Available Real-Time Models of the Permanent Magnet Synchronous Motor (PMSM)

The following table lists the PMSM / BLDC real-time models available with Opal-RT real-time simulators. Some runs on processors, others on FPGA (for ultra small time step, and therefore for very high rotation speeds).

Other types of motors like the DC motor, Induction Machine or Switched Reluctance Motor are also supported by eDRIVE but run on the processor. Contact Opal-RT if you need to run one of these motors on the FPGA.


Models	PMSM¹ dq³	PMSM JMAG-RT⁴	BLDC² phase	PMSM phase JMAG-RT
Key Features	Constant Ld and Lq	Stator winding inductances are rotor position and current dependent		Stator winding inductances are rotor position and current dependent
Target⁵	Processor	Processor	FPGA	FPGA
Opal-RT Library	RTE-Drive	RT-LAB.JMAG	RTE-Drive	RTE-Drive
JMAG⁴ Compatibility	No	Yes	No	Yes
Back EMF	Sinusoidal	Customizable	Trapezoidal	Customizable
Time step	9 µs	25 µs	40 ns	40 ns
Latency⁶	13 µs	25 µs	300 ns	300 ns
Pulse capture resolution	20 ns	20 ns	30 ns	30 ns
Max. Switching Frequency⁷	Up to 10-15 kHz	Up to 5-8 kHz	Up to ~100 kHz	Up to ~100 kHz
Faults simulation	Yes	Yes	Open stator. Phase to ground short-circuit	Open stator. Phase to ground short-circuit

(1)	PMSM	Permanent Magnet Synchronous Motor
(2)	BLDC	Brushless DC Motor
(3)	dq	DQ axis model
(4)	JMAG-RT	JMAG-RT is a module of JMAG FEM software (from JSOL Corporation) that generates a behavior model of the PMSM that can be applied to a control simulation
(5)	Target	The type of target in the RT simulator where the the motor model runs
(6)	Latency	Latency is defined as the total delay from the digital input (capture of PWM signals) to the analog output (output of the motor currents)
(7)	Switching Frequency	The switching frequency of the inverter driving the motor. The maximum frequency is a function of the model simulation step, and therefore of its complexity; the values in the table are typical and not constant fixed figures.