{"id":48225,"date":"2026-09-29T13:24:20","date_gmt":"2026-09-29T13:24:20","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=48225"},"modified":"2026-09-29T08:14:23","modified_gmt":"2026-09-29T08:14:23","slug":"motor-emulation-for-p-hil-prototyping","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/implementation\/motor-emulation-for-p-hil-prototyping","title":{"rendered":"Motor emulation for P-HIL prototyping"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_88 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\/implementation\/motor-emulation-for-p-hil-prototyping\/#System-description\" >System description<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/implementation\/motor-emulation-for-p-hil-prototyping\/#Downloads\" >Downloads<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/implementation\/motor-emulation-for-p-hil-prototyping\/#Power-amplifier-and-drive-model\" >Power amplifier and drive model<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/imperix.com\/doc\/implementation\/motor-emulation-for-p-hil-prototyping\/#Bitstream-with-Aurora-drivers\" >Bitstream with Aurora drivers<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/imperix.com\/doc\/implementation\/motor-emulation-for-p-hil-prototyping\/#PMSM-simulation-files\" >PMSM simulation files<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/imperix.com\/doc\/implementation\/motor-emulation-for-p-hil-prototyping\/#Experimental-validation\" >Experimental validation<\/a><\/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\/implementation\/motor-emulation-for-p-hil-prototyping\/#Results\" >Results<\/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\/implementation\/motor-emulation-for-p-hil-prototyping\/#Speed-profile\" >Speed profile<\/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\/implementation\/motor-emulation-for-p-hil-prototyping\/#Load-torque-step\" >Load torque step<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n\n<p class=\"wp-block-paragraph\">This article presents a Power Hardware-in-the-Loop (P-HIL) system where the behavior of a Permanent Magnet Synchronous Machine (PMSM) is emulated for the validation of a physical motor drive. The proposed setup combines an imperix B-Box 4 and power modules with third-party real-time simulators.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">This page provides ready-to-use template projects for OPAL-RT, Plexim and Typhoon simulators, all of which leverage Aurora over the high-speed SFP communication link to exchange data between the imperix device and the simulator. More information about the implementation of the related drivers can be found in <a href=\"https:\/\/imperix.com\/doc\/help\/sfp-communication-with-third-party-devices?currentThread=sfp-communication-with-third-party-devices\">SFP communication drivers<\/a>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">For a more detailed overview of P-HIL testing with imperix, please refer to <a href=\"https:\/\/imperix.com\/doc\/wp-admin\/post.php?post=48098&amp;action=edit\">TN183<\/a>. Another example illustrating the emulation of a microgrid is presented in <a href=\"https:\/\/imperix.com\/doc\/?p=46423&amp;preview=true\">TN184<\/a>.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"System-description\"><\/span>System description<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The system architecture is illustrated below. The third-party <strong>simulator<\/strong> runs a model of a Permanent Magnet Synchronous Machine (PMSM) and its load. Conceptually, the <strong>power amplifier<\/strong> and <strong>drive<\/strong> are separate entities, each consisting of a dedicated <a href=\"https:\/\/imperix.com\/products\/control\/rcp-controller\/\">B-Box 4<\/a> and three <a href=\"https:\/\/imperix.com\/products\/power\/sic-mosfet-module\/\">PEB-800-40<\/a> modules.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">In practice, thanks to its high processing capacity and I\/O count, <strong>a single B-Box 4 is used<\/strong> to execute both the power amplification and drive FOC control algorithms simultaneously, thereby minimizing required hardware.<\/p>\n\n\n<style>.kb-gallery-id-48225_272c1b-f3 .kadence-blocks-gallery-item .kb-gal-image-radius, .kb-gallery-id-48225_272c1b-f3 .kb-slide-item .kb-gal-image-radius img{border-radius:0px 0px 0px 0px;;}.kb-gallery-caption-style-bottom.kb-gallery-id-48225_272c1b-f3 .kadence-blocks-gallery-item .kadence-blocks-gallery-item-inner .kadence-blocks-gallery-item__caption, .kb-gallery-caption-style-bottom-hover.kb-gallery-id-48225_272c1b-f3 .kadence-blocks-gallery-item .kadence-blocks-gallery-item-inner .kadence-blocks-gallery-item__caption{background:linear-gradient(0deg, rgba(0, 0, 0, 0.8) 0, rgba(0, 0, 0, 0) 100%);}.kb-gallery-wrap-id-48225_272c1b-f3.wp-block-kadence-advancedgallery{overflow:visible;}.kb-gallery-wrap-id-48225_272c1b-f3.wp-block-kadence-advancedgallery .kt-blocks-carousel{overflow:visible;}<\/style><div class=\"kb-gallery-wrap-id-48225_272c1b-f3 alignnone wp-block-kadence-advancedgallery\"><div class=\"kb-gallery-ul kb-gallery-non-static kb-gallery-type-slider kb-gallery-id-48225_272c1b-f3 kb-gallery-caption-style-bottom-hover kb-gallery-filter-none\" data-image-filter=\"none\" data-lightbox-caption=\"true\"><div class=\"kt-blocks-carousel splide kt-carousel-container-dotstyle-dark kt-carousel-arrowstyle-whiteondark kt-carousel-dotstyle-dark kb-slider-group-arrow kb-slider-arrow-position-center\" data-slider-anim-speed=\"400\" data-slider-scroll=\"1\" data-slider-arrows=\"true\" data-slider-fade=\"true\" data-slider-dots=\"true\" data-slider-type=\"slider\" data-slider-hover-pause=\"false\" data-slider-auto=\"\" data-slider-speed=\"7000\" data-show-pause-button=\"false\"><div class=\"splide__track\"><ul class=\"kt-blocks-carousel-init kb-blocks-slider splide__list\"><li class=\"kb-slide-item kb-gallery-slide-item splide__slide\"><div class=\"kadence-blocks-gallery-item\"><div class=\"kadence-blocks-gallery-item-inner\"><figure class=\"kb-gallery-figure kadence-blocks-gallery-item-has-caption\"><div class=\"kb-gal-image-radius\"><div class=\"kb-gallery-image-contain kadence-blocks-gallery-intrinsic kb-gallery-image-ratio-inherit kb-has-image-ratio-inherit\" ><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A-955x1024.png\" width=\"955\" height=\"1024\" alt=\"\" data-full-image=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A.png\" data-light-image=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A.png\" data-id=\"50061\" class=\"wp-image-50061 skip-lazy\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A-955x1024.png 955w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A-280x300.png 280w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A-768x824.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A-1432x1536.png 1432w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_A.png 1800w\" sizes=\"auto, (max-width: 955px) 100vw, 955px\" \/><\/div><div class=\"kadence-blocks-gallery-item__caption\">Conceptual system architecture, where the emulated system&#8217;s power amplifier and DUT have dedicated controllers.<\/div><\/div><\/figure><\/div><\/div><\/li><li class=\"kb-slide-item kb-gallery-slide-item splide__slide\"><div class=\"kadence-blocks-gallery-item\"><div class=\"kadence-blocks-gallery-item-inner\"><figure class=\"kb-gallery-figure kadence-blocks-gallery-item-has-caption\"><div class=\"kb-gal-image-radius\"><div class=\"kb-gallery-image-contain kadence-blocks-gallery-intrinsic kb-gallery-image-ratio-inherit kb-has-image-ratio-inherit\" ><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B-955x1024.png\" width=\"955\" height=\"1024\" alt=\"\" data-full-image=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B.png\" data-light-image=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B.png\" data-id=\"50062\" class=\"wp-image-50062 skip-lazy\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B-955x1024.png 955w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B-280x300.png 280w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B-768x824.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B-1432x1536.png 1432w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_phil_block_diagram_B.png 1800w\" sizes=\"auto, (max-width: 955px) 100vw, 955px\" \/><\/div><div class=\"kadence-blocks-gallery-item__caption\">Simplified system architecture, where a single B-Box 4 controls both the emulated system&#8217;s power amplifier and the DUT power hardware.<\/div><\/div><\/figure><\/div><\/div><\/li><\/ul><\/div><\/div><\/div><\/div>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Downloads\"><\/span>Downloads<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This example relies on three software components:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>The <strong>power amplifier and drive control model<\/strong>&nbsp;to be loaded onto the&nbsp;<strong>B-Box 4&#8217;s CPU<\/strong>.<\/li>\n\n\n\n<li>The <strong>vendor-specifc bitstream with Aurora drivers<\/strong> to be loaded onto the <strong>B-Box 4&#8217;s FPGA<\/strong>.<\/li>\n\n\n\n<li>The <strong>vendor-specific microgrid simulation model<\/strong> to be loaded onto the <strong>third party simulator<\/strong>.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">The list of supported devices is available <a href=\"https:\/\/imperix.com\/doc\/help\/sfp-communication-with-third-party-devices?currentThread=sfp-communication-with-third-party-devices#Supported-devices\">here<\/a>.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Power-amplifier-and-drive-model\"><\/span>Power amplifier and drive model<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">The B-Box 4 simultaneously runs the power amplifier control \u2013 essentially a voltage controller \u2013 and a motor drive control \u2013 here, a FOC method \u2013 for the drive under validation. The voltage tracking is a basic feedforward control with a compensation of the voltage drop on the inductors, while the FOC control is directly inspired from the <a href=\"https:\/\/imperix.com\/doc\/implementation\/grid-following-inverter?currentThread=static-synchronous-compensator-statcom\">TN167<\/a>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Both algorithms are gathered within one single PLECS model. Once built, this model must be loaded onto the B-Box 4&#8217;s CPU via Cockpit.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<div class=\"wp-block-file aligncenter\"><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/phil_pmsm_ix.zip\" class=\"wp-block-file__button wp-element-button\" download>Download phil_pmsm_ix.zip<\/a><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"514\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plecs_model_overview-1024x514.png\" alt=\"\" class=\"wp-image-50091\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plecs_model_overview-1024x514.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plecs_model_overview-300x151.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plecs_model_overview-768x386.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plecs_model_overview-1536x771.png 1536w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plecs_model_overview-2048x1028.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Bitstream-with-Aurora-drivers\"><\/span>Bitstream with Aurora drivers<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">In this example , the B-Box 4 and the simulator communicate over SFP, which requires Aurora drivers specifically designed for the targeted third party simulator. A template Vivado project with appropriate drivers is provided for each vendor in the table below.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">To generate the bitstream, download the bitstream generation scripts from the table below and follow the <a href=\"https:\/\/imperix.com\/doc\/help\/sfp-communication-with-third-party-devices?currentThread=sfp-communication-with-third-party-devices#generate-the-bitstream\">step-by-step bitstream generation procedure<\/a>. Once generated, load the bitstream onto the B-Box 4&#8217;s FPGA via Cockpit.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">For interested readers, the related pages provide explanations about the provided drivers.<\/p>\n\n\n\n<figure class=\"wp-block-table aligncenter\"><table><tbody><tr><td><strong>Vendor<\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong>Bitstream generation scripts<\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong>Related page<\/strong><\/td><\/tr><tr><td>OPAL-RT<\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/02\/aurora_ix_opalrt_gen_scripts.zip\">aurora_ix_opalrt_gen_scripts.zip<\/a><\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><a href=\"https:\/\/imperix.com\/doc\/help\/aurora-link-with-opal-rt-via-sfp?currentThread=sfp-communication-with-third-party-devices\">Aurora link with OPAL-RT via SFP<\/a><\/td><\/tr><tr><td>Plexim<\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/02\/aurora_ix_plexim_gen_scripts.zip\">aurora_ix_plexim_gen_scripts.zip<\/a><\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><a href=\"https:\/\/imperix.com\/doc\/help\/aurora-link-with-plexim-via-sfp?currentThread=sfp-communication-with-third-party-devices\">Aurora link with Plexim via SFP<\/a><\/td><\/tr><tr><td>Typhoon<\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/03\/aurora_ix_typhoon_gen_scripts.zip\">aurora_ix_typhoon_gen_scripts.zip<\/a><\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><a href=\"https:\/\/imperix.com\/doc\/help\/aurora-link-with-typhoon-via-sfp?currentThread=sfp-communication-with-third-party-devices\">Aurora link with Typhoon via SFP<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"PMSM-simulation-files\"><\/span>PMSM simulation files<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">The PMSM model has been implemented for each considered vendor. The files are available in the table below.<\/p>\n\n\n\n<figure class=\"wp-block-table aligncenter\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\"><strong>Vendor<\/strong><\/td><td class=\"has-text-align-center\" data-align=\"center\"><strong>Microgrid model<\/strong><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">OPAL-RT<\/td><td class=\"has-text-align-center\" data-align=\"center\"><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/08\/phil_pmsm_ix_opalrt_rtlab.zip\">phil_pmsm_ix_opalrt_rtlab.zip<\/a><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Plexim<\/td><td class=\"has-text-align-center\" data-align=\"center\"><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/08\/phil_pmsm_ix_plexim_rtbox.plecs\">phil_pmsm_ix_plexim_rtbox.plecs<\/a><\/td><\/tr><tr><td class=\"has-text-align-center\" data-align=\"center\">Typhoon<\/td><td class=\"has-text-align-center\" data-align=\"center\"><a href=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/08\/phil_pmsm_ix_typhoon_files.zip\">phil_pmsm_ix_typhoon_files.zip<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<div class=\"wp-block-columns are-vertically-aligned-center is-layout-flex wp-container-core-columns-is-layout-8f761849 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1017\" height=\"1024\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/Screenshot-2026-09-22-083454-Copy-1017x1024.png\" alt=\"\" class=\"wp-image-50413\" style=\"aspect-ratio:0.9932008029527941;width:154px;height:auto\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/Screenshot-2026-09-22-083454-Copy-1017x1024.png 1017w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/Screenshot-2026-09-22-083454-Copy-150x150.png 150w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/Screenshot-2026-09-22-083454-Copy-298x300.png 298w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/Screenshot-2026-09-22-083454-Copy-768x773.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/Screenshot-2026-09-22-083454-Copy.png 1043w\" sizes=\"auto, (max-width: 1017px) 100vw, 1017px\" \/><figcaption class=\"wp-element-caption\">PMSM model in the<br>OPAL-RT Schematic Editor<\/figcaption><\/figure>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"427\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plexim_pmsm_model-1024x427.png\" alt=\"\" class=\"wp-image-50073\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plexim_pmsm_model-1024x427.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plexim_pmsm_model-300x125.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plexim_pmsm_model-768x320.png 768w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_plexim_pmsm_model.png 1238w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">PMSM model in the<br>Plexim PLECS environment<\/figcaption><\/figure>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"481\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_typhoon_pmsm_model-1024x481.png\" alt=\"\" class=\"wp-image-50074\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_typhoon_pmsm_model-1024x481.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_typhoon_pmsm_model-300x141.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_typhoon_pmsm_model-766x360.png 766w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_typhoon_pmsm_model-1536x722.png 1536w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_typhoon_pmsm_model.png 1669w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">PMSM model in the<br>Typhoon Schematic Editor<\/figcaption><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Experimental-validation\"><\/span>Experimental validation<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The lab setup is depicted below. As detailed in the&nbsp;<a href=\"#System-description\">system description<\/a>, it consists of an imperix B-Box 4 controlling six PEB-800-40 modules forming two three-phase inverters. The B-Box 4 is directly connected to a third-party simulator via SFP. Coupling inductors are placed between both inverters.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1383\" height=\"891\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_experimental_setup.png\" alt=\"\" class=\"wp-image-50094\" style=\"aspect-ratio:1.5522204074085488;width:613px;height:auto\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_experimental_setup.png 1383w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_experimental_setup-300x193.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_experimental_setup-1024x660.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_experimental_setup-768x495.png 768w\" sizes=\"auto, (max-width: 1383px) 100vw, 1383px\" \/><\/figure>\n<\/div>\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-warning\" role=\"alert\">To avoid common-mode loop between the power amplifier and driver inverters, both inverters are powered by separate, galvanically isolated DC power supplies.<\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Results\"><\/span>Results<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This section exposes the experimental results collected during laboratory validation. While these measurements were acquired using an RT-Box 1, equivalent results were obtained with an OPAL-RT OP4510 and a Typhoon HIL506. The presented figures highlight the drive control perspective.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Thanks to the high-speed SFP communication between the TPI and the simulator, additional simulation variables \u2013 such as the PMSM electromechanical torque (PMSM_Tem) \u2013 can be transmitted and monitored directly from Cockpit.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Speed-profile\"><\/span>Speed profile<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">In the following figure, a reference speed profile is fed to the drive controller. As shown, the speed profile is well followed. The angle variation is consistent with the speed profile, particularly during speed reversals.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The maximal acceleration of the PMSM is bounded by the maximal torque specified in the drive FOC control to limit the current flowing in the inverter(s) branches.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"756\" height=\"515\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_speed_profile.png\" alt=\"\" class=\"wp-image-50098\" style=\"aspect-ratio:1.4680109441175369;width:604px;height:auto\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_speed_profile.png 756w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_speed_profile-300x204.png 300w\" sizes=\"auto, (max-width: 756px) 100vw, 756px\" \/><figcaption class=\"wp-element-caption\">Experimental results obtained when feeding a speed<br>profile to the drive controller (<a href=\"https:\/\/imperix.com\/software\/cockpit\/\">Cockpit<\/a> software)<\/figcaption><\/figure>\n<\/div>\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Load-torque-step\"><\/span>Load torque step<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">In the figure below, a load torque step from 0 to 5 Nm is applied in the simulation model during runtime.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">As expected, this change leads to a slight decrease of the motor&#8217;s speed, pushing the drive control to increase its internal electromagnetic torque reference (Tem_ref) and output currents (I_drive). This increase of currents amplitude is caught by the simulation, as verified by the PMSM_Tem variable \u2013 extracted from the simulation model \u2013 that closely follows the Tem_ref variable from the drive control.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1466\" height=\"1034\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_tload_step.png\" alt=\"\" class=\"wp-image-50101\" style=\"aspect-ratio:1.4197367308396989;width:569px;height:auto\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_tload_step.png 1466w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_tload_step-300x212.png 300w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_tload_step-1024x722.png 1024w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2026\/09\/tn185_tload_step-768x542.png 768w\" sizes=\"auto, (max-width: 1466px) 100vw, 1466px\" \/><figcaption class=\"wp-element-caption\">Experimental results obtained when applying a load torque step<br>in the simulation during runtime (<a href=\"https:\/\/imperix.com\/software\/cockpit\/\">Cockpit<\/a> software)<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"wp-block-paragraph\">The presented results confirm that, from the drive&#8217;s perspective, the emulated system behaves in the same way as a real motor.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>This article presents a Power Hardware-in-the-Loop (P-HIL) system where the behavior of a Permanent Magnet Synchronous Machine (PMSM) is emulated for the validation of a&#8230;<\/p>\n","protected":false},"author":17,"featured_media":50219,"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":[4],"tags":[23],"software-environments":[104],"provided-results":[109],"related-products":[50,32,111],"guidedreadings":[],"tutorials":[],"user-manuals":[],"coauthors":[82],"class_list":["post-48225","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-implementation","tag-hil-simulation","software-environments-plecs","provided-results-hil","related-products-acg-sdk","related-products-b-box-rcp","related-products-pm"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.5 - 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