Abstract: In this example, ten, fully detailed, doubly fed induction generator (DFIG) based wind turbine generation system (WTGS) models, were connected to a three-section transmission system through a transformer. All turbines were modeled with individual power electronics components. Each WTGS had its own distribution transformer, connected to the sub-collector bus (cBx).

Abstract: This presentation is a review of General Motors Powertrain’s experience with Opal-RT and IMAGINE Software.

Abstract: This paper presents simulation software that allows the efficient and accurate fixed-time-step simulation of complex switched electrical systems. The software, named ARTEMIS (Advanced Real-Time Electro-Mechanical Transient Simulator), accurately simulates time-segment linear systems with discontinuities occurring anywhere between time-steps. This paper focuses on the simulation of a DC-AC converter with ARTEMIS Discrete Time Compensation of Switching Events (DTCSE) algorithm and the RT-EVENTS algorithm, highlighting the benefits of the software in real-time applications.

Abstract: This paper presents simulation software that allows the efficient and accurate fixed-time-step simulation of complex event-based electrical systems. The software, named ARTEMIS (Advanced Real-Time Electro-Mechanical Transient Simulator), accurately simulates time-segment linear systems with discontinuities occurring anywhere between time-steps. The new software is used for the simulation of energy and power system dynamics, and is implemented in the ARTEMIS Add-On for Simulink’s Power System Blockset. With ARTEMIS’ Discrete Time Compensation of Switching Events (DTCSE) and RT-EVENTS algorithm, the intra-step events are transparently taken into account and compensated for in the simulation results.

Abstract: This paper presents new simulation software that allows the efficient and accurate fixed-time-step simulation of complex event-based electrical systems. The software, named ARTEMIS (Advanced Real-Time Electro-Mechanical Transient Simulator), accurately simulates time-segment linear systems with discontinuities occurring anywhere between time-steps. The new software is used for the simulation of energy and power system dynamics, and is implemented in the ARTEMIS Add-On for SIMULINK’s Power System Blockset.

Abstract: This paper presents simulation software that allows the efficient and accurate fixed-time-step simulation of complex event-based electrical systems. The software, named ARTEMIS (Advanced Real-Time Electro-Mechanical Transient Simulator), accurately simulates time-segment linear systems with discontinuities occurring anywhere between time-steps. The software is used for the simulation of energy and power system dynamics, and is implemented in the ARTEMIS add-on for Simulink’s Power System Blockset. With ARTEMIS’ Real Time compensation of switching Events (RTE), the between-step events are transparently taken into account and compensated for in the simulation results.

Abstract: This paper presents new simulation software that allows the efficient and accurate fixed-time-step simulation of complex switched electrical systems. The software, named ARTEMIS accurately simulates time-segment linear systems with discontinuities occurring anywhere between time-steps. This paper focuses on the simulation of a thyristor-controlled reactor by the ARTEMIS DTCSE (Discrete Time Compensation of Switching Events) algorithm and the RT-EVENTS algorithm, showing the accuracy of the software.

Abstract: Simulation of complex systems usually requires that heterogeneous models be integrated into a single simulation environment. Because these models are often developed by different teams, or depend on various commercial simulation tools (such as SimulinkTM, DymolaTM or SystemBuildTM), considerable effort is expended in configuring the corresponding components into a cohesive co-simulation. As part of its research and development efforts, Opal-RT has developed RT-LAB Orchestra, a software application that facilitates integration and interoperability between co-simulation components. RT-LAB Orchestra is an application-level data communication layer that sits on top of Opal-RT’s RTLAB framework, a proven real-time architecture for distributed simulations.

Abstract: This paper describes the RT-LAB real-time simulator implementation of the Hardware-In-the-Loop simulation of a fuel cell hybrid electric vehicle system with several 10 kHz converters. The paper demonstrates the necessity to use special IGBT bridge models that implements interpolation techniques within fixed time step simulation scheme. The paper reports on the latest advances from Opal-RT to simulate this kind of system with a 10 µs sample time.

Abstract: This paper describes the development of advanced control and modeling algorithms for the various types of motor drives considered for hybrid electric vehicles (HEVs). The algorithms are given in the high-level language of MATLAB/SIMULINK. The algorithms consist of SIMULINK blocks that can be easily implemented in a real-time test environment for induction, switched reluctance, and permanent magnet synchronous machines. This eliminates the need for specialized programming in C or assembly languages providing investigators a much simpler way to study proposed control algorithms for various motor drives.

Abstract: This paper describes technology for high-performance simulation. Challenging applications such as real-time hardware-in-the-loop and mega-simulation are made possible using parallel architectures based on COTS PC components. The system described is flexible enough to allow expansion and reconfiguration, and covers the entire design process from modeling to real-time simulation or control without the user ever having to write code.

Abstract: This presentation explains a hardware in-the-loop (HIL) experiment: the automated design synthesis with a development ECU. It also gives details about the underlying technologies used: RT-LAB (Opal-RT) as the HIL platform, CarSim (Mechanical Simulation) for the real-time simulation and iSIGHT for the process integration and design methods.

Abstract: This paper presents a new analytical model for the behavior of the Filtered-X LMS adaptive algorithm when applied to active noise control (ANC) in a finite duct. The new model is derived using a stochastic differential equation (SDE) approach. The theoretical predictions are verified through experimental results. The real-time system has been implemented using only I/O cards and a general purpose computer. Automation of the experimental setup allows the practical verification of the theoretical statistical model using Monte Carlo techniques. It is verified that the behavior of the algorithm is accurately predicted by the theoretical model.

Abstract: In this paper, the authors present a fully digital real-time simulation of a high performance indirect field-oriented controller for an induction motor using RT-LAB running on a simple off-the-shell PC. This real-time simulation tool is, for example like dSPACE Real-Time Kernel, now adopted by many high-tech industries, particularly automotive and aeronautics industries, as a real-time laboratory package for rapid prototyping of complex control systems and for hardware-in-the-loop (HIL) applications.

Abstract: This paper presents the development of a PC-cluster based real-time simulator for All Electric Ship (AES) Integrated Power System (IPS) analysis and optimization. The system is established at the University of Michigan with the financial support from the U.S. Office of Naval Research (ONR). It is aimed to address the multi-disciplinary issues associated with the allelectric ship, such as optimal power management and dynamic system reconfiguration. In parallel with hardware construction, a modularized IPS model which includes the power generation module, the reconfigurable zonal electrical distribution system module, the ship propulsion module and the ship dynamic module is developed and integrated. Simulation GUIs have also been developed to provide a user friendly engineering environment where data acquisition and parameter tuning can be performed effectively. Both the system development efforts and preliminary simulation results for different shipboard operating scenarios are reported.

Abstract: This application note explains the practical advantages of ARTEMIS (Advanced Real-Time Electro-Mechanical Transient Simulator) and how it improves the accuracy of the power system block set.

Abstract: This video is a demonstration on how RT-LAB and Mechanical Simulation Corporation's CarSim can be used to simulate a vehicle with a brake system that has hardware-in-the-loop to run in real-time.

Abstract: This presentation will provide an overview of faster-than-real-time and hard real-time simulation technology evolution, challenges and solutions to implement advanced distributed simulators using open and off-the-self computer cluster technologies.

Abstract: In this paper, we examine the modular development of two alternate methods for distributed computation of the forward dynamics simulations of constrained mechanical systems such as four-bar linkages. Both models of the fourbar were subdivided into two-part systems to be run in a distributed manner on separate processors, requiring only the exchange of state information at every time instant. RT-LAB was used to distribute the computation and produce a series of tests were performed to evaluate the performance of both methods of simulation.

Abstract: This paper describes the method given to compute the switching angles in a multi-level converter to produce the required fundamental voltage while at the same time cancel specified higher order harmonics.

Abstract: An application of a normalized H-infinity loop-shaping technique for design and simplification of damping controllers in the LMI framework is illustrated in this paper. The solution is sought numerically using LMIs with additional pole-placement constraints. This ensures that the time domain specifications are met besides robust stabilization. Designed control algorithm is implemented using a rapid prototyping controller. The performance of the controller is validated in real time using a detailed model of the power system implemented using Linux PC based,multi-processor technology. The coupling between the controller and the power system is through a set of DAC and ADC modules in analogue domain.

Abstract: This thesis shows how RT-LAB was used to distribute the model execution on four PCs while meeting strict deterministic performance and synchronization requirements for this specific application.

Abstract: This application note explains how the RT-LAB Control Panel provides convenient single point control over the entire edit/build/run workflow.

Abstract: This paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine control systems. The solution is based on RT-LAB. The characteristics of the proposed modeling and simulation approach are the preservation of accuracy in the face of a relatively large fixed simulation steps.

Abstract: This paper proposes a novel modeling and simulation method as well as an integrated software/hardware solution to effectively model, from a time-domain point of view, and simulate internal combustion engine control systems, including the execution of batch of simulations.

Abstract: This paper presents a set of novel tools that allow the efficient simulation, at fixed time steps, of event-based dynamic systems. The so-called RT-EVENTS library is an innovative toolbox that can be used with the SIMULINK graphical software and that solves the following two problems encountered in the simulations of event-based systems: (1) time consuming variable-step algorithms; and (2) inaccurate real-time simulations with fixed-step algorithms.

Abstract: This presentation describes Opal-RT's next generation hardware-in-the-loop (HIL) tools to be used for the next generation vehicles. An in depth look at the challenges and solutions of developing testing strategies for electro/mechanical/hydraulic systems.

Abstract: This paper describes new technologies that enable the use of the affordable PC hardware as the computing platform for high-performance electromechanical simulation. Challenging applications such as real-time hardware-in-the-loop and mega-simulation are made possible using a combination of PC-based simulation environment, distributed architecture, and software solutions to numerical problems that arise from fixed time step integration. The technologies are flexible enough to allow expansion and reconfiguration, and cover the entire design process from modeling to real-time simulation or control without the engineer ever having to write code.

Abstract: This paper proposes a set of three requirements in order to have a flexible real-time systems design environment to be used for rapid prototyping. SYMOFROS, a symbolic modeling and simulation software developed by Canadian Space Agency is presented. A real-time simulation environment using parallel processors called RT-LAB is next described.

Abstract: In a rapid prototyping environment, internal combustion engine control systems are difficult to model and to simulate, especially within both fast and real-time simulation settings. A solution to the problems of long simulation times and inaccurate simulations is to combine the use of the RT-EVENTS Blockset, which works with the SIMULINK™ graphical software, at the engine modeling stage with the RT-LAB software for the distribution of the simulations on a cluster of microprocessors and for the control and monitoring of the simulations.

Abstract: This paper presents a real-time simulator of a permanent magnet synchronous motor (PMSM) drive based on a finite-element analysis (FEA) method and implemented on an FPGA card for HIL testing of motor drive controllers. The proposed PMSM model is a phase domain model with inductances and flux profiles computed from the JMAG-RT finite element analysis software. A 3-phase IGBT inverter drives the PMSM machine. Both models are implemented on an FPGA chip, with no VHDL coding, using the RT-LAB real-time simulation platform from Opal-RT and a Simulink blockset called Xilinx System Generator (XSG). The PMSM drive, along with an open-loop test source for the pulse width modulation, is coded for an FPGA card. The PMSM drive is completed with various encoder models (quadrature, Hall effects and resolver). The overall model compilation and simulation is entirely automated by RT-LAB. The drive is designed to run in a closed loop with a HIL-interfaced controller connected to the I/O of the real-time simulator. The PMSM drive model runs with an equivalent 10 nanosecond time step (100 MHz FPGA card) and has a latency of 300 ns (PMSM machine and inverter) with the exception of the FEA-computed inductance matrix routines which are updated in parallel on a CPU of the real-time simulator at a 40 us rate. The motor drive is directly connected to digital inputs and analog outputs with 1 microsecond settling time on the FPGA card and has a resulting total hardware-in-the-loop latency of 1.3 microseconds.

Abstract: Nowadays, it is a common engineering practice to test a motor controller against a simulated motor model running in real-time before using the controller in real-life conditions. This has several advantages. For example, the simulated motor can be tested with borderline conditions that would damage a real motor, sometimes a costly prototype. The motor itself may be under development in parallel to the controller and therefore may not even be available. The controller is interfaced with the real-time simulated motor through a set of proper I/Os; this is called Hardware-In-the-Loop (HIL) simulation.

Abstract: This paper illustrates how the use of the real-time development system RT-Lab™, which combines both software-based emulation and customized hardware interfaces, provides a flexible environment to develop embedded software early in the development cycle of a small satellite.

Abstract: Using CarSim-RT with iSight, engineers were able to demonstrate the optimization of a braking system with an ABS ECU connected to the design model. In this example, demonstrated at the iSight User Conference in Detroit, the vehicle's wheelbase was left unconstrained in order to find the length required in order to minimize the braking distance.

Abstract: This presentation illustrates how rapid engineering development with the hardware-in-the-loop (HIL) approach reduces product development costs by reducing product development time, minimizing the number of prototypes and minimizing the number of vehicle level test. It also shows how it eliminates the needs for component models, includes all effects of hardware, improves accuracy, provides easy to run simulations for hardware fault evaluation and illuminates interactions between subsystem and vehicle system.

Abstract: This paper presents a new development in the field of design process and testing of motor drives, for hardware-in-the-loop (HIL) applications. It consists of implementing the Finite Element (FE) Method applied to electric motors on a real-time simulator; coupled with circuit simulation, this enables accurate real-time simulation of the complete motor drive, including the inverter and the motor. The paper describes the integration of FE-based motor model generated by JMAG® software, with the high-end real-time RT-LAB® simulator. The complete solution consists of combining accurate FE-based motor model, with inverter model, including important switching parameters, all constructed in the Simulink® environment, and simulated on PC-based RT-LAB simulation platform, using ultra-fast processors and FPGA-based inputs/outputs (I/O) boards. By connecting the real-time simulator to an external controller under test, this allows high fidelity HIL simulation of motor drives and enables the design engineers to test the system and the controller with a very accurate, FE-based motor model running in real-time.

Abstract: This report discusses how Dymola solves certain difficult problems for hardware-in-the-loop simulation (HIL) of automotive systems. Two types of benchmark models have been chosen to demonstrate the capabilities of Dymola: a transmission model and a set of vehicle dynamics models. Evaluation of the benchmark problems has been made on RT-LAB from Opal-RT, demonstrating real-time performance of complex models.

Abstract: This paper presents the RT-LAB Electrical Drive Simulator technology along with practical applications. The RT-LAB simulation software enables the parallel simulation of power drives and electric circuits on clusters of PC running QNX or RT-Linux operating systems at sample time below 10 μs. Using standard Simulink models including SimPowerSystems models, RT-LAB build computation and communication tasks necessary to make parallel simulation of electrical systems with standard off-the-shelf PCs and communication links like InfiniBand. To accommodate the high bandwidth of electrical systems, the RT-LAB Electrical Drive Simulator comes with special Simulink-based modeling tools, namely ARTEMIS and RT-Events that permits real-time simulation of electrical systems at practical time step of 10 μs but with sub-μs equivalent precision through the use of interpolation techniques. For power drives with even higher bandwidth, RT-LAB XSG permits simulation of PMSM drive at 1 μs on FPGA with VHDL code generated from Xilinx System Generator.

Abstract: This presentation is an example given from Oak Ridge National Laboratory and The University of Tennessee about the three phase inverter for electric drives, voltage and current sensor boards, three phase PWM generator, connection of NI board for dead time generation, complementary output of NI boards, and open loop control of induction motors.

Abstract: This paper presents a real-time simulator for large power network based on Custom-Of-The-Shelf technologies, all embedded in the RT-LAB real-time simulation platform. This platform uses Pentium, Xeon, Opteron-based PCs (multi-CPUs and/or dual-core configurations) or even Xilinx FPGA cards for computational engines and InfiniBand communication fabric for fast inter-PCs communications. The real-time PCs runs under well-known operating systems QNX or RedHawk Linux while the main user control interface is either Simulink or LabView. The paper demonstrates the real-time simulation of complete single-pole 12-pulse HVDC system on dual-CPU, dual-core 2.2 GHz Opteron PC under 15 microseconds time step. It also demonstrates the real-time simulation of complex power system devices like SVC, STATCOM and more general power systems like the Kundur network.

Abstract: This paper presents a methodology in dealing with the path planning of robotic systems and its implementation. It includes a description of the software integration in an offline and real-time system. The resulting environment provides a framework, which addresses all stages of controller design and implementation on a hardware system.

Abstract: This application note examines the effect of integrator reset on numerical error, explained by the Department of Mechanical Engineering of McGill University. Signal integration is fundamental to dynamic systems simulation and control. In the case of event-based simulation, the integrator reset is commonly used in dynamic modeling as well as in control algorithms.

Abstract: This video gives you an overview of Opal-RT Technologies products and services. It goes into depth to explain how our products cater to several industries such as; academic, aerospace, automotive, electrical and mechatronics.

Abstract: ECU testing processes are reaching their limits due to the growing number of ECUs in new vehicles and to the growing amount of control S/W to test. It has become increasingly difficult to test individual ECU and ECU-ECU interaction with static simulators. In addition, engineers have more demanding test requirements, including: repeatability, inter-related dynamic signals, increased I/O signals, configurability for multiple ECU programs. This presentation demonstrate how RT-LAB TestDrive, a fully programmable power train and vehicle simulator for ECU-in-the-Loop testing, solves these issues.

Abstract: This video presents the RT-LAB UAV Engineering simulator running on 2 targets and a host with the help of X-Plane for 3D visualization of the terrain.

Abstract: This presentation explains the connection between SIMPACK, MATLAB, SIMULINK, RT-LAB and DSH Plus for the modeling and simulation of coupled hydraulic and multi-body subsystems.

Abstract: This paper presents technologies designed for Hardware-In-the-Loop testing of modern motor drive systems commonly found in electric vehicles. Deliverable with the RT-LAB simulator comes various motor drive models with different precisions and complexities, from the basic Park two-axis machine models to detailed Finite-Element-Analysis based models. The former is more rapid while the latter is more precise. These models can be implemented on different hardwares, CPU or FPGA. CPU-based implementation rely on well-known ‘C’ code generation techniques and is rather flexible. FPGA implementation breaks through common limitations of CPU-based implementation by allowing much faster analog output rates, higher PWM frequencies and smaller model latencies. An FPGA implementation also allows the user to model fast protection schemes found on commercial drives (ex: over-current protections).

Abstract: This paper compares the performances achieved with the conventional digital redesign techniques with those obtained with the modern global digital redesign methods such as the plant input mapping methods and the optimal digital redesign approach. The study based on a benchmark control system reveals that the reduced-order plant input mapping method, and not the optimal approach, offers what practicing control engineers are really looking for: simple controllers having a superior behavior in face of finite word length effects and over a relatively large band of sampling frequencies.

Abstract: In this paper, we detail the real-time simulation results of a medium-sized network composed of 8 synchronous machines and an HVDC link. The model is composed of two Kundur-like 4 machines networks connected together with a 12-pulse HVDC link. The complete network is modeled with SimPowerSystems with ARTEMIS real-time plug-in and is simulated in real-time on a RT-LAB InfiniBand PC-cluster composed of 3 dual-CPU dual-core Opteron PCs. The network model includes the HVDC control and protection systems as well as the synchronous machine regulators and power stabilizers. It also includes typical fault simulation capability like HVDC DC faults, thyristor misfires and AC faults. This model is excellent to study the complex interactions between an HVDC link and AC network under normal and transient conditions. The real-time simulation is controlled and monitored with a TestDrive interface from Opal-RT. This interface, based on LabView, permits easy monitoring and control of the complete system and enables Python-based scripting for automated tests. The proposed simulator can be interfaced with external equipments and controllers by direct reconfiguration of a FPGA I/O card with Xilinx System Generator blockset.

Abstract: The development of the EMBRAER 170 Jet has benefited from an expanded modeling and simulation capability at EMBRAER. The aerodynamics model and its accuracy became an important part of the design development phase. This paper discusses the structure of this Simulink model, how the model was matched to flight test, some of the problems encountered, and the advantages and disadvantages of the matching techniques used. RTLAB/DINAMO, the parameter estimation software used, is also presented.

Abstract: This paper discusses Real-Time and Hardware-In-The Loop simulation used for the design and testing of electric drives and power electronic systems. A thorough overview of the design process involving the approach of real-time simulation and rapid prototyping is given along with an explanation of the difficulties and pitfalls encountered, and the solutions available and implemented in RT-LAB real-time electrical engineering simulator.

Abstract: This short paper presents the results of testing ARTEMIS™ Advanced Real-Time Electro-Mechanical Transient Simulator on the simulation of a 6-pulse thyristor converter. The tests highlight the ARTEMIS Discrete-Time Compensation of Switching Events (DTCSE) and the RT-Events algorithms, showing that they yield faster and more precise fixed-time-step simulation of the power-system apparatus. This paper focuses on the open-loop characterization and the real-time closed-loop discrete control of a 6-pulse thyristor converter using the ARTEMIS DTCSE algorithm.

Abstract: This paper explains the mathematical theory of resultants used to compute the switching angles in a multilevel converter so that it produces the required fundamental voltage while at the same time cancels out unwanted order harmonics.

Abstract: Complex power generation and distribution systems are needed on board spacecrafts, all electric warships, hybrid electric vehicles, distributed energy systems and other applications requiring compact, flexible autonomous energy generation systems. Several generators and complex active loads will be interconnected through power electronic distribution systems that must be designed to ensure voltage quality and system security under several normal and abnormal operating conditions.

Abstract: This paper presents the fastest-ever-reported, real-time (RT) simulation of an AC drive on PC-cluster. The RT simulator is used to simulate a complete PMSM drive circuit in a Hardware-In-The-Loop (HIL) application. It consists of a PMSM fed by a 3-phase IGBT inverter, a DC link capacitor and a 3-phase diode bridge. This drive model runs in RT and is connected to an external controller by analog and digital inputs and outputs for closed loop operation. The main innovation in this work is that the real-time simulation cycle is as low as 10 µs, which constitutes to our knowledge- the shortest RT simulation time step ever reported for electric drives with this level of details in modeling the drive circuit.

Abstract: This application note covers the following benchmarks: AC-DC 6-Pulse Thyristor Converter, a 6-pulse PWM Inverter and a 6-pulse IGBT STATCOM.

Abstract: This paper presents a novel computer-based tool for real-time simulation and rapid control prototyping of power electronic systems and drives. The tool consists of innovative algorithmic software (ARTEMIS) for the fixed-time-step simulation of stiff electric circuits, and a real-time laboratory package (RT-LAB) for the execution of a Simulink block diagram and circuits over a cluster of PCs, for fully digital real-time simulation or hardware-in-the-loop applications.

Abstract: The model being simulated in this network is of a 500 kV transport network. The network consists of 45-distribution lines supplying power to 17 loads of 120 MW and 30 MVar. The simulation frequency is 60 Hz. There are seven 1000 MVA hydraulic generation turbine plants (synchronous machines and regulators) connected to the network. A 10-turbine wind farm is also connected to the transport network.

Abstract: This model simulates a 500 kV transport network consisting of 45-distribution lines that supplies power to 17 loads of 120 MW and 30 MVar. The frequency of the network is 60 Hz. There are seven 1000 MVA hydraulic generation turbine plants (synchronous machines and regulators) connected to the network.

Abstract: This paper reports on the real-time simulation of a 48-pulse GTO STATCOM static compensator with RT-LAB Electrical System Simulator using Linux PC-based, multi-processor technology. The power system has 3 buses and 3 transmission lines and is modeled with SimPowerSystems blockset for Simulink and specialized GTO models that provide an effective method to handle the large number of switches in the STATCOM. Using a 2.4 GHz Dual-Xeon PC running RedHawk™ Real-Time Linux®, the STATCOM and the power system are simulated in real-time with a time step of 36 µs. This paper demonstrates that modern and complex power electronic system controllers can be effectively tested and optimized using affordable and accurate real-time simulation technologies.

Abstract: This paper presents a description and results of the fastest-ever-reported, PC-based real-time (RT) simulator of an AC drive. The RT simulator is used to simulate a complete PMSM drive circuit in a Hardware-In-The-Loop (HIL) application. This consists of a PMSM fed by a 3-phase IGBT inverter, a DC link capacitor and a 3-phase diode bridge. This drive model runs on RT-LAB electric drive simulator and is connected to an external controller by analog and digital inputs and outputs for closed loop operation.

Abstract: The modeled system, shown in the figure below, is composed of two generation-groups and five induction-machine drive loads interconnected by a DC bus. Each generation-group includes four ideal sources behind R-L circuits rated 230V at a frequency of 60Hz. The AC voltage provided by each generator is rectified by a 6-pulse ideal diode rectifier with R-C snubbers and is isolated using a Yg-Y transformer of unary windings ratio. The diode rectifier that is used is the SPS Universal bridge model. Short decoupling lines (stublines) are essential for real-time performances as it produces decoupling of the underlying computational models. In order to lighten the calculation load of the two CPUs assigned to the generation groups, the system is decoupled by one stubline at the end of each rectifier.

Abstract: This application note (Part 1) explains that in rapid control prototyping of power converter systems, real-time simulation of power-converter and controller models is highly desirable.

Abstract: This application note (Part 2) reports the results of a study conducted to see whether averaged models can be used to study electromagnetic transients, either caused by a large disturbance in the control system, or by faults in the power circuits.

Abstract: This application note (Part 3) explains the design and optimization of fast PWM energy conversion control systems is time-consuming when the power electronics converters (PEC) are simulated in detail. Variable-step integration algorithms, or fixed time step integration at every microsecond, are required.

Abstract: This paper describes a real-time simulator of wind turbine generator system suitable for controller design and tests. The simulated generator is a grid-connected doubly fed induction machine with back-to-back PWM voltage source vector control of the rotor. The simulator is based on RT-LAB real-time simulation platform that allows for easy model-to-real-time-target design from Simulink models. The paper puts special emphasis on the fixed-step simulation problematic of kHz-range PWM inverter drives and the techniques used in the real-time simulator to accurately simulate those drives.

Abstract: This paper presents a real-time motor drive simulator capable to accurately simulate a double IGBT bridge inverter connected to an induction motor through an inter phase transformer. The simulator also includes a DC link model with regeneration capability and two choppers. The paper will detail the implementation of the model and simulation results and timing. The whole system, with external I/O IGBT fiber optic gate signals, executes in real-time at 80 µs time step under the RT-LAB real-time distributed simulation software on a PC cluster composed of three Pentium processors running at 1 GHz.

Abstract: This paper presents a real-time electric vehicle traction drive simulator along with two publications. The first application is a double IGBT bridge inverter connected to an induction motor through an inter phase transformer. The simulator also includes a DC-link model with regeneration capability and two choppers. The paper details the implementation of the model and simulation results and timing.

Abstract: This paper presents a real-time electric vehicle traction drive simulator along with two applications. The first application is a double IGBT bridge inverter connected to an induction motor through an inter phase transformer. The second application is a fuel-cell-battery hybrid vehicle drive application with a 10 kHz converter.

Abstract: This paper presents a real-time motor drive simulator capable to accurately simulate a double IGBT bridge inverter connected to an induction motor through an inter phase transformer. The simulator also includes a DC link model with regeneration capability and two choppers. The paper will detail the implementation of the model and simulation results and timing.

Abstract: This paper describes a real time simulator of matrix converter system. The simulated plant is a classical matrix converter with source, input filter and load. The simulator is based on the RT-LAB real time simulation platform, which enables easy model-to-target designs from Simulink models. The simulator is designed to accept real IGBT/GTO/MOSFET firing pulses from high performance I/Os thus permitting matrix converter controller testing in hardware-in-the-loop (HIL) simulations. The matrix converter models use interpolation methods to obtain variable step-solver equivalent precision in the fixed time step scheme required by HIL applications. This paper highlights the special techniques necessary to simulate kHz-range inverters.

Abstract: This paper presents the RT-LAB Electrical Drive Simulator technology along with practical applications. The RT-LAB simulation software enables the parallel simulation of an electrical circuit on clusters of PC running QNX or RT-Linux operating systems at sample time below 10 µs. Using standard Simulink models including SimPowerSystems models, RT-LAB build computation and communication tasks necessary to effectively make parallel simulation of electrical systems with low cost off-the-shelf PC technology.

Abstract: This paper presents results on real-time simulation of a PEM-based fuel-cell hybrid electric vehicle. The hybrid electric vehicle is composed of a battery, a fuel cell, a DC-DC converter and a choice of PMSM or induction motor drive. This circuit is modeled in part with special interpolating IGBT bridge models that are very accurate despites the high carrier frequency of the various converters (10 kHz). The Emmeskay fuel cell stack model is used for the simulation and runs in real-time on standard PC under the RT-LAB software.

Abstract: This paper presents a real-time simulator of a permanent magnet synchronous motor (PMSM) drive implemented on an FPGA card. Real-time simulation of PMSM drives enables rapid deployment and thorough testing of efficient control strategies for vehicular or industrial applications.

Abstract: This presentation includes an introduction on why real-time simulation of motor drive should be used. It then shows, the configuration of the SRM inverter, the basic equations of the drive, the inductance based model of SRM and the real-time simulation of the SRM drive.

Abstract: This presentation was presented during Opal-RT's February 23rd, 2006 Real-Time Simulation for Aerospace and Defense Applications web seminar. It gives an overview of Opal-RT's products and services geared for the aerospace and defense applications.

Abstract: This presentation presents the challenges of simulating electric drives and Opal-RT's vision for the next decade, it shows the real-time simulators' evolution, requirements and technology trends. Then, distributed multi-rate HIL simulation and test systems as well as self-contained energy generation and distribution system simulation are discussed. Finally, the need for real-time simulation is exposed and the typical RT-LAB high-fidelity real-time simulator configurations are demonstrated.

Abstract: During the semester of thesis work, many experiments with the offshore vessel model Cybership II, have been successfully completed at the Marine Cybernetics Laboratory (MCLab), at Tyholt,Trondheim. This includes synchronization, docking and maneuvering. However, the results have not been accomplished without problems.

Abstract: This paper presents the research work of real-time implementation and simulation for a distributed aircraft model with one robust flight controller. Further, a comparative analysis between online and real-time simulation is provided, to highlight several design considerations during the real-time implementation.

Abstract: In this paper, the authors present a real-time PC-based simulation of a direct field-oriented controller (DFOC) for an induction motor using RT-LAB software package. The use of a real-time simulator to achieve Hardware-in-the-Loop (HIL) simulation allows rapid prototyping of this kind of complex system in particular, and the development and testing of embedded systems in general. The implemented system presented in this paper consists of an induction motor with its static converter and speed, torque and flux controllers. These controllers are designed to take into account the variations of the rotor resistance.

Abstract: This an RT-LAB demo with step by step instructions for the dynamic signals.

Abstract: RT-LAB is a powerful platform for creating, managing and automating real-time, hardware-in-the-loop simulations. Used in the automotive, aerospace and energy and power generation industries, RT-LAB features support a wide array of electrical applications

Abstract: The video shows CUATRO (a McGill 4-dof robot)going through the following paths: 1)Joint by joint initialization 2)Simple Harmonic Motion on each joint 3)Circular motion, where a point in the end-effecter describes a circle in space, and 4)Fixed Point in space, where a point the end-effecter remains fixed as the rest of the robot moves It also shows how CUATRO can be manipulated manually through the Simulink interface and RT-LAB.

Abstract: This paper explains in more detail about the video about CUATRO from the Centre for Intelligent Machines at McGill University.

Abstract: This presentation displays how RT-LAB was used at Ecole Polytechnique in Montreal to help test and build their 8-degree-of-freedom robot arm. The RT-LAB Engineering Simulator was chosen as the real-time platform because of its performance, its support for QNX and the ability to easily implement controllers developed in SIMULINK.

Abstract: This presentation shows how the Ford trainers use real time dynamic simulation of engines running on RT-LAB connected to an ECU as part of the Powertrain Core Competency training program for engineers.

Abstract: This presentation shows how RT-LAB was part of the Institute of Mechatronics and Virtual Engineering University of Technology in Finland Gantry Crane Training Simulator project. The project was to produce a real-time training simulator, in order to learn basic skills in gantry crane operation, in a safe and controlled way.

Abstract: This presentation shows how Pratt & Whitney Canada has developed a method of pumping gas through a pipeline and how RT-LAB proved to be ideal for use as a development platform, as MATRIXx was P&WC’s tool of choice for the development of real-time embedded control systems. It demonstrates how RT-LAB was used by P&WC to develop the control system development environment for the project, as well as the integrated control system that is intended for field use.

Abstract: This video explains the quick and easy six steps to get you using RT-LAB for real-time simulation. The video walks you through the RT-LAB experience with any real-time simulation model.

Abstract: This presentation details how RT-LAB was used in South West Research's test cell using a model-based approach. Where the components model that were developed at the design stage by different groups or suppliers, can now be incorporated into an RT-LAB Engineering Simulator in the test cell.

Abstract: This presentation is an introduction to Opal-RT Technologies Inc. RT-LAB Electric Drive Simulator. The RT-LAB Electric Drive Simulator provides the most cost effective way to implement a model-based approach to design and testing of controllers for the three-phase motors – while eliminating the risk of damaging the actual motor.

Abstract: This training video covers the step by step instructions for RT-LAB LabView API.

Abstract: This paper presents the RT-LAB Electrical Drive Simulator technology along with practical applications. The RT-LAB simulation software enables the parallel simulation of an electrical circuit on clusters of PC running QNX or RT-Linux operating systems at sample time below 10 µs. Using standard Simulink models including SimPowerSystems models, RT-LAB build computation and communication tasks necessary to effectively make parallel simulation of electrical systems with low cost off-the-shelf PC technology. To accommodate the high bandwidth of electrical systems, the RT-LAB Electrical Drive Simulator comes with special Simulink-based modeling tools, namely ARTEMIS and RT-EVENTS that permits real-time simulation of electrical systems at practical time step of 10 µs but with sub-µs equivalent precision through the use of interpolation techniques.

Abstract: HIL systems have evolved rapidly in recent years, the result is an increased use of HIL in automotive engineering. However, HIL is not used to its fullest potential because of a lack in high fidelity plant models, tools integration and engineering process integration. Opal-RT has teamed up experts of each field to address these problems. This presentation will focus on the testing part of engineering process integration. New Eagle, a specialist in testing services, offers the process perspective.

Abstract: This application note explains a two areas, four machines power system is considered in this note in order to demonstrate numerical advantages of ARTEMIS’ fixed-step-size integration method versus Tustin method currently used by power system simulators such as Power System Blockset (PSB). Proposed methods are also compared to the variable step solver, which is supposed to give the closest response to the actual system’s one.

Abstract: This paper describes the application of a partially automated approach for distributing Simulink software across multiple CPUs for more rapid execution. The work described applies directly to the Windows operating systems on a PC. A fairly complex Electronic Warfare simulation was purposely chosen to enable development of a robust automated approach. Much faster execution can be achieved consistent with full use of all the CPUs for simulations with natural parallelism.

Abstract: This paper presents a comprehensive formulation of dynamic emulation problems of mechanical loads. The dynamometer and the electrical drive under test can be coupled with flexible or rigid coupling. Control solutions to the emulation problem are also proposed.

Abstract: This application note reports how the TUSTIN method in PSB and the ART5 method in the ARTEMIS Add-On compare in terms of precision, particularly for long-term simulation. The ARTEMIS Add-On uses the ART5 method and the ‘Zero hold for input’ option is not checked.

Abstract: In this paper, a research project of the Canadian Space Agency in the field of satellite servicing is described. In particular, the hardware-in-the-loop simulation of a rendezvous-docking operation of a chaser and target satellite is targeted. The satellites and the controller will be modeled in software using Symofros, RT-LAB and MATLAB/Simulink.

Abstract: This brief RT-LAB user document explains how to use RT-LAB with PC-104 from start to finish. Written as an example by the Mechatronics Laboratory of University of Michigan.

Abstract: RAPTOR provides a virtual engine, vehicle, and test environment. MATLAB®/SIMULINK® is then used to develop the control algorithms for the virtual engine and vehicle. Once the controls prototyping is accomplished, Opal RT’s RT-LAB (RAPTOR preferred Real Time operating environment) re-targets the prototype controls to a prototype controller for use on an actual engine as Hardware in the Loop (HIL).