# motulator-export

*motulator-export* turns drive systems and grid converter systems built in [*motulator*](https://aalto-electric-drives.github.io/motulator/) into ready-to-run [PLECS](https://www.plexim.com/products/plecs) and [Simulink](https://www.mathworks.com/products/simulink.html) models, and simulates them natively in C. Build the system in *motulator* as usual, then:

```python
from motulator_export import native, plecs, simulink

plecs.write_model("drive.plecs", mdl, ctrl, t_stop=1.2)  # PLECS model
simulink.write_model("drive.slx", mdl, ctrl, t_stop=1.2)  # Simulink model
res = native.Simulation(mdl, ctrl).simulate(t_stop=1.2)  # Native simulation
```

```{image} images/plecs_drive.png
---
target: _images/plecs_drive.png
alt: PLECS model of a 2.2-kW IPMSM drive
class: only-light
---
```

```{image} images/plecs_drive_black.png
---
target: _images/plecs_drive_black.png
alt: PLECS model of a 2.2-kW IPMSM drive
class: only-dark
---
```

*PLECS model of a 2.2-kW IPMSM drive with sensorless flux-vector control.*

- **One control code everywhere.** The control algorithms of *motulator* are ported to C. The same code runs in PLECS, in Simulink, and in the native simulation.
- **The structure of *motulator*.** Each class of the control system is a masked block with the arguments of its class, nested as in *motulator*. The parameters are set as in a *motulator* script, and they can be changed without Python.
- **Verified.** The PLECS and Simulink models agree with *motulator* to about 1e-6 relative to the signal magnitudes, and the native simulation to the rounding errors.
- **Fast.** The native simulation is 30 to 40 times faster than *motulator*, which is useful, e.g., for parameter sweeps.

To start, see [Getting started](guide/getting_started.md). The user guide then covers the [PLECS models](guide/plecs.md), the [Simulink models](guide/simulink.md), and the [native simulation](guide/native.md).

```{note}
The package supports *motulator* 0.16. A new release of *motulator* is supported after it has been tested.
```

```{toctree}
---
hidden:
titlesonly:
caption: User guide
maxdepth: 1
---
guide/getting_started
guide/plecs
guide/simulink
guide/native
guide/supported
```

```{toctree}
---
hidden:
titlesonly:
caption: Examples
maxdepth: 1
---
examples/index
```

```{toctree}
---
hidden:
titlesonly:
caption: Reference
maxdepth: 1
---
API <autoapi/motulator_export/index>
guide/development
motulator <https://aalto-electric-drives.github.io/motulator/>
```