## 5 RT Real-Time Simulation and Experimental Validation
### RT Real-Time Simulation Results  
The RT lab as a real-time simulation tool for prototyping the control system is utilized for verifying the effectiveness of the proposed sensorless control approach. Hardware in the loop RT is referring to the simulations which are executed in real-time and the time needed by the whole procedure (sending the output signals, computation time and reading the input signals,) is in parts of microseconds. The Opal real-time (RT) simulator is made of software and hardware components. The hardware is made of a command station and a target node which represents the CPU cluster with multi-core quick processors running on real-time environments like QNX or Red Hawk [49]. Meanwhile, the command unit is either a Red hawk PC or a Windows-based interface between the target node and the user. It is utilized to build the concerned model for real time implementation and to monitor the execution and compilation of simulations. The target node used to simulate the specified scheme in real time uses the modular IO module OP5142, which uses the FPGA (Xilinx Spartan-3) processor. It is \begin{table}
\begin{tabular}{c c c} \hline \hline
**Symbols** & **Quantity** & **Value** \\ \hline \(R_{\text{s}}\) & Rotor resistance & 2.4 \(\Omega\) \\ \(R_{\text{s}}\) & Stator resistance & 2.8 \(\Omega\) \\ \(L_{\text{r}}\) & Rotor inductance & 0.2388 H \\ \(L_{\text{s}}\) & Stator inductance & 0.2388 H \\ \(L_{\text{ls}}\) & Stator leakage inductance & 0.0088 H \\ \(L_{\text{lr}}\) & Rotor leakage inductance & 0.0088 H \\ \(L_{m}\) & Mutual inductance & 0.23 H \\ \(P\) & Pair of Pole & 2 \\ \(N\) & Rated speed & 1000 RPM \\ \(Tn\) & Rated torque & 4 N\(\cdot\)m \\ \(J\) & Inertia moment & 0.008 kg\(\cdot\)m\({}^{2}\) \\ \(Pn\) & Rated Power & 1 kW \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Motor data. \begin{table}
\begin{tabular}{c c} \hline \hline
**Symbols** & **Value** \\ \hline \(\gamma_{1}\) & 100 \\ \(\gamma_{2}\) & 100 \\ \(g_{1}\) & 50 \\ \(g_{2}\) & 50 \\ \(\delta_{1}\) & 150 \\ \(\delta_{2}\) & 150 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Sliding mode adaptive observer parameters. mounted to the rear side of the Wanda 4U chassis IO module. The OP5142 provides access to four (4) 4U optical and/or analog I/O modules for conditioning. The processing speed of this module is 100 MHz. Figure 2 provides a view of real-time Opal-RT simulator. The proposed control topology is tested using real-time Opal-RT simulator for a 4-pole, 1 kW five-phase IM with a rated torque of 4 Nm. The simulation is performed to test the feasibility of the proposed observer while implementing the indirect rotor-field orientation (IRFO) control and investigating the speed tracking performance. The results are illustrated in Figure 3a-g. The motor started running with its nominal speed and then the speed is reversed, keeping the rotor resistance value \(R_{m}=2.4\). Then, the value of \(R_{r}\) is increased and set to \(R_{r}=1.5*R_{m}\) (This is to investigate the robustness of the proposed SMO against the parameters change.). Figure 3a,b presents the speed response (observed and reference) and electromagnetic torque. The estimated speed signal is tracking effectively its reference value with minimum error. Figure 3c-e presents the actual and observed stator currents, and through these figures, the validity of the proposed SMO in achieving a precise estimation is confirmed. Figure 3d illustrates the reference and observed rotor flux. It is obvious that the observed flux tracks its reference very well even under the variation of the rotor resistance value. The estimated and the actual rotor resistance are also presented in Figure 3f,g. It is noticed that the estimated value is very close to the actual value, and thus one can say that the proposed observer is giving proper results. From these results, it can be concluded that the controller is exhibiting a robust dynamic performance.