Real-Time Implementation of Asynchronous Machine

Real-Time Implementation of Asynchronous Machine using LabVIEW RTX and FPGA Module Ali Parizad

Mohamad Esmaeil Iranian

Amirnaser Yazdani

Department of Electrical Eng., Southern Illinois University Carbondale (SIUC), IL, USA (e-mail: [email protected])

MAPNA Electric and Control Eng. and Manuf. Co. (MECO), Karaj, Iran (e-mail: [email protected])

Department of Electrical Eng., Ryerson University, Toronto, Canada. (e-mail: [email protected])

Abstract— This paper describes the implementation of squirrel cage induction motor using high level graphical language in LabVIEW software. The mathematical models of the threephase induction motor are implemented in LabVIEW block diagram pages. These models are in form of differential equations and Runge-Kutta 4th order method is implemented to solve the problem. LabVIEW FPGA module alongside with Xilinx 10.1 compiler will generate the Bitfiles, and then Synthesize, Route and place the logic gates to a FPGA chip. NI PCI-7831R is programmed to communicate with real system as a data acquisition card. This communication is implemented in real time environment (RTX) through Ardence RTX as a multithread and multitasking software. The presented real-time platform provides a versatile and flexible simulation tool for investigating dynamic behaviors of induction machine in different cases and can be extended to many other equipment and subsystems of electrical power systems. To validate implemented squirrel cage induction motor model and also its behavior in LabVIEW software, human machine interface (HMI) is developed in LabVIEW front page. A study case is simulated in LabVIEW real-time system and MATLAB/Simulink, as two independent software. Results show that motor characteristics (i.e. speed, torque, and etc.) are in the close correspondence compared to MATLAB outputs and consequently LabVIEW model is verified. Keywords— data acquisition, field-programmable gate array (FPGA), induction motor, NI-LabVIEW, real-time RTX system, virtual instrumentation.

NOMENCLATURE Iqs, Ids, Iqr, Idr ψ Xss, Xm, Xrr’ ωb , ωr Rs , Rr’ Te , TL n

Stator and rotor currents, Flux Linkage, Total leakage reactance in stator, magnetizing reactance, and total leakage reactance in rotor, respectively, Base speed, rotor speed, , respectively, Rotor resistance referred to the stator, respectively, Electromagnetic torque and load torque, respectively, Number of iteration,

I. INTRODUCTION The three phase induction motors are widely used in the industrial applications, especially in the adjustable-speed drives. Consistent to this issue, induction motor behavior should be studied and analyzed in the power system. Due to complicated equations, the dynamic and steady state analysis of induction motor are difficult. There are so many software tools that can simulate induction motor behavior, but among

-This research was performed while A. Parizad was at MAPNA Electric And Control Eng. and Manuf. Co.

Hamid Reza Baghaee and Gevork B. Gharehpetian Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran (e-mails: [email protected], [email protected]).

all of them, LabVIEW is a modern graphical programming language and plays a key role for controlling equipment and instruments. Moreover, LabVIEW is an engineering and scientific with rapid application development environment specialized towards data acquisition, electronic measurement and control applications. It can simplify the scientific computation, process control, research, industrial applications and measurement applications. There are so many applications of different real-time simulators to power systems [1]-[31]. LabVIEW has been used as a platform in many real-time projects. Applications of real-time technology includes implementation of testing of microgrid [1]-[9], electrical machines (including induction motors) [11]-[14], power plants and power systems [15]-[19], power convertors [20], wind energy conversion system [21][22], testing of power electronic devices [23], high voltage direct current (HVDC) and flexible alternating current transmission systems (FACTS) [24]-[25], tests of protection relays [26]-[28], power electronics [29], distributed generation [30], and power quality regulators [31]. Implementation of field oriented control algorithm for speed control of a permanent magnet synchronous motor (PMSM) has been presented in [32]. In this study, the motor is brushless-AC type and a controller has been designed in the LabVIEW FPGA platform. Mathematical modeling of a synchronous generator in the LabVIEW has been described in [33]. Based on this issue, control design and simulation module (CDSM) has been used to implement mathematical equation as well as ODE solvers. The development and implementation of on-line real-time testing system for distribution transformers in LabVIEW software has been presented in [34]. Also, a method for recording the highresolution rotor angle of a synchronous machine and deriving more accurate d-q axis synchronous machine parameters has been provided in [35]. The proposed algorithm has been implemented in LabVIEW real-time PXI target and the FPGA module. The characteristics of synchronous generator using LabVIEW was discussed in [36]. In [37], the authors tried to identify induction motor parameters. Speed control of stepper motor [38], fault diagnosis of induction motor [39] and testing for DC motor [40], [41] are the other works implemented in LabVIEW real-time software.

In this paper, the LabVIEW high level language is used so that a compiler translates the LabVIEW code in VHDL logic, and then synthesizes the logic gates to a FPGA chip. Based on this issue, the LabVIEW FPGA environment allows the programmer to write the complex code in a high productivity, high level programming language, and in details. Also, NI PCI-7831R is used as data acquisition card. Consistent to this idea, an induction motor (squirrel cage) is modeled in the LabVIEW software based on the mathematical equations and user can simulate different scenarios to analyze the motor performance as well as its behavior. The rest of this paper is organized to cover the mentioned theme as follows: Sections II elaborates on mathematical modeling of induction motor. Section III describes implementation of mathematical equations in the LabVIEW block diagram page. At the first step, the main page of induction motor is presented. Then, the calculation of RungeKutta equation coefficients (K1 to K4), torque, currents, slip, force, rotor angle and etc. are outlined. Section IV introduces the FPGA and RTX programing in the LabVIEW real-time environment. To investigate induction motor (squirrel cage) behavior and also monitor its reaction, two command and monitoring pages are dedicated in LabVIEW front panel. In section V, two case studies are implemented to follow speed and torque. Close correspondence between LabVIEW results and MATLAB/Simulink model shows the validity of the induction motor model implemented in LabVIEW software. Section VI gives the main conclusions of this paper. II. MATHEMATICAL MODEL OF INDUCTION MOTOR Iqs, Ids, Iqr, Idr are calculated in term of ψ as follows [42]:

1 I qs  ( ) ( X rr . qs )  ( X m . qr ) D 1  ) I ds  ( ) ( X rr . ds )  ( X m . dr D 1 ) I qr  ( ) (  X m . qs )  ( X ss . qr D 1  ) I dr  ( ) ( X m . ds )  ( X ss . dr D





(1)



1 y n 1  y n  ( k1  2 k 2  2k 3  k 4 ) 6

(5)

and k1, k2, k3 and k4 are defined as:

k1  t f ( xn , y n ) k 2  t f  xn  (t ) , y n  ( k1 )  2 2   k 3  t f   xn  ( t ) , yn  ( k 2 )  2 2   k 4  t f xn  t , y n  k3 

 y1  qs , qs  y2   ds , ds , , y 5    r   y3  qr , qr  y4   dr , dr



(2)

d qs

  R X RX w  wb Vqs  ( s rr ) qs  ( ) ds  ( s m ) qr  dt D wb D  

  R X R X w  wr ) dr   wb Vqr  ( r m ) qs  ( r ss ) qr  ( dt D D wb  

(4)

All of the equations have been written in terms of flux linkage [42]. Based on this issue, the flux linkage is calculated in the simulation environment. Then, d-q currents are obtained and related parameters can be achieved. The 4th order Runge-Kutta is used to solve differential equations. This method can be implemented in LabVIEW environment. The formula for the fourth order Runge-Kutta method (RK4) is given by:

3 p X Te  ( )( )( m ) y(1) y( 4 )  y( 3) y( 2 ) 2 2 Dwb

After substitution of current equations in the voltage equations, differential equations in terms of flux linkage are calculated as follows:

d qr

dwr P 1  (Te  TL )( )( ) dt 2 j 3 p X Te  ( )( ) m ( dr qs   ds qr ) 2 2 wb D

(6)

(7)

After substitution of Eq. 7 into Eq.4 we have:

D  X SS  X rr  ( X m ) 2

  d ds w R X RX  wb Vds  ( ) qs  ( s rr ) ds  ( s m ) dr  dt w D D b  

Torque-speed and electromagnetic torque equations are calculated as follows:

where Δt = tn+1 - tn is the Time Step. The flux linkages values can be calculated by abovementioned equations. Consistent to this issue, these flux linkages are obtained as:



X ss  X IS  X m , X rr  X lr  X m

   d dr R X w  wr R X  wb Vdr  ( r m ) ds  ( ) qr  ( r ss ) dr  dt D wb D  

(3)



(8)

To transfer variables from synchronous reference frame (SYRF) in dq0 coordinate to natural reference frame (NARF) in abc reference frame, Park transformation is used [42]-[43]. III. IMPLEMENTATION OF INDUCTION MOTOR IN LABVIEW In this section, all of abovementioned mathematical equations are implemented in LabVIEW software. Fig. 1 shows the main page of induction motor (squirrel cage type) in LabVIEW block diagram page. Different SubVIs are written via LabVIEW programing language to calculate some mathematical equations. A. Calculation of K1 to K4 To calculate K1 – K4 in Runge-Kutta equation, the

B. Calculation of torque θr, Fr and slip After rewriting of Eq. 4 in terms of extracted fluxes (E1E4), the equation can be expressed as:

3 p Te  [ ]  [ ]  [ X m /wb  D]  ( E1  E4  E2  E3 ) 2 2

(9)

To calculate Te, ωb and D should be obtained. Consistent to this idea, a dedicated SubVI program is written. This procedure is also performed for calculation of calculation of θr, Fr and slip. C. Calculation of Id.q After calculation of fluxes, currents in d-q frame are calculated by obtained fluxes and related impedances (Fig. 3).

Figure 1. Schematic diagram of induction motor in LabVIEW Block Diagram

D. dq0 to abc transformation As mentioned above, to transfer variables from SYRF in dq0 coordinate to NARF in abc reference frame, Park transformation is used [42]-[43]. A dedicated written program transforms dq0 to abc frame in LabVIEW environment. IV. FPGA AND RTX PROGRAMMING IN LABVIEW In order to connect this system to the real environment, FPGA and RTX programing should be implemented.

Figure 2. Calculation of K parameter in LabVIEW Block Diagram SubVI page (Sequence 0)

Figure 3. Calculation of currents in LabVIEW Block Diagram SubVI page.

“Stacked Sequence Structure” is defined in LabVIEW Block Diagram. Also, related graphical programming is written to solve the equations. As a case in point for one case (sequence 0), Fig. 2 shows the calculation of K parameters in RungeKutta equations. The output is a 1×5 matrix and “array separation” module is used to extract fluxes (elements 1-4) and also rotor speed (element 5).

A. FPGA programing on NI PCI-7831R card The LabVIEW FPGA environment can be programmed in the three layers i.e. FPGA, Real Time Controller, and Host PC. In this case, the LabVIEW high level language is used so that a compiler translates the LabVIEW code in VHDL logic, and then synthesizes the logic gates to a FPGA chip. Based on this issue, the LabVIEW FPGA environment allows the programmer to write the complex code in a high productivity, high level programming language, and in details. To write related program, a FPGA Target should be added in the RTX environment. Then, a data acquisition card (in this paper NI PCI-7831R with FPGA Virtex-II 1M technology, 40MHz onboard clock) is added to the project window. Fig. 4 shows dedicated program for FPGA module. FPGA and RTX environments interact to each other via communication cluster and AO card (Fig. 4, A). The inputs data is interpolated (Fig. 4, B) and is ready to send to the analog output card in FPGA (Fig. 4, C). Also, analog input card is defined to read input data from real environment (Fig. 4, D). Related measured loop rate for FPGA and related iteration time are demonstrated in Fig. 4, E and Fig. 6. B. RTX programing Rotor and stator three phase currents are calculated and then saved in an on dimensional array (Fig. 5, A). To convert digital values to analog, conversion factor (32767) has been applied to convert per unit values to the analog card format values (Fig. 5, B). Dedicated NI PCI-7831R card connected via PCI Express, is called through FPGA Target (Fig. 5, C). The execution command is sent to analog output card (Fig. 5,

(a) (b) Figure 4. Dedicated program with LabVIEW FPGA Module a) LabVIEW Front Panel, b) LabVIEW Block Diagram.

Figure 5. RTX program in LabVIEW Block Diagram page.

D) and program is executed (Fig. 5, E). Consequently, rotor and stator three phase currents is sent to AO FPGA program (Fig. 4). In return, AI data in the FPGA program (Fig. 4) goes back to RTX (Fig. 5, F) and is converted to desired values (Fig. 5, G). V. SIMULATION RESULTS A. Case Description To monitor induction motor parameters and related curves, two different graphical pages are implemented in LabVIEW. Based on this interface environment, the users can change the parameters and investigate their effects in the graphs page. The “Induction Motor Parameters” page (Fig. 6) includes different input parameters such as mechanical torque (TL), frequency (F), inertia (J), impedances of rotor and stator (Rs, Xls, Rr, Xlr), stator voltages (Vabc) and etc. B. Program preparation and compiling To investigate induction motor simulation in, all of the written program should be compiled through LabVIEW FPGA compiler (Fig. 7). After successful compilation, user can change induction motor parameters and study the behavior of induction motor (squirrel cage) in the monitoring page. Fig. 8 shows a snapshot of LabVIEW monitoring page. These output graphs allow to analyze stator and rotor flux linkages, currents, voltages, speed and torque characteristics and etc. NI-SCB-68 terminal board (Fig. 9) [43] is used to transfer signals between RTX and real environment through NI7831R card [45]. C. Case study To validate the proposed induction motor (squirrel cage) implementation in LabVIEW, numerical simulation studies

Figure 6. Induction motor parameters page in LabVIEW software

Figure 7. LabVIEW FPGA compile server

have been carried out in MATLAB/Simulink. The simulation parameters and specifications of induction motor used in this

Figure 10. Induction motor speed in MATLAB/Simulink Figure 8. Typical induction motor monitoring page in LabVIEW software

Figure 11. Induction motor torque in MATLAB/Simulink

Figure 9. Stator three phase voltages transferred from NI7831R card to terminal board and real environment

paper are show in “induction motor parameters” page in Fig. 6. The induction motor responses (speed and torque) are investigated in MATLAB/Simulink using the stationary reference frame (Figs. 10 and 11). On the contrary, the same scenario is investigated in proposed LabVIEW real-time program for induction machine. According to Fig. 12, the induction motor speed reaches to 1441.03 rpm. Also, induction motor torque reaches to around 230 Nm. (Fig. 13). Comparing the simulation results, it can be concluded that the results are almost same for the two modeling. VI. CONCLUSION In this paper, we implemented mathematical model of squirrel cage induction motor in the LabVIEW block diagram page. Runge-Kutta 4th order method was used to solve related equations. All of the LabVIEW codes were compiled in VHDL logic and synthesized to a field-programmable gate array (FPGA) chip. RTX real time system, as a multi-task software, has been used to connect LabVIEW hardware (i.e. NI PCI-7831R) to the real environment. Speed and torque behavior, as two induction motor characteristics were assessed in MATLAB/Simulink and LabVIEW software in a specified scenario. It can be concluded that the results for

Figure 12. Induction motor torque in LabVIEW software (front panel)

Figure 13. Induction motor slip in LabVIEW software (front panel)

implemented model in LabVIEW are almost same with those in MATLAB/Simulink model. The presented real-time platform can be extended to many other equipment and subsystems of electrical power systems as a versatile and flexible simulation tool. One of the application of this modeling in LabVIEW is Implementation of a laboratory environment for research, training and assessment of power equipment behavior (in this work setup a HIL stand to test Asynchronous motor variable frequency drives). Consistent to this idea, student can

simulate different scenarios in case of various events. It helps users to learn the theoretical concepts of complex subjects for network studies. Also, engineers can use RTX environment to connect implemented model with real controller and test its effectiveness and also behavior in real time HIL simulation. REFERENCES [1]

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