. Remove Plant Model 2. Add I/O Device Drivers 3. Code Generation Settings 4. Build and Download 19

18 Agenda Common Real-Time Simulation and Testing Scenarios How Simulink Real-Time helps in preparing a Simulink model for real-time simulation? What Hardware is used with Simulink Real-Time? How can I take advantage of the Hardware? How to Interact with the real-time application? 20

19 What Hardware is used with Simulink Real-Time? Development computer + target computer Development Computer with MATLAB and Simulink Target Computer Hardware Development Computer with MATLAB and Simulink and Simulink Real-Time Ethernet link Target Computer Hardware from Speedgoat.dlm 21

20 About Speedgoat Highly specialized developer of turnkey real-time target machines Incorporated in 2007 by former MathWorks employees Located in Bern, the Swiss capital Over 1,000 Real-time target machines sold to date, all for use with Simulink ~75% of all new Simulink Real-Time seats are accompanied by a Speedgoat system speedgoat

21 Speedgoat Real-Time Target Machines Assembled based on your technical requirements Form factors available for office, lab, field, and classroom use Optimized for highest real-time performance (Multicore CPUs and FPGAs) Fully tested and works out-of-the-box Flexible, expandable architecture supporting a wide range I/O connectivity * Custom engineering and I/O module development available 24

22 Agenda Common Real-Time Simulation and Testing Scenarios How Simulink Real-Time helps in preparing a Simulink model for real-time simulation? What Hardware is used with Simulink Real-Time? How can I take advantage of the Hardware? How to Interact with the real-time application? 25

23 Take Advantage of the Hardware To increase speed and handle application complexity Speed up real-time applications by partitioning the model for: Distributed Execution with multiple target computer hardware systems Concurrent Execution across multiple cores and FPGAs in a single target computer 26

24 Agenda Common Real-Time Simulation and Testing Scenarios How Simulink Real-Time helps in preparing a Simulink model for real-time simulation? What Hardware is used with Simulink Real-Time? How can I take advantage of the Hardware? How to Interact with the real-time application? 27

25 Interacting with the Simulink Real-Time Application Tuning, instrumenting, and control of real-time applications Supports for multiple interfacing scenarios Simulink Real-Time Explorer Simulink External Mode MATLAB command scripts MATLAB UIs Simulink Real-Time external APIs 3 rd party visualization tools 28

26 Control and Instrument Your Real-Time Application Built-in control and monitoring User Interface Simulink Real-Time Explorer Control target computer specific properties Easy access to the model hierarchy Commit parameter updates individually or as groups Add scopes and data logging on the fly Graphical controls and displays to design and run instrument panels 29

27 Tune and Monitor Real-Time Application Use the Simulink model for instrumenting a real-time application Direct interactive access from the Simulink model Apply parameter changes Monitor the impacts in scopes and displays 1 Support for 3D and Stateflow animations 2 Log test data Apply change 3 Monitor impact 4 30

28 Access Real-Time Application from MATLAB MATLAB scripts incorporate and automate testing with analysis Leverage entire MATLAB language to access and control all aspect of your real-time application Use interactively from the command line as well as from scripts Augment testing with MATLAB toolboxes and functions such as Optimization Toolbox for tuning parameters Signal Processing Toolbox for post-processing data Report Generator for automation of tests and publishing results 31

29 Agenda Common Real-Time Simulation and Testing Scenarios How Simulink Real-Time helps in preparing a Simulink model for real-time simulation? What Hardware is used with Simulink Real-Time? How can I take advantage of the Hardware? How to Interact with the real-time application? 35

30 Challenges for setting up Model-based Real- Time Simulation Environment A scalable, flexible, generic hardware computer Interface the model with a real time kernel I/O Device Drivers in the form of Simulink library Host- Target communication for Logging, tuning and signal analysis 36

31 Thanks for attending MATLAB EXPO

32 Product Details and Contact Information Have questions? Want to know more? Contact your MathWorks Account Manager or Speedgoat. Simulink Real-Time Speedgoat Simulink Real-Time Compatible Hardware 38

33 Recorded Webinars and Examples Watch a recorded webinar: A Simulink Real-Time Testing Solution for Power Electronics and Motor Control Prove Your Simulink Designs with Real-Time Hardware Testing Explore example models: Field-Oriented Control of a Permanent Magnet Synchronous Machine This example shows the basic workflow and key APIs for generating C code from a motor control algorithm, and for verifying its compiled behavior and execution time. Simulink Real-Time Examples demonstrating features of Simulink Real-Time. (real-time parameter tuning, signal monitoring, data logging, and more) 39

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