The goal of the project is to give a comprehensive examination of real time simulation
methods, through a complex example, utilising Matlab-Simulink tools and embedded
programming methods. The system which has been modelled is a DC drive of a smaller
vehicle, with the necessary energy source and power conversion units. The kinetic states as
well as the energy consuption have been controlled and monitored during the simulation.
First, the continuous time Matlab based mathematical model has been made on Simulink
platform. The controller parameters were designed at this stage, regarding the delay caused
by the later discretization. The model was transformed, and PC based simulations have been
run. The necessary modification and fine tuning has been implemented. The prepared system
was completed with the hardware specified units, and it was loaded onto the selected devices.
The real system has been built up with the required filter circuit.
The PC simulation results were verified by the Hardware-in-the-loop system. The real time
tests allowed the system to be checked among real conditions. The controller could be
modified, to be able to handle a real system.
The project does not include, however, an important further step would be to build the real
drive system and run tests with the controller designed with the help of the HIL simulator.
Special attention has been paid to the embedded programming tools of Matlab. The individual
development environment of the devices has been run in the background. Most of the
components were designed in Simulink. Running HIL simulation the operation must have
been monitored. In this field, the technique has strong deficiencies, as the system is quite
difficult to be monitored on the spot. The FPGA module has a specified chipscope built in, however
the controller debug is hard to solve. Serial communciation has been used, but due to
undersampling transients could not be resolved.
Circuit design and signal processing methods have been introduced and discussed. As two
separate devices were used, it was a great opportunity to learn the circuit design rules and