Real Time System Validation using Hardware in Loop (HIL) Digital Platform

1. Real Time System Validation using
Hardware in Loop (HIL) Digital Platform
Dr. Shimi S.L
Assistant Professor
Electrical Engineering Dept
NITTTR, Chandigarh

2. Intelligent
Controllers
Smart Sensors –
Not Only Intelligent,
but Adaptable
Intelligent Actuators
Plant

3. Is Smart & Flexible Sensors Possible ?

4. Microprocessor Microcontroller
CPU-on-a-Chip Computer-on-a-Chip
General Purpose Task Specific
Used in Computer Systems Used in Embedded Systems
Memory and I/O components
are interfaced externally
On-chip Memory and I/O
Components
Since external components
interfaced, so the whole system
is larger and costly
Since On-chip components, so
system is smaller and cheaper
In Microprocessor based
system, Instruction and data are
stored in same memory module
In Microcontroller based
system, program memory and
data memory are separate
Microprocessor “CPU-on-a-Chip”
Microcontroller “Computer-on-a-Chip”

6. CB - Connection Blocks
SB - Switching Block
CLB - Configurable Logic Block
LUT - Look-Up-Table

7. SoftwareFPGA
ASIC Memory
Actuators
D/A
Conversion
A/D
Conversion
Sensors
Human
Interface
Diagnostic
Port
External
Environment
CPU
Auxiliary
System
(power)
Embedded system representation

8. Most Popular Controllers
• Atmel
 8051
 AVR
• Microchip
 PIC16F877
• ARM
 ARM7
 ARM9
 ARM Cortex
and many more…….

9. Architecture-ARM Microcontroller
Interrupt Address
Address register
Incrementer
Read register
32 bit
register bank
32 Bit ALU
register bank
Read register
Instruction
Pipeline
Instruction
decoder
Debug
control
Interrupt
Control
Incrementer
Data Address
Data Bus
Data bus
Instruction Address Instruction data
A Bus
B Bus
PCBus
Write register

10. • Software
• ARM C/C++ Compiler (armcc)
Development Platform-ARM
• Hardware
– One DBGU serial communication port
– One ZIGBEE extension connector
– One JTAG debug interface
– Five user- input push buttons
– One Wake-UP input push button
– One Reset Push Button
– One Battery Socket for two AAA batteries
– One 400 segments dot matrix LCD

11. Controller 8051 PIC ARM
Bit Addressable 8 bit 8,12,14 & 16 bit 16 & 32 Bit
Max. crystal Freq. (MHz) 4-16 MHz Up to 80 MHz Up to 400 MHz
Operating voltage (volts) 1-5V 1.5 to 5 V 1- 5V
Flash 0.5K - 384K Up to 512K 16k to 2M
Cache ---- ---- 2x4k - 16k + 8k
Peripherals
available
USART,
SPI,
USB, I2C
USART, SPI,
I2C, ADC, DAC,
USB, Ethernet,
CAN
USART, SPI,
I2C, USB,
ADC, DAC,
Video
Decoder,
Image Sensor
Interface
Comparison

12. Debug code
Including external
I/O stimulus
Order HW
boards/parts
SW comp,
debugger
Build
Prototype
Enter Specifications
Select Best Part
Configure core,
peripherals & Auto-
generate Code
Customize main loop/events integrate
libraries & Generate Object
Microcontroller Development Process

13. Embedded Network

14. ICSP (In-Circuit Serial Programming)

15. Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory
32 KB (ATmega328) of which 0.5 KB
used by bootloader
SRAM 2 KB (ATmega328)
EEPROM 1 KB (ATmega328)
Clock Speed 16 MHz

16. 1000µF
50V
1000µF
50V
100µF
25V
100µF
25V
1000µF
50V
13 12
GND
load

17. Complete Setup

18. Rectifier Circuit

19. MOSFET Bridge Circuit

20. Control Circuit using Arduino

21. Gate Trigger Pulse

22. 3 level Inverter waveform on CRO

23. dSpace 1104

24. Specification of DS1104 R&D Controller Board
Parameter Characteristics
Processor MPC8240 processor with PPC603e core and on-chip
peripherals
• 64-bit floating-point processor
• 250 MHz CPU
• 2 x 16 KB cache; on-chip
• On-chip PCI bridge (33 MHz)
Memory Global memory: 32 MB SDRAM
• Flash memory: 8 MB
ADC
1 x 16-bit ADC with mux
4 x 12-bit ADC
5 ADC channels (1 x 16-bit + 4 x 12-bit) can be
sampled simultaneous
• 16-bit resolution
• ±10 V input voltage range
• 2μs conversion time
• 12-bit resolution
• ±10 V input voltage range
• 800 ns conversion time
Slave DSP subsystem • Texas Instruments TMS320F240 DSP
• 16-bit fixed-point processor
• 20 MHz clock frequency
• 64 K x 16 external program memory
• 28 K x 16 external data memory
• 4 K x 16 dual-port memory for communication
• 16 K x 16 flash memory
• 1 x 3-phase PWM output
• 4 x 1-phase PWM output
• ±13 mA maximum output current
Host interface • 32-bit PCI host interface
• 5VPCI slot
• 33MHz±5 %
Power supply • +5 V ±5 %, 2.5 A
• +12 V ±5 %, 0.3 A
Power consumption 18.5 W

27. Parameter Settings for (a) ADC, (b) ADC Multiplexed and (c) PWM Blocks
(a)
(b)
(c)

28. Block Diagram
Peripheral Component Interconnect Bus (PCI Bus)

29. MPPT of a PV System

32. MicroLabBox, with over 100 I/O channels of various types for applications in
robotics, medical engineering, electric drives, renewable energy, consumer
appliances, industrial products, automotive engineering, and aerospace

33. What is Real Time Simulation?
Simulation execution happens in synchronism
with wall clock time or real time
Why real time simulation?
To exchange information with physical components.

34. How real time simulation is done?
• The complexity of the plant under control is included in test
and development by adding a mathematical
representation of all related dynamic systems. These
mathematical representations are referred to as the “plant
simulation”. The embedded system to be tested interacts
with this plant simulation.
• It allows testing of an unlimited number of short circuits and
other transients (e.g. fault transients), as well as regular
transients in the power system. Something that is impractical
to do on the actual system.
• Virtual, highly realistic, real-time models of the hardware
(microgrid testbed) enable testing high power systems
without the dangers and costs involved with testing high
power.

35. 35
Real Time Simulation Applications
For time critical studies!
1) Controller design, test and interface
2) Closed loop test of intelligent electronic devices
3) SCADA system studies; Operator training
4) Modern micro-grid/smart grid studies
5) Special Protection Schemes – design and test

36. Testing controllers using dSpace for grid
interfaces, electric drives, and power
electronics

38. 38
OPAL-RT HIL – General Architecture
The hardware that perform real time simulation consists of
Computational Units: CPU & FPGA
Interfacing Units: Analog & Digital I/O cards, serial ports, PCI slots
Hardware = Standard Intel PC + Xilinx FPGA + Interfacing units
Standard Intel PC
with Motherboard,
hard-disk, RAM, CPU
Xilinx
FPGA
Interfacing unit with
Analog & Digital I/Os,
serial ports, PCI slots etc.
OPAL-RT Real Time Simulation Hardware

39. PC with MATLAB/ SIMULINK
Opal-RT HIL Box

40. Customized solutions in eFPGAsim

41. Limitations of SPS for achieving real-time simulation
• SPS generates a unique matrix for State-Space equations, even if the matrix
is sparsed
• Results in higher computation time
• SPS recomputes system matrix in the real-time loop each time there is a
switch change conduction state (On/Off)
• Results in overruns each time a different topology occurs
ARTEMIS for Real-Time Simulation of Power Systems
SimPowerSystem (SPS) presentation
41

42. • ARTEMIS takes advantage of the sparse matrix properties to optimize the
computation time : In SPS and ARTEMIS, each independent sub-circuit has its own
smaller set of ABCD state-space equations
• FASTER iteration. (SPS S-functions are not sparsity-optimized) switches located on
different sub-networks are pre-computed independently
ARTEMIS for Real-Time Simulation of Power Systems
42

43. • ARTEMIS accuracy : ARTEMIS
solvers are designed to improve the
accuracy of simulation of power
system at large time steps

44. • Simulink signals are updated at next sample time
• RT-EVENTS too, but it keeps transition information (in the
time stamp)
• Accuracy of gate pulses is highly increased for the same
time-step
RT-Events for PWM generation
RT-Events concepts
44
Simulink
RT-Events

45. Typhoon HIL

48. Questions, Comments?
Shimi.reji@gmail.com
www.slideshare.net/shimireji
9417588987
Thanks

49. System Validation using
Hardware
Dr. Shimi S.L
Assistant Professor
Electrical Engineering Dept
NITTTR, Chandigarh