High-fidelity real-time hardware-in-the-loop emulation of PMSM inverter drives

We describe the design, implementation, and experimental validation of an ultra-fast real-time hardware-in-the-loop emulation of a permanent magnet synchronous machine (PMSM) inverter drive. The power electronics converter and machine are modeled using a flexible piecewise linear state space approach and are simulated in hard real-time with 1 μs time step, which enables high-fidelity modeling of converter switching dynamics, including dead time and fully rectifying mode. We validate the fidelity of the real-time PMSM drive emulation by making real-time comparisons with a reference hardware model of a PMSM drive (scaled down system rated at 2.7 A and 200 V). Additionally, we experimentally demonstrate the capability of the hardware-in-the-loop PMSM drive emulation under various operating scenarios, including steady state, transient, and fault conditions.