ARTEMiS
ARTEMiS is a suite of fixed-step solvers and algorithms that optimize Simulink models of elecromechanical systems, created using the SimPowerSystems, for real-time execution. |
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Real-Time Solvers for the Simulink SimPowerSystem* Toolbox
ARTEMiS For High Precision, Real-Time Simulation of Electromechanical Systems
For users of The MathWorks' SimPowerSystems Toolbox who need to accelerate their power system models or simulate them in real-time, ARTEMiS provides enhanced algorithms that ensure reliable, accurate, and fast fixed step-length computations, essential for high fidelity, high-performance simulations. Unlike SimPowerSystems on its own, ARTEMiIS was designed from the ground up to support real-time implementations of power systems simulations, dramatically improving computation speed while preserving accuracy. It is the ONLY way of getting high precision, hard-real-time performance out of SimPowerSystems models.
Designed for Fast Simulation and Hardware-in-the-Loop
- Fixed-time-step integration algorithms designed for real-time applications
- Compatibility with the Real-Time Workshop(RTW) code generator
- Compatibility with RT-LAB for distributed real-time execution on PC clusters
Higher precision for linear circuits with high frequency components
- Improves the simulation precision
- Eliminates the phase-shift error
Better accuracy with nonlinear elements
- Improves the simulation accuracy of systems with nonlinear elements
No numerical oscillations
- Uses stable integration methods that are free from numerical oscillations
Easy to Install and Use
- Drag-and-drop from ARTEMiS Toolbox available in the Simulink library browser
- Online documentation.
Variable-step accuracy with fixed-step performance

It is a fundamental constraint of real-time simulation that the model must use fixed-step integration solvers. In stiff systems like power electrical circuits, the traditional approach is to use a variable step solver for resolving the high-frequency components in the behavior of the system. Because the time to solve at each timestep is non-deterministic, these solvers have to be replaced with fixed-step solvers, which introduce errors into the solution.
ARTEMiS introduces innovative fixed-step solvers and efficient computational techniques that dramatically improve the computational performance of SimPowerSystems, to allow you to develop real-time simulations with your power systems models.
Because these are deterministic fixed step algorithms, you can create robust, accurate real-time simulations of your power system at significantly higher performance than with SimPowerSystems without ARTEMiS. In fact, it has been shown that simulations can be as much as 15 times faster than those done using the standard fixed-time-step methods, without the inherent errors associated with these solvers.
More power for less cost
The new solvers introduced by the ARTEMiS are proven to be highly accurate and stable over much larger time steps than with the Trapezoidal fixed-time-step algorithms used by Simulink. Users can therefore get the same accuracy with less powerful and lower-cost systems, to give the performance needed for high-fidelity real-time simulation.
Optimized solvers for real-time simulation of power electrical circuits
Furthermore, ARTEMiS includes special power-circuit-specific algorithms for addressing typical problems encountered when converting your SimPowerSystems model to real-time. For example, for circuits with switches, ARTEMiS calculates all circuit topology matrices prior to running the simulation, and uses circuit decoupling methods to reduce the size and number of these matrices, so that the computation runs smoothly in real-time, even when a switch changes state. Similarly, strategies to avoid algebraic loops and non-deterministic iterative calculations are included. These allow fixed computation times per step and interruption-free simulation in real-time.
Create distributed real-time simulations on PC clusters with RT-LAB
ARTEMIS integrates fully into the Simulink environment in the form of a Simulink blockset, and is fully compatible with Real-Time Workshop (RTW) for real-time execution, or for simply accelerating the model.
ARTEMIS optimizes RT-LAB, allowing you to automatically convert your SimPowerSystems schematics into real-time simulations. This allows the distribution of a large, complex power systems model over several processors, in order to get the computational power required to achieve high-performance, real-time execution on low-cost, off-the-shelf PCs and non-proprietary hardware.
Using ARTEMiS
| Without ARTEMiS | With ARTEMiS |
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| Standard fixed-time-step solver showing numeric instability. | ARTEMiS Solvers maintain numeric stability |
Innovative Solvers for Unprecedented Numerical Accuracy
For engineers trying to model transients in real-time, the inherent error introduced by currently available fixed-timestep integration algorithms has been a major problem. Variable-step solvers, such as those provided by MATLAB and other advanced mathematical tools, could not be used because of their non-deterministic execution times. The new ARTEMiS fixed-step solvers developed by Opal-RT provide the best of both worlds: real-time performance with variable-step accuracy.
Test Case :
DC to 60 Hz 6-pulse MOSFET converter, PWM control with 1080 Hz carrier, 1 kW , 500 VAR load

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Jul 2010 |
Comparison between ARTEMIS 5th order Integration method used with the eMEGAsim Simulation Platform and the classical TUSTIN 2nd order method used in PSCAD and SimPowerSystems software Authors : Amine Yamane, Jean Bélanger Published at : Abstract : Real-time simulation requires the use of fixed step integration methods, capable of achieving accuracy with a time step range larger than 10 μs to 100 μs, to enable the use of standard processors and IO systems.... |
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Mar 2010 |
Real-Time Simulation of Large-Scale Power Systems using EMTP-RV and Simulink/SimPowerSystems Authors : Jean Bélanger, Jean-Nicolas Paquin Published at : Abstract : This paper presents a modern PC-based real-time simulator using the latest INTEL quad-core processors to simulate a relatively large power system. The performance of the simulator is evaluated by comparing the results of... |
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Dec 2009 |
The Use of Real-Time Simulation Technologies: Applications to electric Drive, Power Electronic and Grid Systems Authors : Christian Dufour Published at : Abstract : Considerations About Real-Time Simulation. Real-Time Simulators and Model-Based Design. Hardware Components of a Real Time Simulator. Solver Components of a Real Time Simulator. Test Automation and Sequencer. Using... |
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Jul 2009 |
The complete Applications Booklet - Product Information & Simulation Applications Authors : Jean Bélanger, Jean-Nicolas Paquin, Wei Li Published at : Abstract : eMEGAsim and eDRIVEsim Product Information & Simulation Application Examples |
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May 2009 |
Real-Time Simulation of HVDC Systems with eMEGAsim Authors : Jean Bélanger, Jean-Nicolas Paquin, Wei Li Published at : Abstract : This document provides users with benchmark models to evaluate the OPAL-RT Technologies system configuration needed to develop research models for the following three HVDC transmission systems: • Bipolar HVDC model, •... |
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Jan 2009 |
REAL-TIME PLATFORM FOR THE CONTROL PROTOTYPING AND SIMULATION OF POWER ELECTRONICS AND MOTOR DRIVES Authors : Jean Bélanger, Simon Abourida Published at : Abstract : The paper presents state-of-the-art technologies and platform for real-time simulation and control of motor drives, power converters and power systems. Through its support for Model-Based Design method with Simulink®,... |
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May 2006 |
Hardware-In-the-Loop Simulation of Finite-Element Based Motor Drives with RT-LAB and JMAG Authors : Jean Bélanger, Simon Abourida, Takashi Yamada, Tomoyuki Arasawa Published at : 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... |
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Feb 2006 |
FPGA-Based Real-Time Simulation of Permanent Magnet Synchronous Motor Drive for Vehicular Applications Authors : Christian Dufour Published at : 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... |
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Dec 2005 |
RT-LAB Real Time Simulation of Electric Drives and Systems Authors : Christian Dufour, Girish Nanjundaiah, Jean Bélanger, Simon Abourida Published at : 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... |
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Nov 2005 |
Real-Time Simulation of PEM-Based Fuel-Cell Hybrid Electric Vehicles Authors : Christian Dufour, Tuhin K. Das Published at : 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... |
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Nov 2005 |
Real-Time Digital Simulation and Control Laboratory for Distributed Power Electronic Generation and Distribution Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Sep 2005 |
Real-Time Simulation of Matrix Converter Drives Authors : Christian Dufour, Lixiang Wei, Thomas A. Lipo Published at : 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... |
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May 2005 |
Real-time Simulation of a 48-Pulse GTO STATCOM Compensated Power System on a Dual-Xeon PC using RT-LAB Authors : Christian Dufour, Jean Bélanger Published at : 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... |
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Apr 2005 |
Real-Time and Hardware-in-the-Loop Simulation of Electric Drives and Power Electronics: Process, Problems and Solutions Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Sep 2004 |
Real-Time Simulation of Doubly Fed Induction Generator for Wind Turbine Applications Authors : Christian Dufour, Jean Bélanger Published at : 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... |
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Sep 2003 |
Real-Time Simulation of Switched Reluctance Motor Drives Authors : Mark Ehsani, Simon Abourida Published at : 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... |
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Dec 2002 |
Real-time Simulation of Electrical Vehicle Motor Drives on a PC Cluster Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Jun 2002 |
Accurate Simulation of a 6-Pulse Inverter with Real-Time Event Compensation in ARTEMIS Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Mar 2002 |
Real-Time PC-Based Simulator of Electric Systems and Drives Authors : Simon Abourida Published at : 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. |
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Feb 2002 |
Real-Time PC-Based Simulator of Electric Systems and Drives Authors : Biao Yu, Christian Dufour, Guillaume Murere, Jean Bélanger, Nicolas Léchevin, Simon Abourida Published at : 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-... |
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Sep 2001 |
Accurate Real-Time Simulation of AC Inverter with Switching Event Compensation in ARTEMIS Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Sep 2001 |
Accurate Real-Time Simulation of Static-Var Compensator with Switching Events Compensation using ARTEMIS Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Sep 2001 |
Real-Time Closed-Loop Control of a 6-Pulse Rectifier with Switching-Event Compensation in Artemis Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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Sep 2001 |
Accurate Simulation of Thyristor Controlled Reactor with Switching Event Compensation in ARTEMIS Authors : Christian Dufour, Jean Bélanger, Simon Abourida Published at : 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... |
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May 2001 |
ARTEMIS Practical Advantages Authors : Simon Abourida Published at : 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. |
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May 2001 |
The Artemis Plug-in Improves the Accuracy of the Power System Under PSB/ARTEMIS/RT-LAB Authors : Guillaume Murere, Jean Bélanger, Nicolas Léchevin Published at : 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 ‘... |
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Nov 2000 |
Real-Time Simulation of Averaged Models of Power Converters Part 2 Authors : Guillaume Murere, Jean Bélanger, Nicolas Léchevin Published at : 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... |
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Nov 2000 |
Real-Time Simulation of Averaged Models of Power Converters Part 3 Authors : Guillaume Murere, Jean Bélanger, Nicolas Léchevin Published at : 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... |
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Oct 2000 |
Real-Time Simulation of Averaged Models of Power Converters, Part. 1 Authors : Guillaume Murere, Jean Bélanger, Nicolas Léchevin Published at : 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. |
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Sep 2000 |
Simulation of Kundur’s Four-Machine, Two-Area Power System Under PSB/ARTEMIS/RT-LAB Authors : Guillaume Murere, Jean Bélanger, Nicolas Léchevin Published at : 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... |





















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