graphical system design for hil power electronics...

NI Arabia Academic Day 2013, May 16, Beirut

Graphical System Design

for HIL Power Electronics

Applications

Kamel Ben Saad Senior Lecturer

ENIT

NI Arabia Academic Day 2013, May 16, Beirut 2

Outline

Introduction

Hardware In the Loop (HIL) principles

HIL simulation of a DC-DC parallel converter control

Research works context

Studied parallel converter model

Sliding mode control design

HIL simulation approach implementation

Conclusion


Outline

Introduction







Conclusion


Ecole Nationale d’Ingénieurs de Tunis

Founded in 1968

The oldest engineering school in Tunisia

1550 engineering students

300 teachers

Engineering teaching

More than 1000 Master and PhD students

10 Reseach Laboratories

08 Research Units

Research


Departement of Electrical Engineering

First year and Second year : Common studies

3 years studies : Electrical Engineering National Diploma

All 3rd year students (three options ) attend an obligatory Labview course

All students take the CLAD exam

2 years : 25 certified students (CLAD)

Electronics and Microelectronics

Automatic Control and Systems Design

Electrical Systems Third year: 3 options

12 Professors and 7 Senior lecturers

9 Associate Professors and 2 Assistants

About 90 graduated students each year


Laboratoire de Recherche en Automatique

90 researchers

10 Professors and Senior lecturers

20 Associate Professors and Assistants

60 PhD and Master students

3 Research Areas :

Control and complex systems: Control theory, Stability, Fuzzy logic, neural

networks, optimization algorithm…

Embeded systems and machines control: Embeded control laws, FPGA

implementation, Sensorless machine control, Embeded electrical networks…

Robotics, mecatronic and machines design: Robots modelling and Control,

Linear motors design, special motors design…


Outline

Introduction







Conclusion


Automatic control researchers must prove the efficiency of the

designed control law

Sometimes it is impossible to have the controlled systems in

the laboratory (Controlled plant can be an aircraft, a nuclear

power plant, a satellite…)

Generally studied systems requires multidisciplinary

knowledge

How to validate quickly in practice a control law ?

How to insure the tests safely ?


V Diagram for control design

Plant Modelling

and control

Design

Model

In the Loop


+

-

Simulated

control

plant

simulation

Model In the Loop

The controller and the Model are simulated

Allows the developement of the control

algorithm



Plant Modelling

and control

Design

Model In the

Loop (MIL)

Software

In the Loop


Software In the Loop

+

-

Controller

Executable

code

Simulated

Plant

The control law is developed using a compiled

programming language (ex: C language )

Allows the controller program test



Plant Modelling

and control

Design

Model

In the Loop

Software

In the Loop

Hardware

In the Loop


Used for the developments and the tests of complex embedded systems

Require a real control component in the loop

Hardware In the Loop

+

-

Real time

controller

Real time

plant

simulation



Plant Modelling

and control

Design

Model In the

Loop (MIL)

Software In the

Loop (SIL)

Control

validation

Hardware In the

Loop (HIL)

Design Test


HIL simulation

Reduces development cycle

Increases efficiency

Improves reliability and safety

Prevents costly and dangerous failures

Allows the design and the tests of the control law without the presence of

the real plant


Outline

Introduction







Conclusion


Embedded electrical car network (prevision for 2030)

Embedded electrical network

Goal

Design of closed loop control insuring the stability and the robustness of an

embedded electrical network power converters

Alternator

Loads

Loads

Regulator

Regulator

42 V DC Bus

14V DC Bus Battery

Battery

DC/DC

Converter

AC/DC

Converter

Engine


Outline

Introduction


HIL simulation of a DC parallel converter control





Conclusion


DC-DC converter

Cell 1

DC-DC converter

Cell 2

DC-DC converter

Cell N

Load

First Voltage level

Second voltage

level

Input Voltage

Parallel DC-DC converter

Buck parallel DC DC converter General structure

of the studied parallel converter


eq

1

1

2

2

3

3

1 2 3

L1 L 0 1 in

1

L2 L 0 2 in

2

L3 L 0 3 in

3

0L L L 0

eq eq

di 1( r i v d v )

dt L

di 1( r i v d v )

dt L

di 1( r i v d v )

dt L

dv 1 1( i i i ) v

dt C RC

Studied parallel converter modelling

Structure of the parallel converter Mathematical model of the parallel converter


Outline

Introduction





Sliding Mode Control design


Conclusion


Switching Surface

e

e

Sliding mode control

Nonlinear control

Derived from variable structure control theory

Robust control


1 1 1 1 111 01 2 3

1 1 1

2 2 2 2 222 01 2 3

2 2 2

3 3 333 1 2

3 3

( )

( )

( )

eq eq

L L Leqin eq eq eq eq

eq eq

L L Leqin eq eq eq eq

eq

L Leqin eq eq eq

k rC L k RC LLd i i i v

k v L C C C RC L

k r C L k RC LLd i i i v

k v C L C C RC L

k r C LLd i i

k v C C L C

3 3

033

eq

L

eq

k RC Li v

RC L

1 1 01

2 2 2 0

3 3 3 0

L

L

L

S k i v

S k i v

S k i v

j j jeq nd d d j=1,2,3

Equivalent control Nonlinear control

Determination of the equivalent control

Sliding Mode Control design

jj v j iS e k e

i ref Lj je I i

0v refe V v

Sliding surfaces

Control

Si=Si=0

Determination of the nonlinear control

Lyapunov stability theorem

and j=1,2,3


Outline

Introduction (ENIT, Electrical Departement and LARA

laboratory)

HIL simulation approach


HIL simulation approach




Conclusion


Simulink model

.dll file

Labview control program

NI USB 6009

cRIO 9076

NI 9263 (AO) NI 9202 (AI)

Ethernet


Simulink Model


Simulink (.mdl file)

Simulation Interface Toolkit =

VeriStand implementation steps

Deployment Targets

configuration

Adding the Model

Mapping

Deployement

Workspace screen

configuration


Veristand Project


USB 6009

Deployment Targets configuration


Adding the Model

Simulink .dll file


Mapping


Workspace screen configuration


cRIO Labview Program

FPGA mode

Script node for the sliding surfaces calculation


Results

Output voltage

Inductance currents

Control signal


Conclusion

VeriStand : Easy and fast configuration and implementation

The Implemented Labview control program works properly

cRIO programmed in FPGA mode is adequate for power converters

The same HIL simulation approach was applied for the case of a Romotly

Operated underwater Vehicule

Simulation is limited to 1 kHz USB 6009 will be replaced by a sRIO

to perform a real time simulation of the plant model


Thank you

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