.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "examples/plot_3kw_bsyrm_dfc_gradnet.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_gradnet.py: 2.6-kW bearingless SyRM, GradNet from FEM data, direct force control ==================================================================== This example simulates direct radial force control of a 2.6-kW six-phase bearingless synchronous reluctance machine (SyRM) drive, as in [#Das2026]_. The machine model is a GradNet current map trained on finite-element data, including magnetic saturation, the rotor displacement, and the spatial harmonics. The control system uses a GradNet flux map trained on the same data, the spatial harmonics being averaged over the rotor angle. The rotor speed and the rotor angle are measured, and the rotor is held at a fixed radial position by external bearings. .. 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 Configure the system model using the GradNet current map with spatial harmonics. .. GENERATED FROM PYTHON SOURCE LINES 32-49 .. 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) 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)) converter = model.MultiThreePhaseConverter(u_dc=540) radial = model.ExternalRotorPosition() radial.set_external_displacement(30e-6 - 20e-6j) sensors = model.BearinglessDriveSensors(w_M=model.Sensor(), theta_M=model.Sensor()) mdl = model.BearinglessDrive(machine, mechanics, radial, converter, sensors) .. GENERATED FROM PYTHON SOURCE LINES 50-51 Configure the control system using the GradNet flux map without spatial harmonics. .. GENERATED FROM PYTHON SOURCE LINES 51-63 .. code-block:: Python 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 ) cfg = control.DirectForceControllerCfg(i_s_max=1.5 * base.i, psi_s_min=0.4) force_ctrl = control.DirectForceController(est_par, cfg) speed_ctrl = control.SpeedController(J=0.05, alpha_s=2 * pi * 4) ctrl = control.DirectForceControlSystem(force_ctrl, speed_ctrl) .. GENERATED FROM PYTHON SOURCE LINES 64-65 Visualize the control loci of the four-pole plane. .. GENERATED FROM PYTHON SOURCE LINES 65-70 .. code-block:: Python mc = utils.MachineCharacteristics(utils.fourpole_pars(est_par)) mc.plot_current_loci([1, 1.5], base) mc.plot_flux_loci([1, 1.5], base) .. rst-class:: sphx-glr-horizontal * .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_001.png :alt: plot 3kw bsyrm dfc gradnet :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_001.png :class: sphx-glr-multi-img * .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_002.png :alt: plot 3kw bsyrm dfc gradnet :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_002.png :class: sphx-glr-multi-img .. GENERATED FROM PYTHON SOURCE LINES 71-75 Set the speed and force references. The machine is magnetized during the first 0.2 s, after which the rotor is accelerated to the rated speed of 1700 r/min in 0.6 s against the quadratic load torque. The radial force references of 100 N and 150 N, as in [#Das2026]_, are applied during the acceleration at t = 0.4 s and t = 0.6 s. .. GENERATED FROM PYTHON SOURCE LINES 75-79 .. 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 80-81 Create the simulation object, simulate, and plot the results. .. GENERATED FROM PYTHON SOURCE LINES 81-87 .. 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_dfc_gradnet_003.png :alt: plot 3kw bsyrm dfc gradnet :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_003.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 88-90 Plot the force steps. The ripple of the actual force and torque is caused by the spatial harmonics, which are not included in the control model. .. GENERATED FROM PYTHON SOURCE LINES 90-101 .. code-block:: Python y_lims = [(-0.05, 1.35), (-30.0, 320.0), i_lims] utils.plot( res, base, ["torque", "force", "current"], t_lims=(0.35, 0.95), y_lims=y_lims ) mask = res.mdl.t > 1 print( "Mean force in the steady state (N):", np.round(np.mean(res.mdl.machine.f_M_ab[mask]), 1), ) .. image-sg:: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_004.png :alt: plot 3kw bsyrm dfc gradnet :srcset: /examples/images/sphx_glr_plot_3kw_bsyrm_dfc_gradnet_004.png :class: sphx-glr-single-img .. rst-class:: sphx-glr-script-out .. code-block:: none Mean force in the steady state (N): (103.9+152.9j) .. GENERATED FROM PYTHON SOURCE LINES 102-107 .. 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 27.248 seconds) .. _sphx_glr_download_examples_plot_3kw_bsyrm_dfc_gradnet.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_gradnet.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_3kw_bsyrm_dfc_gradnet.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_3kw_bsyrm_dfc_gradnet.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_