Benchmarking Real-Time Control Platforms Using a Matlab/Simulink Coder with Applications in the Control of DC/AC Switched Power Converters
Abstract
:1. Introduction
2. Real-Time Control Platforms for Rapid Control Prototyping
2.1. Technical Description of the RTCP
2.2. Code Generation Process
3. Controller Description
3.1. Proportional-Resonant (PR) Controller
3.2. Proportional-Integral (PI) Controller
3.3. Linear-Quadratic-Integral (LQI) Controller
4. Methodology for the Measurement of Computation Time Profiles
- 1.
- The Analog-In subsystem contains the ADC reading blocks and the conditioning of the voltage and current signals that will be used by the Controller. These change according to the RTCP under test in terms of quantity, resolution and conversion time.
- 2.
- The Controller subsystem contains the control strategy and generates the control signals that the PWM subsystem will use. The content of this subsystem varies according to the control strategy used and is the same for all RTCPs.
- 3.
- The PWM subsystem holds the PWM blocks that generate the switching signals that go to the power electronics stage (see Figure 1). The amount of blocks in this subsystem varies according to the PWM block configuration of each RTCP.
- 4.
- Finally, the Monitoring subsystem contains the parameters that can be changed in real-time, such as the gains of the controllers, the frequency and the reference voltage for the DC/AC SPC. In addition, it holds the blocks for calculating the active-reactive power, voltage–current RMS and THD values.
4.1. Matlab/Simulink Common Blocks in Real-Time Control of DC/AC SPC
4.2. Scenarios Designed to Compare RTCPs
4.2.1. Scenario 1: Voltage–Current Controllers
- The full version contained an instantaneous, three-phase active–reactive power calculation block with two first-order low pass filters and the RMS calculation blocks for the currents (, ) and the voltages () of the LCL filter (see Figure 4). In addition, it contained an error calculation block for .
- The debugged version only contained a block for calculating the RMS error of voltage and a block for calculating the RMS values of voltage .
4.2.2. Scenario 2: Voltage Harmonic Controller
5. Computation Time Profile Measurement
5.1. Low-Cost C-Based RTCP
5.2. dSPACE Scalexio RTCP
5.3. dSPACE 1006 RTCP
5.4. OPAL-RT OP5700 RTCP
6. Experimental Results
6.1. Computation Time Profiles per Block
6.2. Scenario I: Computation Time Profiles for Voltage–Current Controllers
6.2.1. PR () Controller
6.2.2. PI () Controller
6.2.3. LQI () Controller
6.2.4. Total Computation Time Profiles
6.3. Scenario II: Harmonics Compensator with Voltage Harmonics Controller
6.3.1. Low-Cost C-Based RTCP
6.3.2. dSPACE 1006 RTCP
6.3.3. dSPACE Scalexio RTCP
6.3.4. OPAL-RT OP5700 RTCP
7. Discussion
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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RTCP Brand/Model | Features | Computational Engine | Price | Software | ||||||
---|---|---|---|---|---|---|---|---|---|---|
DI | DO | ADC | PWM | |||||||
No. | No. | No. | Resolution | Conv. Time | No. | Max. Freq. | ||||
Based in TI C C2000 F28379D | 169 Shared | 169 Shared | 16 | 16/12 bits | 0.91 s | 24 Shared | 100 MHz | Dual Core 32-bit CPUs 200MHz | $ | Free |
dSPACE 1006 | 96 Shared | 96 Shared | 48 | 16 bits | 0.80 s | 16 | 2 MHz | Quad-core AMD Opteron, 2.8 GHz | $$ | Licensed |
dSPACE Scalexio | 96 Shared | 96 Shared | 48 | 16 bits | 0.25 s | 96 Shared | 0.5 MHz | Quad-core Intel i7-6820EQ, 2.8 GHz | $$$ | Licensed |
OPAL-RT OP5700 | 32 | 32 | 16 | 16 bits | 1 s | 32 Shared | 0.5 MHz | Xilinx Virtex-7 FPGA Intel Xeon E5 8 Cores 3.2 GHz | $$$$$ | Licensed |
Blocks | LQI () | PR () | PI () |
---|---|---|---|
PWM | x | x | x |
Duty Generator | x | x | x |
DI | x | x | x |
DO | x | x | x |
ADC | x | x | x |
Voltage Reference Generator | x | x | x |
Integrator | x | x | x |
ABC/ Conversion | x | x | |
/ABC Conversion | x | x | |
ABC/ Conversion | x | ||
/ABC Conversion | x | ||
RMS | x | x | x |
THD | x | x | x |
Matrix Product | x |
Parameter | Value | ||
---|---|---|---|
DC/AC SPC | Switching frequency, | 10 kHz | |
Sampling Period, | 100 s | ||
Nominal frequency, | 60 Hz | ||
Rated voltage, V | 120 V | ||
Filter capacitance, | 8.8 F | ||
Filter internal inductance, | 1.8 mH | ||
Filter output inductance, | 1.8 mH | ||
DC link voltage, | 350 V | ||
Control Strategy | PI () | 1.5, 100, 0.1, 200 | |
PR () | 1.5, 100, 0.1, 200 | ||
LQI () | |||
Non-Linear Load | Capacitance, | 100 F | |
Inductance, | 2 mH | ||
Resistance, | 250 |
Harmonics Compensator () | Parameter | Value | |
---|---|---|---|
Fundamental () | 1.5, 100, 0.1, 200 | ||
Fifth Harmonic () | 80 | ||
Seventh Harmonic () | 95 | ||
Eleventh Harmonic () | 65 | ||
Thirteenth Harmonic () | 105 | ||
Seventeenth Harmonic () | 100 |
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Vasquez-Plaza, J.D.; Lopez-Chavarro, A.F.; Sanabria-Torres, E.A.; Patarroyo-Montenegro, J.F.; Andrade, F. Benchmarking Real-Time Control Platforms Using a Matlab/Simulink Coder with Applications in the Control of DC/AC Switched Power Converters. Energies 2022, 15, 6940. https://doi.org/10.3390/en15196940
Vasquez-Plaza JD, Lopez-Chavarro AF, Sanabria-Torres EA, Patarroyo-Montenegro JF, Andrade F. Benchmarking Real-Time Control Platforms Using a Matlab/Simulink Coder with Applications in the Control of DC/AC Switched Power Converters. Energies. 2022; 15(19):6940. https://doi.org/10.3390/en15196940
Chicago/Turabian StyleVasquez-Plaza, Jesus D., Andres F. Lopez-Chavarro, Enrique A. Sanabria-Torres, Juan F. Patarroyo-Montenegro, and Fabio Andrade. 2022. "Benchmarking Real-Time Control Platforms Using a Matlab/Simulink Coder with Applications in the Control of DC/AC Switched Power Converters" Energies 15, no. 19: 6940. https://doi.org/10.3390/en15196940