{"id":29560,"date":"2024-05-24T14:11:49","date_gmt":"2024-05-24T14:11:49","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=29560"},"modified":"2025-05-27T11:55:45","modified_gmt":"2025-05-27T11:55:45","slug":"motor-testbench","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/software\/motor-testbench","title":{"rendered":"MTB \u2013 Motor testbench"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 ez-toc-wrap-right-text counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Modeling-of-MTB\" >Modeling of MTB<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Machine-parameters\" >Machine parameters<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Sensors\" >Sensors<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Simulink-MTB-block\" >Simulink MTB block<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Port-specification\" >Port specification<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Parameters\" >Parameters<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#PLECS-MTB-block\" >PLECS MTB block<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Port-specification-2\" >Port specification<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Parameters-2\" >Parameters<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/imperix.com\/doc\/software\/motor-testbench\/#Probe-signals\" >Probe signals<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n\n<p>The MTB block is a simulation model included in the&nbsp;<a href=\"https:\/\/imperix.com\/software\/acg-sdk\/\">Imperix Power library<\/a>. It models the imperix <a href=\"https:\/\/imperix.com\/products\/electric-motor-drive-bundle\/\">motor testbench<\/a> in Simulink and PLECS simulation.<\/p>\n\n\n\n<p>For more information regarding the Imperix Power library, please read <a href=\"https:\/\/imperix.com\/doc\/help\/getting-started-with-imperix-power-library\">Getting started with Imperix Power library<\/a>.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">Imperix Power library is available starting from ACG SDK 2024.2. Simulink Simscape Electrical or PLECS is also required. The Simulink version is only compatible with Specialized Power Systems. The supported versions are:<br><strong>\u2022<\/strong>\u00a0Simulink R2016a or newer.<br><strong>\u2022<\/strong>\u00a0Plexim PLECS 4.5 or newer.<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Modeling-of-MTB\"><\/span>Modeling of MTB<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>The Motor Testbench features a squirrel cage Induction Machine (IM) and a Permanent Magnet Synchronous Machine (PMSM). One machine is the device under test while the other one acts as a controllable load. The schematic is shown below.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/schem_mtb.png\" alt=\"schematic of MTB model\" class=\"wp-image-29573\" width=\"430\" height=\"189\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/schem_mtb.png 430w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/schem_mtb-300x132.png 300w\" sizes=\"auto, (max-width: 430px) 100vw, 430px\" \/><\/figure><\/div>\n\n\n\n<p>The MTB model has one modeling level:<\/p>\n\n\n\n<ul class=\"wp-block-list\" id=\"block-d02f201b-fdbb-4966-8237-a848b8cb6c5d\"><li><strong>(A) Simple<\/strong><\/li><\/ul>\n\n\n\n<p>For more detailed model parameters and measurement results, please contact support@imperix.ch.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Machine-parameters\"><\/span>Machine parameters<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>All the parameters of the machines are summarized in the following tables.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">Item<\/th><th class=\"has-text-align-left\" data-align=\"left\">Symbol<\/th><th class=\"has-text-align-left\" data-align=\"left\">Value<\/th><\/tr><\/thead><tbody><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Pole pairs<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">p<\/td><td class=\"has-text-align-left\" data-align=\"left\">4<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Moment of inertia<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Jm<\/td><td class=\"has-text-align-left\" data-align=\"left\">40.6e-4 kg.m^2<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Friction coefficient<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">kF<\/td><td class=\"has-text-align-left\" data-align=\"left\">30.35e-5<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Stator resistance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Rs<\/td><td class=\"has-text-align-left\" data-align=\"left\">0.559 \u03a9<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Stator inductance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Ls<\/td><td class=\"has-text-align-left\" data-align=\"left\">4.24 mH<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Stator inductance along d-axis<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Ld<\/td><td class=\"has-text-align-left\" data-align=\"left\">4.24 mH<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Stator inductance along q-axis<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Lq<\/td><td class=\"has-text-align-left\" data-align=\"left\">4.24 mH<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Flux from permanent magnets<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Phi_pm<\/td><td class=\"has-text-align-left\" data-align=\"left\">0.2748 Nm\/Apk<\/td><\/tr><\/tbody><\/table><figcaption>Parameters of PMSM<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Item<\/strong><\/th><th class=\"has-text-align-left\" data-align=\"left\"><strong>Symbol<\/strong><\/th><th class=\"has-text-align-left\" data-align=\"left\"><strong>Value<\/strong><\/th><\/tr><\/thead><tbody><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Pole pairs<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">p<\/td><td class=\"has-text-align-left\" data-align=\"left\">4<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Moment of inertia<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Jm<\/td><td class=\"has-text-align-left\" data-align=\"left\">178e-4 kg.m^2<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Friction coefficient<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">kF<\/td><td class=\"has-text-align-left\" data-align=\"left\">30.35e-5<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Stator resistance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Rs<\/td><td class=\"has-text-align-left\" data-align=\"left\">1.24 \u03a9<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Rotor resistance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Rr<\/td><td class=\"has-text-align-left\" data-align=\"left\">0.73 \u03a9<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Stator leakage inductance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Lgs<\/td><td class=\"has-text-align-left\" data-align=\"left\">11.5 mH<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Rotor leakage inductance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Lgr<\/td><td class=\"has-text-align-left\" data-align=\"left\">11.5 mH<\/td><\/tr><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Mutual inductance<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Lm<\/td><td class=\"has-text-align-left\" data-align=\"left\">183 mH<\/td><\/tr><\/tbody><\/table><figcaption>Parameters of IM<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Item<\/strong><\/th><th class=\"has-text-align-left\" data-align=\"left\"><strong>Symbol<\/strong><\/th><th class=\"has-text-align-left\" data-align=\"left\"><strong>Value<\/strong><\/th><\/tr><\/thead><tbody><tr><th class=\"has-text-align-left\" data-align=\"left\"><strong>Moment of inertia shaft<\/strong><\/th><td class=\"has-text-align-left\" data-align=\"left\">Jm_shaft<\/td><td class=\"has-text-align-left\" data-align=\"left\">54.7e-4 kg.m^2<\/td><\/tr><\/tbody><\/table><figcaption>Other parameters<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"Modelling-levels\"><span class=\"ez-toc-section\" id=\"Sensors\"><\/span>Sensors<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>The motor testbench features an angle resolver and a torque sensor. The angle resolver is modeled by an ideal sensor with the angle initialized at 0, while the torque sensor is modeled by an ideal sensor with a 1kHz low-pass filter.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Simulink-MTB-block\"><\/span>Simulink MTB block<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Port-specification\"><\/span>Port specification<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<ul class=\"wp-block-list\"><li>The output&nbsp;<code>T<\/code>&nbsp;is the measured torque.<\/li><li>The output&nbsp;<code>\u03b8<\/code>&nbsp;is the measured rotor angle.<\/li><li>The connection ports <code>im.A,im.B,im.C<\/code> are the electrical ports connected to the three-phase AC input of the IM.<\/li><li>The connection ports <code>pmsm.A,pmsmm.B,pmsm.C<\/code> are the electrical ports connected to the three-phase AC input of the PMSM.<\/li><\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_mtb_block.png\" alt=\"MTB Simulink block\" class=\"wp-image-29750\" width=\"164\" height=\"206\"\/><\/figure><\/div>\n<\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Parameters\"><\/span>Parameters<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\"><li><code>Modeling level<\/code> selects the modeling level.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_mtb_param.png\" alt=\"MTB Simulink mask\" class=\"wp-image-29569\" width=\"424\" height=\"341\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_mtb_param.png 424w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_mtb_param-300x241.png 300w\" sizes=\"auto, (max-width: 424px) 100vw, 424px\" \/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"PLECS-MTB-block\"><\/span>PLECS MTB block<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Port-specification-2\"><\/span>Port specification<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<ul class=\"wp-block-list\" id=\"block-1a93997d-1fc9-4514-8f11-f210a7c3bb06\"><li>The output&nbsp;<code>T<\/code>&nbsp;is the measured torque.<\/li><li>The output&nbsp;<code>\u03b8<\/code>&nbsp;is the measured rotor angle.<\/li><li>The connection ports <code>im.A,im.B,im.C<\/code> are the electrical ports connected to the three-phase AC input of the IM.<\/li><li>The connection ports <code>pmsm.A,pmsmm.B,pmsm.C<\/code> are the electrical ports connected to the three-phase AC input of the PMSM.<\/li><\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_block.png\" alt=\"MTB PLECS block\" class=\"wp-image-29570\" width=\"157\" height=\"101\"\/><\/figure><\/div>\n<\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Parameters-2\"><\/span>Parameters<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\" id=\"block-66be6431-5576-4fd4-8473-b12a39c4fcb0\"><li><code><code><code>Modeling level<\/code><\/code><\/code> selects the modeling level.<\/li><li><code>PMSM model<\/code> selects the model of PMSM. The PMSM can be either implemented in the rotor reference frame or as a voltage behind reactance.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_param.png\" alt=\"MTB PLECS mask\" class=\"wp-image-29571\" width=\"438\" height=\"453\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_param.png 438w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_param-290x300.png 290w\" sizes=\"auto, (max-width: 438px) 100vw, 438px\" \/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Probe-signals\"><\/span>Probe signals<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>The following signals can be monitored by a Probe block in PLECS.<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li><code>Torque [Nm]<\/code>&nbsp;monitors the torque sensor output in Nm.<\/li><li><code>Rotor position [rad]<\/code>&nbsp;monitors the rotor position in rad.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"717\" height=\"327\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_probe.png\" alt=\"MTB PLECS probe\" class=\"wp-image-29572\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_probe.png 717w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_probe-300x137.png 300w\" sizes=\"auto, (max-width: 717px) 100vw, 717px\" \/><\/figure><\/div>\n","protected":false},"excerpt":{"rendered":"<p>The MTB block is a simulation model included in the&nbsp;Imperix Power library. It models the imperix motor testbench in Simulink and PLECS simulation. For more&#8230;<\/p>\n","protected":false},"author":10,"featured_media":33315,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false,"_kad_post_classname":"","footnotes":""},"categories":[16],"tags":[],"software-environments":[103,104],"provided-results":[],"related-products":[50,32,166,114],"guidedreadings":[],"tutorials":[],"user-manuals":[],"coauthors":[72,100],"class_list":["post-29560","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-software","software-environments-matlab","software-environments-plecs","related-products-acg-sdk","related-products-b-box-rcp","related-products-b-box-rcp-3-0","related-products-motor"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - 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