This paper presents a high-speed mathe-matical model of an induction motor in phase coor-dinates designed for real-time operation on the efficient ESP32 microcontroller platform. The model is based on the method of average voltages in an integration step which ensures high computational speed and numerical stability. The software implementation in the ESP32 microcontroller utilizes the Eigen library and the Free-RTOS operating system to enable real-time performance. The adequacy of the proposed implementation is validated by comparing dynamic simulation results ob-tained in Matlab with those obtained on the micro-controller. The results show a high degree of agreement, demonstrating the suitability of the proposed solution for developing affordable hardware-in-the-loop simulators for testing and diagnosing real control systems of induction motor drives.
- T. Kosan, J.Talla, and A. Glac, Design and Verification of FPGA-Based Real-Time HIL Simulator of Induction Motor Drive. In: Březina, T., Jabłoński, R. (eds) Mechatronics 2017. MECHATRONICS 2017. Advances in Intelligent Systems and Computing, vol 644. Springer, Cham.
https://doi.org/10.1007/978-3-319-65960-2_59. - Z. Zhao, J.Liu, L. Zhao, W. Liu, (2020). Hardware-in-the-Loop Real-Time Simulation Platform Design for Electric Rail Traction System. In: Jia, L., Qin, Y., Liu, B., Liu, Z., Diao, L., An, M. (eds) Proceedings of the 4th International Conference on Electrical and Information Technologies for Rail Transportation (EITRT) 2019. Lecture Notes in Electrical Engineering, vol 638. Springer, Singapore.
https://doi.org/10.1007/978-981-15-2862-0_72 - J.Uralde, O. Barambones, E. Artetxe, I.Calvo,; and A. Rio, “Model Predictive Control Design and Hardware in the Loop Validation for an Electric Vehicle Powertrain Based on Induction Motors”, Electronics, vol. 12, p. 4516, 2023.
https://doi.org/10.3390/electronics12214516. - A. Sakalli, O. Aktekin and U. Kiran, "Hardware in the Loop (HiL) testing of a human electric hybrid vehicle", in Proc. IEEE International Conference on Industrial Technology (ICIT), Lyon, France, pp. 193-198, 2018.
https://doi.org/10.1109/ICIT.2018.8352175 - Y. Koraz and M. Youssef, "Rapid Prototyping Testing Technique for Electric Vehicle Propulsion Systems Utilizing Real-Time Hardware in-the-Loop (HIL) Device", in Proc. IEEE Conference on Power Electronics and Renewable Energy (CPERE), Aswan, Egypt, pp. 228-231, 2019.
https://doi.org/10.1109/CPERE45374.2019.8980170 - K. Saito and H. Akagi, "A Power Hardware-in-the-Loop (P-HIL) Test Bench Using Two Modular Multilevel DSCC Converters for a Synchronous Motor Drive", in Proc. IEEE Transactions on Industry Applications, vol. 54, no. 5, pp. 4563-4573, Sept.-Oct. 2018,
https://doi.org/10.1109/TIA.2018.2833424 - L.R. Merchan-Villalba, J.M. Lozano-Garcia, F. Gonzalez-Longatt, J.M. Ramirez-Arredondo,; A. Pizano-Martinez,; and J.G. Avina-Cervantes, “Low-Cost Real-Time Control Platform with Embedded Isolated Electrical Sensors for Power Electronics”, Electronics, no.12, p.3320, 2023.
https://doi.org/10.3390/electronics12153320 - A.R. Husain, Y.Hadad, M.N.H. Zainal Alam, “Development of Low-Cost Microcontroller-Based Interface for Data Acquisition and Control of Microbioreactor Operation”, J. Lab. Autom, no. 16. pp. 660-670, 2016.
https://doi.org/10.1177/2211068215594770 - P. Pietrzak, P. Pietrzak, M. Wolkiewicz, “Microcontroller-Based Embedded System for the Diagnosis of Stator Winding Faults and Unbalanced Supply Voltage of the Induction Motors”, Energies, no. 17, p. 387, 2024.
https://doi.org/10.3390/en17020387 - Y. Guven, S. Atis, “Implementation of an embedded system for real-time detection of rotor bar failures in induction motors”, ISA Trans, pp. 210-221, Oct. 2018; doi: 10.1016/j.isatra.2018.08.004. Epub 2018 Aug9. PMID: 30143238.
https://doi.org/10.1016/j.isatra.2018.08.004 - O.G. Plakhtyna, “Numerical one-step method for the analysis of electrical circuits and its application in electromechanics”, Bulletin of the NTU "Kharkiv Polytechnic Institute", no. 30, pp. 223-225, 2008. (In Ukrainian)
- O. Plakhtyna, A.Kutsyk, M. Semeniuk, “Real-Time Models of Electromechanical Power Systems, Based on the Method of Average Voltages in Integration Step and Their Computer Application”, . Energies, vol. 13, p.2263, 2020.
https://doi.org/10.3390/en13092263 - M.Semeniuk, A. Kutsyk, V.Tutka, “A mathematical model of a frequency-controlled induction electric drive on the basis of the method of average voltages in integration step”, Computational Problems of Electrical Engineering, vol. 13, no. 1, 2023.
https://doi.org/10.23939/jcpee2023.01.023 - O. Kuznyetsov, “Mathematical model of a three-phase induction machine in a natural abc reference frame utilizing the method of numerical integration of average voltages at the integration step and its application to the analysis of electromechanical systems”, Mathematical Problems in Engineering, pp. 1-13, 2019.
https://doi.org/10.1155/2019/4581769 - A. Kutsyk, M.Korkosz, M. Semeniuk, P.Bogusz, A. Lozynskyy, J. Kozyra, Z. Łukasik, “Electromagnetic and Electromechanical Compatibility Improvement of a Multi-Winding Switch Control-Based Induction Motor—Theoretical Description and Mathematical Modeling”, Energies, vol. 15, p. 8038, 2022.
https://doi.org/10.3390/en15218038 - A.Kutsyk, A. Lozynskyy, V. Vantsevitch,; O. Plakhtyna,; L. Demkiv, “A Real-Time Model of Locomotion Module DTC Drive for Hardware-In-The-Loop Implementation”, Przegląd Elektrotechniczny, vol. 97, pp. 60–65, 2021. DOI 10.15199/48.2021.06.11
- A. Kutsyk, M.Semeniuk, M. Korkosz,; and G. Podskarbi, “Diagnosis of the Static Excitation Systems of Synchronous Generators with the Use of Hardware-In-the-Loop Technologies”, Energies, 14, 6937, 2021.
https://doi.org/10.3390/en14216937