.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "examples/plot_3kw_bsyrm_dfc_comparison.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_dfc_comparison.py: 2.6-kW bearingless SyRM, comparison of control models in force control ====================================================================== This example compares two parametrizations of the direct force controller [#Das2026]_ of a 2.6-kW six-phase bearingless synchronous reluctance machine (SyRM). The machine model is a GradNet current map with the spatial harmonics. The controller uses either constant parameters, computed at the rated peak current, or a GradNet flux map, which includes saturation and the unbalanced magnetic pull. The rotor runs at the rated speed, driven externally, and it is held at a fixed radial position. After magnetization, the radial force references are applied, followed by a torque reference step. .. GENERATED FROM PYTHON SOURCE LINES 16-24 .. code-block:: Python from math import pi from pathlib import Path import numpy as np import motulator_bearingless.gradnet as gn from motulator_bearingless import control, model, utils .. GENERATED FROM PYTHON SOURCE LINES 25-26 Compute base values based on the nominal values (just for figures). .. GENERATED FROM PYTHON SOURCE LINES 26-30 .. 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 31-32 Load the magnetic models and compute the constant parameters from the flux map. .. GENERATED FROM PYTHON SOURCE LINES 32-47 .. code-block:: Python p = Path(__file__).resolve().parent if "__file__" in globals() else Path.cwd() R_s = 0.215 # Stator resistance from [#Das2026]_ path = "trained_models/bsyrm_fem_curr_map_harm_softmax_d128.npz" current_map = gn.CurrentMapWithHarmonics(gn.load_gradnet(p / path)) par = model.SpatialSaturatedBearinglessSynchronousMachinePars(R_s, current_map) path = "trained_models/bsyrm_fem_flux_map_softmax_d128.npz" est_flux_map = gn.FluxMap(gn.load_gradnet(p / path)) est_par = control.SaturatedBearinglessSynchronousMachinePars( R_s, psi_s_fcn=est_flux_map ) est_par_lin = est_par.linearized(12 + 12j) print(est_par_lin) .. rst-class:: sphx-glr-script-out .. code-block:: none BearinglessSynchronousMachinePars(R_s=0.215, L_1=0.021501361436779196, L_d=0.03010432806595612, L_q=0.007563175729237954, m_d=11.346180847731612, m_q=-0.21198113390961698) .. GENERATED FROM PYTHON SOURCE LINES 48-49 Configure the simulation, a static displacement as in [#Das2026]_. .. GENERATED FROM PYTHON SOURCE LINES 49-80 .. code-block:: Python w_M_rated = 2 * pi * 1700 / 60 q_M = 30e-6 - 20e-6j def simulate(par_c: control.BearinglessMagneticModel): """Simulate the drive with the given control model.""" machine = model.BearinglessSynchronousMachine(par) mechanics = model.ExternalRotorSpeed() mechanics.set_external_rotor_speed(w_M_rated) radial = model.ExternalRotorPosition() radial.set_external_displacement(q_M) converter = model.MultiThreePhaseConverter(u_dc=540) sensors = model.BearinglessDriveSensors(w_M=model.Sensor(), theta_M=model.Sensor()) mdl = model.BearinglessDrive(machine, mechanics, radial, converter, sensors) cfg = control.DirectForceControllerCfg(i_s_max=25.5, psi_s_min=0.4) ctrl = control.DirectForceControlSystem(control.DirectForceController(par_c, cfg)) ctrl.set_torque_ref(lambda t: (t > 0.35) * 0.7 * nom.tau) ctrl.set_force_ref(lambda t: (t > 0.15) * 100 + 1j * (t > 0.25) * 150) return model.Simulation(mdl, ctrl).simulate(t_stop=0.5) res_lin = simulate(est_par_lin) res_map = simulate(est_par) for name, res in (("Constant parameters", res_lin), ("Flux map", res_map)): mask = res.mdl.t > 0.42 print( f"{name}: mean force {np.mean(res.mdl.machine.f_M_ab[mask]):.1f} N, " f"mean torque {np.mean(res.mdl.machine.tau_M[mask]):.2f} Nm" ) .. rst-class:: sphx-glr-script-out .. code-block:: none Constant parameters: mean force 263.9+53.6j N, mean torque 10.06 Nm Flux map: mean force 106.7+152.4j N, mean torque 10.25 Nm .. GENERATED FROM PYTHON SOURCE LINES 81-85 Plot the results of the constant-parameter controller. Its force estimate omits the unbalanced magnetic pull, whose force at this displacement is of the same order as the force reference. Since the force is not measured, the error remains in the steady state. .. GENERATED FROM PYTHON SOURCE LINES 85-89 .. code-block:: Python y_lims = [(-0.1, 1.0), (-500.0, 450.0)] # Same scales, room for the legends utils.plot(res_lin, base, ["torque", "force"], y_lims=y_lims) .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_comparison_001.png :alt: plot 3kw bsyrm dfc comparison :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_comparison_001.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 90-92 Plot the results of the flux-map controller. The force estimate includes the pull, and the ripple comes from the spatial harmonics of the machine model. .. GENERATED FROM PYTHON SOURCE LINES 92-95 .. code-block:: Python utils.plot(res_map, base, ["torque", "force"], y_lims=y_lims) .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_comparison_002.png :alt: plot 3kw bsyrm dfc comparison :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_comparison_002.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 96-101 .. rubric:: References .. [#Das2026] Das, Martin, Kontodinas, Hinkkanen, "Direct force control of six-phase bearingless synchronous machines," Proc. ICEM, 2026, https://doi.org/10.1109/ICEM68283.2026.11757980 .. rst-class:: sphx-glr-timing **Total running time of the script:** (0 minutes 21.251 seconds) .. _sphx_glr_download_examples_plot_3kw_bsyrm_dfc_comparison.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_dfc_comparison.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_3kw_bsyrm_dfc_comparison.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_3kw_bsyrm_dfc_comparison.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_