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The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Ben Black Market Development Manager, Real-Time Test & Power Systems National Instruments ben.black@ni.com
Running OPAL-RT’s eHS on National Instruments cRIO: Sub-microsecond power-electronic simulation
Pierre-Yves Robert FPGA Specialist, OPAL-RT TECHNOLOGIES Inc. pierre-yves.robert@opal-rt.com
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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National Instruments | Our Mission
We equip engineers and scientists with tools that accelerate productivity, innovation, and discovery.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Our Stability Annual Revenue: $1.17 billion
Global Operations: Approximately 7,100 employees; operations in almost 50 countries
Broad Customer Base: More than 35,000 companies served annually
Diversity: No industry >15% of revenue
Culture: Ranked among the top 25 companies to work worldwide by the Great Place to Work Institute
Strong Cash Position: Cash and short-term investments of $393 million at December 31, 2013
R&D Investment: Roughly 16% of revenue invested back in R&D
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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The Benefits of Off-the-Shelf Technology With the Flexibility of Custom Design
Why compromise? The NI approach delivers the benefits of custom design with quality off-the-shelf products so you can focus on INNOVATION not IMPLEMENTATION
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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The Benefits of Off-the-Shelf Technology With the Flexibility of Custom Design
High-Level Software
Flexible Hardware
Integrated Hardware and Software Platform
Benefits
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Graphical System Design A platform-based approach for measurement and control
Applications
Deployable Targets
Commercial Technology
Models of Computation, User Interface
Math and Analysis
Measurement and Control I/O
Timing
Connectivity With Third-Party I/O
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Graphical System Design A platform-based approach for measurement and control
Applications
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Project Explorer Manage and organize all
system resources, including I/O and deployment targets
Front Panel Create event-driven user
interfaces to control systems and display measurements
Block Diagram Define and customize the behavior of your system using graphical programming
Instant Compilation See the state of
your application at all times, instantly
Parallel Programming Create independent loops that automatically execute in parallel
Analysis Libraries Use high-performance analysis libraries designed for engineering and science
Hardware Connectivity Bring real-world signals into LabVIEW from any I/O on any instrument
Timing Define explicit execution order and timing with sequential data flow
Deployment Targets Deploy LabVIEW code to the
leading desktop, real-time, and FPGA hardware targets
Models of Computation Combine and reuse .m files, C code, and HDL with graphical
code
LabVIEW System Design Software
Accelerates Your Success By abstracting low-level complexity and integrating all of the tools you need to build any measurement or control system
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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The NI Approach to Flexible Hardware
We call this the LabVIEW RIO Architecture.
Commercial Technology
Highly Productive LabVIEW Graphical Programming Environment for Programming Host, FPGA, I/O, and Bus Interfaces
Processor Real-Time or
PC-Based FPGA Modular I/O
for Any Signal
Processor
Real-time OS Application software Networking and
peripheral I/O drivers DMA, interrupt, and
bus control drivers
FPGA Application IP Control IP DSP IP Specialized I/O drivers
and interface DMA controller
Analog I/O
Digital I/O
Specialized I/O
Custom I/O
Bus Protocols
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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NI CompactRIO
Processor Modular I/O
FPGA
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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NI CompactRIO
Processor Modular I/O
Highly Productive LabVIEW Graphical Programming Environment for Programming Host, FPGA, I/O, and Bus Interfaces
Extreme Ruggedness: -40 to 70 °C temperature range; 50 g shock, 5 g vibration High Performance: Up to 1.33 GHz, dual-core i7 processor Comprehensive I/O: Analog, digital, custom, specialty, bus communication
FPGA
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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667 MHz Dual-Core ARM Cortex-A9 processor 28K Logic Cells (Artix-7) 80 DSP slices, 16 DMA channels 92 Billion calculations per second
Xilinx ZYNQ
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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NI myRIO – Control Platform All programmable SoC
Express VIs for ease-of-use
Rich, Known I/O
Extensive Ecosystem
WiFi & Tablet Ready
LabVIEW unleashed
C/C++ Programmable
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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NI myRIO | Courseware
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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OPAL-RT IP + LabVIEW + CompactRIO for HIL
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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OPAL-RT + CompactRIO for HIL
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Design “V” Teaching Platform
myRIO for control paired with: • Inverter research board (real plant) • NI / Opal-RT HIL Trainer (simulated plant)
Inverter Research Board
6 DIO Vabc PWM
Feedback
NI / Opal-RT HIL Trainer
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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First demonstration: Diode-Bridge Rectifier This circuit simulates a three-phase voltage rectifier with various loads.
Teaching objectives: • To introduce the student with the
simulation tools • To understand the operating principles of
a diode-bridge rectifier • To highlight the effect of the load type
and value on the output voltage ripple
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Second demonstration: Boost Converter This circuit simulates a DC-DC Boost converter with various loads.
Teaching objectives: • To understand the operating principles of a
boost converter • To observe and understand the effect of the
load type and value on the boost output voltage
• To find the S1 switching duty cycle marking the delimitation between continuous and discontinuous operation modes.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Third demo: Boost with external controller We connect the Boost converter to an external controller.
Teaching objectives: • To introduce the student with
closed-loop control, including wire connections
• To design from scratch a PI controller adapted for a boost converter
• To find the suited controller parameters according to load characteristics
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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What is eHS ? • This approach uses the modified nodal
analysis.
• It solves the conductance matrix of the network to find the voltage at each node and the current from each sources.
• The conductance matrix is loaded into the solver when the model is deployed.
• The simulated model can be modified without recompiling the bitfile.
Graphical circuit design and offline simulation
Automatic analysis of the circuit netlist and generation
of the conductance matrix
FPGA-based simulation on circuit-independent
firmware
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Integration of eHS into the LabVIEW environment • The eHS tool will be included as a
module of LabVIEW.
• Exercises will be provided with pre-compiled bitfiles for the FPGA firmware.
• To accommodate different I/O configurations, custom bitfiles can be generated using LabVIEW FPGA.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Modifying the simulated circuit To modify the component values in a circuit, the student generally chooses from a list of pre-defined scenarios. eHS matrices are pre-generated to match these scenarios.
• In general, this is done in a LabVIEW control panel provided him by the teaching assistant.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Modifying the simulated circuit Alternatively, the student could use a standard schematic editor, and re-compile the corresponding conductance matrix.
• At the time being, this is done within the Matlab environment.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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Creating new exercises A professor may want to modify scenarios, create new ones, or even create exercises based on completely different circuit topologies
• The new circuit can be designed with his favorite schematic editor
• LabVIEW provides full access to the control panel for scenario control.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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eHS: Computation time On the cRIO, the eHS feature uses a 160-MHz clock.
• This enables very small computation step sizes, in general between 125 ~ 500 ns. • Computation step sizes depends on the circuit complexity and the number of scenarios implemented. • Loop rate of the Boost Converter model is 3.33 MHz (300 ns). • Loop rate of the Diode-Bridge Rectifier model is 2.16 MHz (460 ns). • Loop rate of the Buck Converter model is 7.27 MHz (140 ns). • Loop rate of the 3-Phase Inverter model is 2.38 MHz (420 ns).
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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eHS: Hardware-in-the-Loop simulation timing
When eHS is connected to an external plant or controller, the total loop time must include I/O latency
In this case, the loop time is not critical, but the Boost model and digital lines still need to run fast to accommodate fast-switching PWM controls.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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eHS: Supported Circuit editors
As of today, the eHS circuit can be described with one of the following tools:
• SimPowerSystem Toolbox for Simulink • PLECS • PSIM
Development is planned for the following tools:
• Multisim • EMTP-RV
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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RUNNING OPAL-RT’S eHS ON NATIONAL INSTRUMENTS cRIO: SUB-MICROSECOND POWER-ELECTRONIC SIMULATION
• By running Opal-RT’s eHS on a National Instruments cRIO platform, the simulation of power-electronic circuits can be performed at sub-microsecond sample times.
• The low cost of the eHS-cRIO solution makes it suitable as a model-based test bench in an undergraduate educational lab equipment.
• The flexibility of the eHS-cRIO solution enables a full hardware-in-the-loop solution with loop times in the order of tens of microseconds.
• Opal-RT can provide a variety of models suited for educational purposes, such as DC-DC converters, Inverters, Rectifiers, etc.
The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
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The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014
Appendices
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The 7th International Conference on Real-Time Simulation Technologies Montreal | 9-12 June, 2014 eHS: PEJOVIC METHOD
• The Pejovic method models switches by either an inductor when conducting or a capacitor when blocking in the nodal matrix.
• This method is called the fix-Y because the conductance matrix does not change when a switch changes state.
• When using the modified nodal analysis the main difference between an inductance and a capacitor is in their discretization and in their historical term. Once discretized, the equivalent circuit is a current source with a shunt resistance.
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