• electric powertrain
• field oriented control
• fpga
• hardware in the loop
• labview
• matlab
• model based design
• permanent magnet surface mounted
• pmsm
• simulink
• space vector pulse width modulation
• veristand
• virtual calibration

This work aims to develop a surface-mounted permanent magnet electric motor model for a two-wheeled scooter used as a plant in a Hardware in The Loop system. Models representing the components of the whole powertrain are created starting from the mathematical description of the entire system: the vehicle dynamics, thermal model and torque computation are implemented on Matlab/Simulink; the Digital Twin of the electric motor is implemented on FPGA through National Instrument LabVIEW. In this Digital Twin the three currents are calculated with the three phase output voltages from the inverter. The inverter is controlled through Field Oriented Control (FOC) and it is implemented on the MicroAutobox of Dspace, a real-time system for performing fast in-vehicle function prototyping. On Veristand each output of Simulink model is mapped to the inputs of the model on the FPGA and here all models can communicate. A CompactRIO (a real-time industrial integrated controller created by National Instruments) is equipped with Digital and Analog Input/Output modules used to simulate sensors (knob, temperature sensor) and acquire actuations (phase voltages from the inverter). Communication between Veristand and the cRIO takes place via ethernet cable while between the cRIO and microautobox via appropriately connected electrical wires. Virtual calibration and software validation activities have been carried out and allowed us to find out problems in the hardware currently used in a real vehicle.