FPGA-Based Real-Time Simulation of Five-Phase PMSM System for Fault Tolerant Controller-HIL Applications

Real-time simulation technology plays an important role in the development cycle of electrical systems. To implement an accurate and fast real-time simulation of a five-phase permanent magnet synchronous motor (FPMSM) system with the fault insertion capability, in this paper, a real-time FPMSM model is developed in both the fundamental and third harmonic spaces, and an inverter model is developed with detailed switching characteristics. Meanwhile, a highly paralleled modeling structure is proposed based on efficient network decoupling strategies. The real-time model is implemented on FPGA with a minimum latency of 66.7 ns, and a fault insertion strategy is proposed and integrated into the controller hardware-in-the-loop (CHIL) testing process. The CHIL testing of FPMSM is conducted for both the normal condition and the fault-tolerant condition to validate the feasibility of the proposed real-time simulation of the FPMSM system. The accuracy and effectiveness are validated by the offline simulation and the experimental prototype of the FPMSM system.