{"id":29560,"date":"2024-05-24T14:11:49","date_gmt":"2024-05-24T14:11:49","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=29560"},"modified":"2026-04-23T09:39:25","modified_gmt":"2026-04-23T09:39:25","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\">Release history:<br><strong>\u2022<\/strong>\u00a0<strong>ACG SDK 2024.2<\/strong>: First release. Support for PLECS and Simulink SPS library (&#8220;Black&#8221; blocks).<br><strong>\u2022<\/strong>\u00a0<strong>ACG SDK 2025.2<\/strong>: Addition of thermal models for most PEB and PEN modules.<br><strong>\u2022<\/strong>\u00a0<strong>ACG SDK 2026.1<\/strong>: Support for the latest products (PEB-800-40, VSR-1000-ISO, VSR-500-HBW, CSR-25-HBW).<br><strong>\u2022<\/strong>\u00a0<strong>ACG SDK 2026.1.3<\/strong>: Support for Simulink Simscape Electrical library (&#8220;Blue&#8221; blocks).<\/div>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">Required environment:<br><strong>\u2022\u00a0Simulink (R2016a or newer)<\/strong>: Simscape is required.<br><strong>\u2022\u00a0Plexim PLECS (4.5 or newer)<\/strong>: No particular requirement.<br>Additionally, for Simulink:<br><strong>\u2022\u00a0Simscape Electrical library<\/strong>: Simscape Electrical is required.<br><strong>\u2022\u00a0SPS library<\/strong>: Simscape Specialized Power Systems (up to R2025b) or OPAL-RT SPS Software is required.<\/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<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"430\" height=\"189\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/schem_mtb.png\" alt=\"schematic of MTB model\" class=\"wp-image-29573\" style=\"width:430px;height:189px\" 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>\n<\/div>\n\n\n<p>The MTB model has one modeling level:<\/p>\n\n\n\n<ul id=\"block-d02f201b-fdbb-4966-8237-a848b8cb6c5d\" class=\"wp-block-list\">\n<li><strong>(A) Simple<\/strong><\/li>\n<\/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 class=\"wp-element-caption\">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 class=\"wp-element-caption\">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 class=\"wp-element-caption\">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:50%\">\n<ul class=\"wp-block-list\">\n<li>The output&nbsp;<code>T<\/code>&nbsp;is the measured torque.<\/li>\n\n\n\n<li>The output&nbsp;<code>\u03b8<\/code>&nbsp;is the measured rotor angle.<\/li>\n\n\n\n<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>\n\n\n\n<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>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:25%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"164\" height=\"206\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_mtb_block.png\" alt=\"MTB Simulink block\" class=\"wp-image-29750\" style=\"width:164px;height:206px\"\/><\/figure>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:25%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"161\" height=\"202\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_se_mtb.png\" alt=\"MTB Simulink block (SE)\" class=\"wp-image-45353\"\/><\/figure>\n<\/div><\/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\">\n<li><code>Modeling level<\/code> selects the modeling level.<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"424\" height=\"341\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/simulink_mtb_param.png\" alt=\"MTB Simulink mask\" class=\"wp-image-29569\" style=\"width:424px;height:341px\" 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>\n<\/div>\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 id=\"block-1a93997d-1fc9-4514-8f11-f210a7c3bb06\" class=\"wp-block-list\">\n<li>The output\u00a0<code>T<\/code>\u00a0is the measured torque.<\/li>\n\n\n\n<li>The output\u00a0<code>\u03b8<\/code>\u00a0is the measured rotor angle.<\/li>\n\n\n\n<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>\n\n\n\n<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>\n<\/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%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"157\" height=\"101\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_block.png\" alt=\"MTB PLECS block\" class=\"wp-image-29570\" style=\"width:157px;height:101px\"\/><\/figure>\n<\/div><\/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 id=\"block-66be6431-5576-4fd4-8473-b12a39c4fcb0\" class=\"wp-block-list\">\n<li><code><code><code>Modeling level<\/code><\/code><\/code> selects the modeling level.<\/li>\n\n\n\n<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>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"438\" height=\"453\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2024\/05\/plecs_mtb_param.png\" alt=\"MTB PLECS mask\" class=\"wp-image-29571\" style=\"width:438px;height:453px\" 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>\n<\/div>\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\">\n<li><code>Torque [Nm]<\/code>\u00a0monitors the torque sensor output in Nm.<\/li>\n\n\n\n<li><code>Rotor position [rad]<\/code>\u00a0monitors the rotor position in rad.<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<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>\n<\/div>","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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