.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "examples/plot_3kw_bsyrm_current_based.py" .. LINE NUMBERS ARE GIVEN BELOW. .. only:: html .. note:: :class: sphx-glr-download-link-note :ref:`Go to the end ` to download the full example code. .. rst-class:: sphx-glr-example-title .. _sphx_glr_examples_plot_3kw_bsyrm_current_based.py: 2.6-kW bearingless SyRM, current-based force control ==================================================== This example simulates current-based radial force control of a 2.6-kW six-phase bearingless synchronous reluctance machine (SyRM) drive, in the same operating sequence as in the direct force control example. The four-pole plane is controlled by the sensorless current-vector controller of motulator, configured with the parameters of the equivalent three-phase machine. The radial force reference is converted to the current reference of the two-pole plane using the linear force model [#Sok2019]_, and the current is controlled in the coordinates of the vector controller. This is the classical approach to bearingless control [#Chi2005]_, in which the force is controlled via the currents instead of directly. The machine and the controller use the same constant parameters. .. GENERATED FROM PYTHON SOURCE LINES 19-25 .. code-block:: Python from math import pi import numpy as np from motulator_bearingless import control, model, utils .. GENERATED FROM PYTHON SOURCE LINES 26-27 Compute base values based on the nominal values (just for figures). .. GENERATED FROM PYTHON SOURCE LINES 27-31 .. code-block:: Python nom = utils.NominalValues(U=220, I=12, f=50, P=2.6e3, tau=14.5) base = utils.BaseValues.from_nominal(nom, n_p=2) .. GENERATED FROM PYTHON SOURCE LINES 32-33 Configure the system model, see the direct force control example. .. GENERATED FROM PYTHON SOURCE LINES 33-45 .. code-block:: Python par = model.BearinglessSynchronousMachinePars( R_s=0.215, L_1=0.03, L_d=0.03, L_q=0.01, m_d=10.0, m_q=0.2 ) machine = model.BearinglessSynchronousMachine(par) w_M_rated = 2 * pi * 1700 / 60 k = nom.tau / w_M_rated**2 # Quadratic load torque, rated torque at the rated speed mechanics = model.MechanicalSystem(J=0.05, B_L=lambda w_M: k * abs(w_M)) radial = model.ExternalRotorPosition() converter = model.MultiThreePhaseConverter(u_dc=540) mdl = model.BearinglessDrive(machine, mechanics, radial, converter) .. GENERATED FROM PYTHON SOURCE LINES 46-51 Configure the control system. The vector controller of the four-pole plane uses the parameters of the equivalent three-phase machine, whose current is the sum of the set currents, i.e., twice the current of the four-pole plane. The minimum flux is the bias flux needed for the force production. The force controller limits the current of the two-pole plane. .. GENERATED FROM PYTHON SOURCE LINES 51-67 .. code-block:: Python par_s2 = utils.fourpole_pars(par) cfg = control.CurrentVectorControllerCfg( i_s_max=2 * 1.5 * base.i, psi_s_min=0.3, alpha_c=2 * pi * 200, sensorless=True, T_s=125e-6, ) vector_ctrl = control.CurrentVectorController(par_s2, cfg) force_ctrl = control.CurrentBasedForceController( par, alpha_c=2 * pi * 200, i_s1_max=0.5 * base.i ) speed_ctrl = control.SpeedController(J=0.05, alpha_s=2 * pi * 4) ctrl = control.CurrentBasedForceControlSystem(vector_ctrl, force_ctrl, speed_ctrl) .. GENERATED FROM PYTHON SOURCE LINES 68-69 Set the speed and force references as in the direct force control example. .. GENERATED FROM PYTHON SOURCE LINES 69-73 .. code-block:: Python ctrl.set_speed_ref(lambda t: min(max(t - 0.2, 0) / 0.6, 1) * w_M_rated) ctrl.set_force_ref(lambda t: (t > 0.4) * 100 + 1j * (t > 0.6) * 150) .. GENERATED FROM PYTHON SOURCE LINES 74-77 Create the simulation object, simulate, and plot the results. The two-pole current is shown in the coordinates of the vector controller, where it is constant in the steady state. .. GENERATED FROM PYTHON SOURCE LINES 77-83 .. code-block:: Python sim = model.Simulation(mdl, ctrl) res = sim.simulate(t_stop=1.2) i_lims = (-1.0, 0.95) # Room for the legends utils.plot(res, base, y_lims=[None, None, None, None, i_lims]) .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_current_based_001.png :alt: plot 3kw bsyrm current based :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_current_based_001.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 84-87 Plot the force steps. At a constant four-pole current, the force is proportional to the two-pole current, so that it follows its reference with the dynamics of the current control of the two-pole plane. .. GENERATED FROM PYTHON SOURCE LINES 87-92 .. code-block:: Python y_lims = [(-20.0, 260.0), i_lims] # Room for the legends utils.plot(res, base, ["force", "current"], t_lims=(0.35, 0.65), y_lims=y_lims) print("Force at the end (N):", np.round(res.mdl.machine.f_M_ab[-1], 1)) .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_current_based_002.png :alt: plot 3kw bsyrm current based :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_current_based_002.png :class: sphx-glr-single-img .. rst-class:: sphx-glr-script-out .. code-block:: none Force at the end (N): (100+150j) .. GENERATED FROM PYTHON SOURCE LINES 93-102 .. rubric:: References .. [#Sok2019] Sokolov, Gruber, Saarakkala, Hinkkanen, "Modeling of a bearingless synchronous reluctance motor with combined windings," Proc. IEEE ECCE, 2019, https://doi.org/10.1109/ECCE.2019.8913000 .. [#Chi2005] Chiba, Fukao, Ichikawa, Oshima, Takemoto, Dorrell, "Magnetic bearings and bearingless drives," Newnes, 2005, https://doi.org/10.1016/B978-0-7506-5727-3.X5000-7 .. rst-class:: sphx-glr-timing **Total running time of the script:** (0 minutes 18.069 seconds) .. _sphx_glr_download_examples_plot_3kw_bsyrm_current_based.py: .. only:: html .. container:: sphx-glr-footer sphx-glr-footer-example .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: plot_3kw_bsyrm_current_based.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_3kw_bsyrm_current_based.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_3kw_bsyrm_current_based.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_