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Supported JMAG-RT Versions

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The JMAG-RT version to use for generating the RTT file is any version higher than RTT file can be generated in JMAG-RT 10.5 or newer. No backward compatibility issues have been identified at this pointtime.

What is an RTT file?

The RTT file contains electrical parameters that define the motor model. These parameters are calculated from the JMAG CAD design using Finite Element Analysis.

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  1. Parameters for the Spatial harmonics Harmonics model (3D tables of describing Phase inductance, phase fluxInductance, Phase Total Flux, and torqueTorque)
  2. Parameters for the Variable DQ model (2D tables of Ld Lq inductances and magnet flux, torque is computed using the textbook equationdescribing Direct Inductance, Quadrature Inductance, and Magnet Flux)

It is important to generate Spatial harmonics Harmonic Model data for use with the PMSM SH Machine.

Spatial Harmonics Data Generation

The tables available in the Spatial Harmonics format are generated for the Spatial Harmonics model plot Phase Inductance, Phase Total Flux, and Torque values along the three following axes:

AxisDescription
ThetaMechanical angle of the rotor.
BetaPolar angle of the [Id, Iq] vector in the DQ reference frame, where Id is Direct Axis Current and Iq is Quadrature Axis Current. JMAG uses the power invariant DQ transform convention where the Q axis is aligned with Phase A at Theta = 0. This is a -90 degree shift from the standard Park Transform.
IampAmplitude of the [Id, Iq] vector in the DQ reference frame, where Id is Direct Axis Current and Iq is Quadrature Axis Current


The tables are formatted as follows:

DescriptionParameterNumber of tablesTablesTheta axis recommendationAxis Minimum LengthBeta axis recommendationAxis Minimum Lengthlamp axis recommendationAxis Minimum Length
Phase inductanceInductance965 samples or more [0 ...   180/Number Of of Pole PairPairs]33 samples or more [0 ...  360]33 32 samples or more [0 ...  3*maximum peak phase current]
Phase total fluxTotal Flux3127 samples or more 129 samples [0 ...   360/Number Of of Pole PairPairs]33 samples or more [0 ...  360]33 32 samples or more [0 ...  3*maximum peak phase current]
Torque165 samples or more samples [0 ...   180/Number Of of Pole PairPairs]33 samples or more [0 ...  360]33 32 samples or more [0 ...  3*maximum peak phase current]
  • Theta = mechanical angle of the rotor
  • Beta = polar angle of the [Id, Iq] vector in the DQ reference frame. JMAG use the power invariant DQ transform convention with Q axis aligned with A phase at theta = 0 (-90 degree from standard park transform).
  • Iamp = amplitude of the [Id, Iq] vector in the DQ reference frame.

The information in brackets represents the allowable range of values for the axis.


Note

To obtain accuracy, it is important to have a sufficient number of samples per axis.  The recommended axis lengths shown above are minimum values and longer axes can be used.

Guidelines and Common

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Issues

Axis

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Boundaries

It is also important to respect the recommended boundaries of these axes since lack of table section the axes because missing table sections may lead to unexpected model behavior.  The Spatial Harmonics PMSM SH model in particular can demonstrate noticeable stiffness if the currents exceed the axis limit limits and the LUT output is being saturated.

Axis Length

The Theta Inductance and Theta Torque axes must be of the same length.

Use of

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Phase Symmetry

The model does not support the use of any symmetry options for the generation of data (generating a 3rd for example, generating one third of the data since phase A is symmetrical in regards to B with a 120deg electrical difference).  It might be tempting to use this option to save generation time, but the OPAL-RT model does not support it. This is valid for inductance/flux and torque (slot symmetry for torque)).  This is valid for inductance/flux and torque (slot symmetry for torque).

Configuration of FEM Coil

The Connection Pattern parameter for the coil must be set to Y-Connection.

Max Peak Current

It is recommended that the maximum peak current be no more than four times higher than the machine peak current.

Data Interpolation Performed Before Simulation

Before they are transferred to the machine model on the FPGA, the data tables are reshaped using a trilinear interpolation method.   The resulting tables are made up of equally spaced samples and are resized according to the parameters described below. The size of each table is dependent on the version of the PMSM SH model, as well as the number of enabled machines in the simulation. Because the data in the resized tables is equally spaced, the resolution across each axis can be calculated by dividing the maximum possible value along the axis by the number of samples used.

Info

Please refer to the description page for your Hardware Configuration to confirm the version of the PMSM SH model. Additional information can also be found under Permanent Magnet Synchronous Machine Models Comparison.


Single Machine Mode

The memory space of the PMSM SH model core is shared between the two machine models. When a single machine is enabled, the full size of the table is available to model the machine. The default number of samples for each axis is shown below.

PMSM SH v2

Theta Axis (Electrical angle)Beta AxisIamp Axis
Phase Inductance

65 samples per half-electrical turn (Resolution 2.77 deg)

33 (Resolution 10.9 deg)32 (Resolution IampMax / 32 Amps)
Phase Total Flux65 samples per full-electrical turn (Resolution 5.54 deg)33 (Resolution 10.9 deg)32 (Resolution IampMax / 32 Amps)
Torque65 samples per slot (1/6 of electrical turn) (Resolution 0.92 deg)33 (Resolution 10.9 deg)32 (Resolution IampMax / 32 Amps)


PMSM SH v1

Theta Axis (Electrical angle)Beta AxisIamp Axis
Phase Inductance

33 samples per half-electrical turn (Resolution 5.45 deg)

33 (Resolution 10.9 deg)16 (Resolution = IampMax / 16 Amps)
Phase Total Flux65 samples per full-electrical turn (Resolution 5.54 deg)33 (Resolution 10.9 deg)16 (Resolution = IampMax / 16 Amps)
Torque33 samples per half-electrical turn (Resolution 5.45 deg)33 (Resolution 10.9 deg)16 (Resolution = IampMax / 16 Amps)


Dual Machine Mode

When both PMSM SH machines are enabled, the total allocated FPGA memory is divided between the two machine models.  The default number of samples for each axis is shown below.

PMSM SH v2

Theta Axis (Electrical angle)Beta AxisIamp Axis
Phase Inductance

33 samples per half-electrical turn (Resolution 5.45 deg)

33 (Resolution 10.9 deg)32 (Resolution = IampMax / 32 Amps)
Phase Total Flux33 samples per full-electrical turn (Resolution 10.9 deg)33 (Resolution 10.9 deg)32 (Resolution = IampMax / 32 Amps)
Torque33 samples per slot (1/6 of electrical turn) (Resolution 1.98 deg)33 (Resolution 10.9 deg)32 (Resolution = IampMax / 32 Amps)


PMSM SH v1

Theta Axis (Electrical angle)Beta AxisIamp Axis
Phase Inductance

33 samples per half-electrical turn (Resolution 5.45 deg)

17 (Resolution 21.17 deg)16 (Resolution = IampMax / 16 Amps)
Phase Total Flux65 samples per full-electrical turn (Resolution 5.54 deg)17 (Resolution 21.17 deg)16 (Resolution = IampMax / 16 Amps)
Torque33 samples per half-electrical turn (Resolution 5.45 deg)17 (Resolution 21.17 deg)16 (Resolution = IampMax / 16 Amps)

Data Interpolation Performed During Simulation

During the simulation, the data in the tables is interpolated again to obtain the correct Phase Inductance, Phase Total Flux, and Torque values corresponding to the state of the machine at a specific time in the simulation. An 18 bit trilinear interpolation is used. The effective resolution for a linear segment along a table axis can be calculated using the equation

LaTeX Math Inline
body--uriencoded--R/2%5e%7B18%7D
, where R is the resolution of the axis listed in the previous section.