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RTS OPERATIONS

4.1 Starting and Running the Software

  • To start the Real Time System (RTS) software, locate the application icon on your desktop or in the installation directory and double-click to launch it.

  • Upon launching, the software may initialize and load any necessary components. This process might take a few moments depending on the complexity of the software and the specifications of your system.

  • Once the software is running, you will typically be presented with a user interface where you can interact with different features and functionalities provided by the RTS software.

  • Depending on the specific application, you may need to configure settings, load data, or initiate specific tasks to start utilizing the software for real-time control or data processing purposes.

4.2 Stopping the Software

  • To stop the RTS software, you can usually close the application window by clicking on the close button (represented by an off button the top-right corner of the window).

  • Alternatively, some RTS software may have a specific "Exit" option within the application menu. You can use this option to gracefully shut down the software.

  • It's essential to properly stop the software to ensure that any ongoing processes are terminated safely, and any unsaved data or configurations are preserved.

4.3 Integration with MATLAB

  • Many RTS software packages offer integration with MATLAB, a widely used platform for numerical computing and data analysis.

  • Integration with MATLAB allows users to leverage the powerful computational capabilities of MATLAB alongside the real-time control or data processing functionalities provided by the RTS software.

  • Typically, integration with MATLAB involves establishing communication channels or interfaces between the two software systems.

  • Users can then utilize MATLAB scripts or functions to interact with the RTS software, exchange data, perform analysis, or implement control algorithms in real-time.

The chapter offers a comprehensive overview of an RTS application (APP) integrated with MATLAB encompassing its functionality, environmental requirements, scope variables, graphical user interface (GUI), and operational procedures. It discusses the crucial environmental variables needed for seamless operation, along with scope variables defining its functionalities. Detailed descriptions and visual aids are provided for the GUI, facilitating user-friendly interactions. Additionally, step-by-step operating procedures are outlined, ensuring users can effectively utilize the application to meet their objectives.

To initiate the operation of the RTS application, please follow the steps outlined below:

1. Install MATLAB/OCTAVE: Ensure that you have MATLAB/OCTAVE version 2020 or above installed on your system to execute the software.

2. Install RTS Software: Follow the instructions provided in Chapter 3 to install the RTS software correctly.

3. Create MATLAB Workspace: Open MATLAB and create a workspace to manage your projects effectively.

4. Set Up Workspace: Place your current project in the "rts_workspace" folder and open it in the current folder of MATLAB.

5. Set Sampling Time (Ts): Define the sampling time (Ts=50e-6) in the workspace as per your requirements.

6. Simulation Template: Use the provided Simulation template "Ex.slx" along with the RTS package to create your model.

7. Model Configuration: Ensure that your RTS simulation model consists of one set each of RTS ENV, Signal to RTS scope, RTS variable, and Scope interface. Avoid using multiple sets of these components.

8. Model Creation: Develop the simulation model according to the user's requirements. Utilize discrete models of commonly used MATLAB library blocks. Generate Code: Once the model is created, run it to generate code by clicking the "Generate Code" button in the C Code tab.

10. Error Handling: Any errors in the model will be reflected in the comments. Common errors may arise from continuous blocks, signal conversion, or mismatches due to non-multiples of the sampling time (Ts).

11. Flash RTS ENV: If the code is generated properly, double click on RTS ENV and flash it. Successful completion will be indicated in the command window.

12. Signal Scope Configuration: Add RTS Scope to the signal through the Scope interface. Note that a scope interface can support a maximum of 32 input signals.

4.5 nimēṣa App Functioning

The nimēṣa RTS App is specifically designed to provide signal visualization capabilities when access to an oscilloscope is limited and offering ease of operations for the RTS controller. This integrated application seamlessly integrates into your system environment. Unlike standalone apps, it functions within the context of your existing MATLAB installation, further enhancing its utility. Chapter 3 outlines the straightforward process for installing the RTS App with MATLAB, ensuring a smooth setup experience. Below are the fundamental steps highlighting the functionality of the RTS App.

  • Establish LAN Connection: Connect the nimēṣa RTS Controller to the host PC where MATLAB RTS library is installed via LAN connection.

  • Model Creation: Create the desired model within MATLAB or OCTAVE environment using RTS library fucntions.

  • Library Closure: Once the model is created, close the library to streamline the process.

  • Signal Connection: Connect the signals with the 'SCOPE INTERFACE' bar using the 'CONVERTER' available in the RTS Library ('Data Type Conversion Is Available in RTS Library ‘To Scope Interface’), and then link it to 'SIGNAL TO RTS SCOPE'.

  • Data Type Converter Usage: Utilize Data Type Converters available for DAC and PWM in the RTS Library for efficient signal processing.

  • Signal Configuration: Ensure that the number of signals in the 'SCOPE INTERFACE' matches the number of signals in 'SIGNAL TO RTS SCOPE'.

  • Signal Naming: Appropriately name the signals as it will be reflected throughout the application.

  • RTS Simulation Saving: Save the nimēṣa RTS simulation model for further operation once completed.

  • Code Generation/Flashing: Generate code and flash it for implementation by clicking the “Generate code button”. Verify successful execution which will be visible in the right side of the window.

  • Open nimēṣa RTS App: Access the RTS app from the MATLAB environment under APP tab.

  • Signal Refresh: Press 'REFRESH' to update all scope signals in the 'select signal label'.

  • Scope Configuration: ‘Open new scope’ and place the signals with respective colours for better visualizations in scope window.

  • Scope Activation: Click the “CLEAR” and turn on the “SCOPE” button and then click the “CONNECT” button on the Right upper corner of the APP. After connect click host pc will be connected to hardware and ready for signal processing.

  • Execution: Run the application, and observe the visualization of signals in nimēṣa RTS scopes along with connected oscilloscope with hardware. Following are the screenshot diagrams for verifying the above process. Follow the below steps.

1. Go to base MATLAB. In APPS tap open nimēṣa RTS APP.

2. Refresh the RTS app to clear the old data in the app and load the new selection made in MATLAB Model. Now all the required signals reflect in ‘Select Signal’ field.

3. Click on “Open New Scope” button and Name it accordingly. Add the selected signal to scope ‘Add to Scope’

4. ‘Connect’ and ‘RUN’. Connect will connect the software to hardware setup and RUN button command will run the hardware through software.

4.6 PWM Configuration and Working

1. PWM OUTPUT Port

Within the RTS Simulink Library, there's an integrated feature called Quad PWM, which serves as a fundamental aspect of the system. Quad PWM, short for Quadruple Pulse Width Modulation, involves the utilization of four PWM (Pulse Width Modulation) signals to exert control. This functionality is particularly useful in scenarios where precise control over multiple parameters or devices is required.

In the context of RTS (Real Time System) hardware, Quad PWM holds significant importance. It's not just a software-based simulation; it's also implemented in the hardware itself. This means that the RTS Hardware is capable of generating and handling two distinct groups of Quad PWM signals. Each group comprises four PWM signals, effectively allowing for the control of eight different parameters or devices simultaneously.

By enabling Quad PWM from the RTS variable, users can tap into this advanced functionality seamlessly. Whether it's for managing motor speeds, regulating power outputs, or any other application requiring nuanced control, Quad PWM offers a versatile solution. Its integration into both the Simulink Library and the RTS Hardware underscores its importance in facilitating sophisticated control mechanisms within real-time systems.Following diagrams include the steps involve in the configuration of the PWM for the RTS Controller:

in Figure 26, PWM pulses are generated from three sine waves. In this example, three variables externally control the frequency, magnitude, and enablement of PWM. The magnitude and frequency of the sine waves are adjusted externally via RTS variable-1 and RTS variable-2. Additionally, RTS variable-3 controls the external enabling and disabling of the Quad PWM. Intermittent signals can be observed through the scope interface and RTS scope.

2. Three Phase PWM Functioning

Below diagrams are for the three-phase configuration of PWM and its working:

In the closed-loop control of an inverter, several essential steps are involved:

1.Sensing:

The first step involves sensing phase voltages and line currents from the hardware. This is crucial for understanding the current state of the system.

2.Transformation:

After sensing, the data typically undergoes various transformations to prepare it for the control system. These transformations may include conversions to different coordinate systems or representations to facilitate easier control.

3.Control Action:

In this phase, controllers are designed to regulate both current and voltage. Current controllers ensure that the output current of the inverter aligns with the desired reference values, while voltage controllers maintain the desired voltage levels.

4.PWM Generation:

Once the control actions are determined, PWM (Pulse Width Modulation) signals are generated for the switches in the inverter. PWM signals control the switching of the inverter's power devices to achieve the desired output. These steps collectively form the closed-loop control process of an inverter, ensuring that it operates efficiently and effectively within the desired parameters. Some of the important steps are depicted in following figures:

Figure 30, illustrates the connection of sensor data to the RTS Matlab Simulink environment. Specifically:

  • ADCs 1, 2, and 3 are responsible for sensing the phase voltages Va, Vb, and Vc, respectively.
  • ADC 4 is dedicated to sensing the DC link voltage Vdc.
  • ADCs 5, 6, and 7 are utilized for sensing the line currents Ia, Ib, and Ic, respectively.

These sensed signals can be visualized and monitored through the RTS scope via the scope interface, providing a comprehensive view of the system's electrical parameters.

4.7 ADC/DAC Configuration and Working

nimēṣa RTS features a 16-bit ADC(Analog-to-Digital Converter) port for analog input and a 16-bit DAC (Digital-to-Analog Converter) port for analog output. Here's a detailed breakdown of how to test and utilize these ports effectively:

1. Signal Application and Conversion:

  • Apply a signal to any pin of the ADC port for testing purposes.
  • After conversion, assign this converted signal to a pin of the DAC output.
  • This process ensures that the same signal received at the ADC input is accurately reproduced at the DAC output.

2. Signal Flexibility:

  • Signals can be applied to any pin of the ADC and retrieved from any pin of the DAC.
  • This flexibility allows for versatile testing and integration scenarios, catering to various application requirements.

3. Sensor Integration:

  • Analog outputs from current and voltage sensors can be seamlessly connected to the ADC port.
  • This enables the RTS system to interface with external sensors, facilitating real-time data acquisition and processing.

4. Bit Selection in MATLAB Simulation:

  • In MATLAB simulation, users have the capability to select a particular bit of the ADC or DAC for testing and analysis.
  • This granular control ensures precise manipulation and monitoring of signals, enhancing the accuracy and reliability of the testing process.

4.8 GPIOS Configuration and Working

The General-Purpose Input/output (GPIO) digital ports in nimēṣa RTS serve as essential communication channels between the RTS system and external devices or sensors. Following is their purpose and functionality:

1. Communication Interface:

  • GPIO ports act as bridges between the nimēṣa RTS hardware and external devices or sensors,enabling seamless communication.
  • These ports are versatile and can be utilized for various general-purpose tasks, adapting to different application needs.

Bidirectional Configuration:

  • GPIO ports can be configured as either inputs or outputs, providing flexibility in handling digital signals.
  • When configured as inputs, GPIO ports can detect and read the state of external switches, sensors, or other devices.
  • They respond accordingly based on the input received, allowing the RTS system to react to external stimuli.
  • When configured as outputs, GPIO ports can send digital signals to control external devices such as LEDs, motors, or relays.
  • This capability enables the RTS system to actively control and manipulate external components as required.

3. Hardware Availability:

  • nimēṣa RTS hardware features two dedicated 8-bits GPIO ports labelled GPIO-1 and GPIO-2, offering direct access for communication with external devices.
  • These GPIO ports can also be used to provide additional PWM (Pulse Width Modulation) or control signals, enhancing the system's functionality.
  • Users can select specific ports or pins of the nimēṣa RTS hardware within MATLAB Simulink, enabling precise configuration and control.
  • This integration facilitates seamless interaction between the RTS system and the simulation environment, ensuring efficient operation.

4.9 Robotics Port (RBT) Configuration And Working

The nimēṣa RTS offers a specialized Robotics Port (RBT) with high resolution and capability, specifically designed for controlling Stepper Motors and Digital Servo Motors commonly employed in robotics applications. Here's a detailed explanation of its functionalities:

1. High-Resolution Robotics Port (RBT):

  • The Robotics Port (RBT) provided by nimēṣa RTS boasts high resolution and advanced capabilities,tailored specifically for robotics applications.

2. Control of Stepper Motors and Digital Servo Motors:

  • The RBT is primarily utilized for controlling Stepper Motors and Digital Servo Motors, which are essential components frequently employed in robotics systems.

Digital Servo Motor Control:

  • Eight channels within the Robotics Port are allocated for driving Digital Servo Motors.
  • These channels enable the RTS system to exert fine control over the position, speed, andtorque of Digital Servo Motors, crucial for executing precise movements in robotic systems.

Stepper Motor Analog Drive:

  • Additionally, the Robotics Port facilitates analogue drive for Stepper Motors, accommodating two axes and eight channels.
  • This configuration allows the RTS system to regulate the step sequence and speed of Stepper Motors, facilitating smooth and accurate motion control in robotic applications.

3. Enhanced Robotics Control:

  • By leveraging the Robotics Port (RBT) SScapabilities, users can achieve precise and responsive control over Stepper Motors and Digital Servo Motors, essential for executing complex robotics tasks with accuracy and efficiency.

4.10 Daisy Module Configuration

Daisy connection serves as an efficient method for linking multiple external hardware devices to a single Real-Time System (RTS) controller. This approach offers several advantages including simplified wiring processes and reduced cable clutter, leading to cost savings and streamlined installation procedures. In power electronics applications, daisy networks play a crucial role in enabling centralized control over various interconnected devices.

1. Daisy Connection:

  • Devices are interconnected in a chain-like fashion, forming a network where each device is linked to the next.
  • This connection method eliminates the need for individual cables from the RTS controller to each device, thereby reducing clutter and installation complexity.

2. Integration with nimēṣa RTS Controller:

  • The nimēṣa RTS controller features two USB ports specifically designed to enable daisy chain modules.
  • These USB ports are directly connected to compatible power electronics equipment, such as converters, inverters, sensors, and wireless power transfer kits (WPT).

3. Communication via USB Cables:

  • With the USB ports on the RTS controller, communication between devices within the daisy network is facilitated through USB cables.
  • This eliminates the need for separate SMA wires and other port connections, simplifying the setup and ensuring efficient communication between devices.

4. Device Connectivity and Control:

  • Each power electronics device within the daisy network acts as a router for signals from the RTS controller.
  • This enables seamless communication between devices, allowing for centralized control and coordination from the RTS controller.
  • Devices such as converters, inverters, MG inverter kits, sensors, and WPT kits can be interconnected within the network, enabling comprehensive control over various power electronics components.

5. Cost and Installation Savings:

  • By utilizing daisy networks, the need for multiple cables is minimized, leading to cost savings on hardware and installation.
  • This streamlined approach simplifies the setup process and reduces the overall complexity of the system.

6. Supported External Power Electronics Modules:

The Daisy connection method supports various external power electronics modules, including:

  • RTS Inverter kit
  • MG (Micro grid) Inverter kit
  • Sensors
  • Converters
  • Wireless Power Transfer Kit (WPT)

By leveraging the Daisy Chain connection method, users can streamline the setup process, reduce costs, and enhance the overall efficiency of their power electronics systems. This innovative approach simplifies communication and ensures seamless integration between the RTS controller and external hardware devices.

4.10.1 Daisy Connection between RTS Controller and Power Electronic Converter

This section details the procedure to establish a daisy chain connection between the Real-Time System (RTS) controller and the Power Electronic Converter. By using just two USB connections, the system can achieve closed-loop control of the converter. This streamlined setup negates the need for additional connections for sensors or Pulse Width Modulation (PWM) signals, simplifying the integration process. is correctly configured, the devices will perform a handshake protocol. Successful handshaking, indicating proper communication and synchronization between the RTS controller and the converter, will be visually confirmed by an LED indicator. This LED will light up, providing a clear and immediate signal that the connection is operational and the system is ready for use.

Required Components:-

  • RTS Controller with daisy module
  • Power Electronic Converter (daisy enabled)
  • Two USB Cables
  • LED Indicator

Connection Procedure:-

1. Connect the USB Cables:

  • Take the first USB cable and connect one end to the USB port of the RTS controller.
  • Connect the other end of the first USB cable to the first USB port of the Power Electronic Converter.
  • Take the second USB cable and connect one end to another USB port on the RTS controller.
  • Connect the other end of the second USB cable to the second USB port of the Power Electronic Converter.

2. Power On the Devices:

  • Ensure that both the RTS controller and the Power Electronic Converter are properly powered on.

3. Initiate Handshaking:

  • The RTS controller will automatically start the handshaking process with the Power Electronic Converter upon establishing the connection.
  • Monitor the LED indicator for the handshaking status.

4. Check LED Indicator:

  • A successful handshaking process will be indicated by the LED glowing.
  • If the LED does not glow, check the connections and restart the devices to reinitiate the handshaking process.

5. LED Not Glowing:

  • Verify that both USB cables are securely connected.
  • Ensure both the RTS controller and the Power Electronic Converter are powered on.
  • Restart the handshaking process by resetting the devices.
  • Make sure the Straight USB cables are used provided with controller. Cross USB cables must be avoided.
  • If the issue persists consult the customer service.

6. Simulink Connection model For DC/DC Converter

In this case we need to add RTS_DAISY environment to enable daisy connections. Dedicated functional block is provided for DC-DC converter as below.

4.11 Integrating and Running External Devices

The nimēṣa RTS controller is equipped with four primary interfaces: DAC (Digital-to-Analog Converter), AD(Analog-to-Digital Converter), GPI (General Purpose Input/Output), and a special PWM (Pulse Width Modulation) interface. However, in addition to these interfaces, the hardware also features an External Module Interface. Here's an elaboration on this feature:

1. External Module Interface:

  • The External Module Interface is an additional communication channel integrated into the nimēṣa RTS controller hardware.
  • This interface enables seamless communication between the RTS controller and external compatible power electronics devices.

2. Supported External Modules:

  • The External Module Interface supports a range of external modules, with the primary one being the nimēṣa MicroGrid.
  • Additionally, various other external modules such as high-power DC-DC converters, inverters, DC-drives, solar emulators, wireless power transfer kits, and other renewable energy devices can also be directly interfaced with the nimēṣa RTS controller.

3. Direct Interfacing:

  • Through the External Module Interface, these external modules can communicate directly with the nimēṣa RTS controller, facilitating data exchange and control signals.
  • This direct interfacing streamlines the integration process and ensures efficient operation of the power electronics system.

4. Versatile Applications:

  • The ability to interface with a diverse range of external modules expands the versatility and applicability of the nimēṣa RTS controller.
  • Users can leverage this feature to integrate various power electronics devices and renewable energy systems into their real-time control applications.

5. Enhanced System Integration:

  • By providing compatibility with external modules, the nimēṣa RTS controller offers enhanced system integration capabilities, enabling comprehensive control and monitoring of complex power systems.