Digital Twin Real-Time FPGA implementation for light electric vehicle … · 2019. 7. 17. · M....
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EMR’19 Universite de Lille June 2019 Summer School EMR’19 “Energetic Macroscopic Representation” « Digital Twin Real - Time FPGA implementation for light electric vehicle propulsion system using EMR organization » Dr. Mircea RUBA Technical University of Cluj Napoca, ROMANIA [email protected] This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 824256.
Transcript of Digital Twin Real-Time FPGA implementation for light electric vehicle … · 2019. 7. 17. · M....
EMR’19
Universite de Lille
June 2019
Summer School EMR’19
“Energetic Macroscopic Representation”
«Digital Twin Real-Time FPGA implementation for light
electric vehicle propulsion system using EMR
organization»
Dr. Mircea RUBA
Technical University of Cluj Napoca, ROMANIA
This project has received funding from the European Union’sHorizon 2020 research and innovation programme undergrant agreement No 824256.
EMR’19, Universite de Lille, June 20192
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Outline -
1. Introduction
1. DT concept
2. Why FPGA?
3. Why EMR?
2. Methodology of implementation
1. The original test bench
2. EMR representation of the DT
3. FPGA design and testing
1. System architecture
2. Comparative analysis
4. Conclusions
EMR’19
Universite de Lille
June 2019
Summer School EMR’19
“Energetic Macroscopic Representation”
«Introduction»
EMR’19, Universite de Lille, June 20194
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Concept of DIGITAL TWIN-
A digital twin (DT) is a digital replica of a living or non-living
physical entity.
By bridging the physical and the virtual world, data is transmitted
seamlessly allowing the virtual entity to exist simultaneously with the
physical entity. (Wikipedia)
DT provides elements and dynamics of how an Internet of Things
(IoT) device operates
DT operates as functional real-time development tool
DT is a real mapping of components of a product using virtual data
mixed with physical data
EMR’19, Universite de Lille, June 20195
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Using the FPGA -
The Field Programmable Gate Array (FPGA) is an integrated
digital reconfigurable processor that uses HDL language for
programming
FPGA vs. DSP or uController
-faster (hundreds of MHz)
-parallel computing vs. line by line
-fixed computing frequency (by user)
-non predefined code user
-the DSPs are based on instructions sets while the FPGA is
based on clock rates
-DSPs take several logical steps to execute an instruction
-the FPGA executes the ENTIRE program on each clock rate
EMR’19, Universite de Lille, June 20196
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Using the EMR -
Energetic Macroscopic Representation (EMR)
EMR basic elements
Source, accumulation and conversion elements
Coupling and adaptation elements
Association rules
Permutation rule
Merging rule
EMR of a complete system
Action and tuning path
EMR’19
Universite de Lille
June 2019
Summer School EMR’19
“Energetic Macroscopic Representation”
«Methodology of implementaion»
EMR’19, Universite de Lille, June 20198
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- The original test bench-
The actual test bench
DCM Load PMSM
Inverter
Sensors
FPGA FOC
DIO AIO
Resolver to Digital
DC SupplyDC Load
EMR’19, Universite de Lille, June 20199
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- The original test bench-
The actual test bench
REQUIREMENTS
FPGA A FPGA B FPGA C
CA
N
Off
line
co
-sim
ula
tio
n
`
FEA modelling
MACHINEELECTRONICS
Design
CONTROL
Design
Machine
model
Electronics
model
Lig
ht -
FLE
XD
EV
AB
C p
wm
HiL
TestingIa
bc
Ω*
iDCM(Tref)
EMR Control Loop
AI
Ө
DI DO
x8
RT GUI
EMR’19, Universite de Lille, June 201910
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- EMR representation of the DT-
The DIGITAL TWIN test bench setup
REQUIREMENTS
FPGA A FPGA B FPGA C
CA
N
Off
line
co
-sim
ula
tio
n
`
FEA modelling
MACHINEELECTRONICS
Design
CONTROL
Design
Machine
model
Electronics
model
Lig
ht
- FL
EXD
EV
AB
C p
wm
DT
Testing
Iabc
Ω*
iDCM(Tref)
Complete test bench digital replica
EMR Control Loop
AO
AI
Ө
DO
DI DO
DI
x8
RT GUI
EMR’19, Universite de Lille, June 201911
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- EMR representation of the DT-
The DIGITAL TWIN test bench program
DC bus
RES
Vdc
Idc
m
us
is
us-dq
is-dq
is-dq
es-dq
Tpmsm
ΔΩ Tdcm
ΔΩ idcm
edcm idcm
uload
θ
is-dq_est
ΔΩref
STR
Tref
isd_ref
isq_ref
esdq_est
vsdq_estus_refvdc_mes
Tdcm_ref
i loa
d_re
f
FPGA test bench
FPGA control unit
Analog/Di gi ta l IO s
(1) (2) (3) (4) (5) (6) (7) (8) (9)
(10)
(11)
(12)(13)
(14)(15)(16)(17)
RT GUI
Load
EMR’19
Universite de Lille
June 2019
Summer School EMR’19
“Energetic Macroscopic Representation”
«FPGA design and testing»
EMR’19, Universite de Lille, June 201913
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- System architecture-
The DIGITAL TWIN FPGA implementationDC bus
RES
Vdc
Idc
m
us
is
us-dq
is-dq
is-dq
es-dq
Tpmsm
ΔΩ Tdcm
ΔΩ idcm
edcm idcm
uload
θ
is-dq_est
ΔΩref
STR
Tref
isd_ref
isq_ref
esdq_est
vsdq_estus_refvdc_mes
Tdcm_ref
i loa
d_re
f
FPGA test bench
FPGA control unit
Analog/Di gi ta l IO s
(1) (2) (3) (4) (5) (6) (7) (8) (9)
(10)
(11)
(12)(13)
(14)(15)(16)(17)
RT GUI
Load
EMR’19, Universite de Lille, June 201914
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- System architecture -
The DIGITAL TWIN FPGA implementation
DC bus
RES
Vdc
Idc
m
us
is
us-dq
is-dq
is-dq
es-dq
Tpmsm
ΔΩ Tdcm
ΔΩ idcm
edcm idcm
uload
θ
is-dq_est
ΔΩref
STR
Tref
isd_ref
isq_ref
esdq_est
vsdq_estus_refvdc_mes
Tdcm_ref
i loa
d_
ref
FPGA test bench
FPGA control unit
Analog/Di gi ta l IO s
(1) (2) (3) (4) (5) (6) (7) (8) (9)
(10)
(11)
(12)(13)
(14)(15)(16)(17)
RT GUI
Load
( )( )
p
iL
iL
e
e
iLLipT
sQsQsQ
PMsDsDsD
sQsQ
sDsD
sDsQsDPMsQPMSM
=
=
+=
=
−=
−+=
2/3
DCMDCM
DCMDCMDCM
kee
ktIT
=
=
( ) loadiDCMpDCMiDCM
DCMrefDCMiDCM
UkkPI
ii
→→
−=
,
_
EMR’19, Universite de Lille, June 201915
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Comparative analysis -
DT real-time Simulation results vs. measurements
-speed, torque and currents (PMSM + DCM)
-electrical and mechanical powers and efficiency (PMSM)
-currents and voltages (DCM)
0 5 10 15 200
500
1000
1500
Velo
cit
y [
rpm
]
t [min]
nMEAS
nREF
nSIM
0 5 10 15 20
0
0.5
1
1.5
2
To
rqu
e [
Nm
]
t [min]
TMEAS
TSIM
TREF
0 5 10 15 20
0
10
20
30
ID
, IQ
[A
]
t [min]
EMR’19, Universite de Lille, June 201916
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Comparative analysis -
DT real-time Simulation results vs. measurements
-speed, torque and currents (PMSM + DCM)
-electrical and mechanical powers and efficiency (PMSM)
-currents and voltages (DCM)
0 5 10 15 200
100
200
300
400
500
PE [
W]
t [min]
0 5 10 15 200
100
200
300
400 P
M [
W]
t [min]
0 5 10 15 200
0.2
0.4
0.6
0.8
1
eff
t [min]
EMR’19, Universite de Lille, June 201917
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Comparative analysis -
DT real-time Simulation results vs. measurements
-speed, torque and currents (PMSM + DCM)
-electrical and mechanical powers and efficiency (PMSM)
-currents and voltages (DCM)
0 5 10 15 200
1
2
3
4
5
6
ID
CM
[A
]
t [min]
0 5 10 15 200
10
20
30
40
50
UD
CM
[A
]
t [min]
EMR’19, Universite de Lille, June 201918
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
«Conclusions»
EMR’19, Universite de Lille, June 201919
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Conclusions-
The DIGITAL TWIN is a replica by nature and by results
Allows precise testing by remote connection
No need for an actual test bench (safe, economic, fast)
Ease of transition from real-time testing to HiL
Using EMR the user error is diminished
Able to decrease the time to market
Highly integrable in IoT
REQUIREMENTS
FPGA A FPGA B FPGA C
CA
N
Off
line
co
-sim
ula
tio
n
`
FEA modelling
MACHINEELECTRONICS
Design
CONTROL
Design
Machine
model
Electronics
model
Lig
ht
- FL
EXD
EV
AB
C p
wm
DT
Testing
Iabc
Ω*
iDCM(Tref)
Complete test bench digital replica
EMR Control Loop
AO
AI
Ө
DO
DI DO
DI
x8
RT GUI
EMR’19
Universite de Lille
June 2019
Summer School EMR’19
“Energetic Macroscopic Representation”
« BIOGRAPHIES AND REFERENCES »
EMR’19, Universite de Lille, June 201921
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- Author -
Dr. Mircea RUBA
Technical University of Cluj Napoca, Romania
PhD in Electrical Engineering at UTCN (2010)
Research topics: HiL simulation/testing, storage systems, real-time, EV
Email: [email protected]
EMR’19, Universite de Lille, June 201922
«Digital Twin FPGA implementation for LEV propulsion system using
EMR organization»
- References -
A. Bouscayrol, J. P. Hautier, B. Lemaire-Semail, "Graphic Formalisms for the Control of Multi-PhysicalEnergetic Systems", Systemic Design Methodologies for Electrical Energy, tome 1, Analysis, Synthesisand Management, Chapter 3, ISTE Willey editions, October 2012, ISBN: 9781848213883.
M. Ruba, Nagy H., H. Hedesiu, C. Martis, "FPGA based processor in the loop analysis of variable reluctancemachine with speed control", AQTR 2016, 19-21 May, Cluj-Napoca, Romania
A. Bouscayrol, "Hardware-In-the-Loop simulation", Industrial Electronics Handbook, second edition, tome“Control and mechatronics”, Chapter 33, CRC Press, Taylor & Francis group, Chicago, March 2011,pp. 33-1/33-15, ISBN 978-1-4398-0287-8
A. Bouscayrol, X. Guillaud, P. Delarue, B. Lemaire-Semail, “Energetic Macroscopic Representation andinversion-based control illustrated on a wind energy conversion systems using Hardware-in-the-loopsimulation”, IEEE transactions on Industrial Electronics, vol. 56, no. 12, December 2009, pp. 4826-4835
EMR’19
Universite de Lille
June 2019
Summer School EMR’19
“Energetic Macroscopic Representation”
Thank you for your attention!
