.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "examples/plot_1kw_triple_three_phase_spmsm_cvc.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_1kw_triple_three_phase_spmsm_cvc.py: 1.1-kW triple-three-phase SPMSM, CVC ==================================== This example simulates current-vector control (CVC) of a nine-phase surface-mounted permanent-magnet synchronous machine (SPMSM) with three three-phase sets. The sets are displaced by 15°, which differs from the standard 20° of asymmetrical nine-phase machines. The machine parameters are from [#Rub2021]_. The common mode (CM) of the sets is controlled using the current-vector controller of motulator, parametrized with the parallel-connected equivalent machine, and the differential modes (DMs) are current-controlled. The current sharing between the sets is changed during the simulation. .. GENERATED FROM PYTHON SOURCE LINES 17-24 .. code-block:: Python from math import pi import motulator.drive.control.sm as sm_control import numpy as np from motulator_multiphase import control, model, utils .. GENERATED FROM PYTHON SOURCE LINES 25-30 Configure the system model. In the multi-stator model of [#Rub2021]_, the flux linkage of the set k is `psi_k = L_ls*i_k + M*sum(i_z) + psi_f`. When all sets carry equal currents, the inductance of a set is `L_ls + n_sets*M`, which is used here. The model assumes identical sets, so the stator resistance and the leakage inductance of the sets 1 and 3 are used (the set 2 has 7.9 Ω and 10.3 mH). .. GENERATED FROM PYTHON SOURCE LINES 30-44 .. code-block:: Python n_sets = 3 R_s, L_ls, M, psi_f = 8.2, 18.5e-3, 10.5e-3, 0.265 L_s = L_ls + n_sets * M par = model.SynchronousMachinePars(n_p=3, R_s=R_s, L_d=L_s, L_q=L_s, psi_f=psi_f) theta_sets = np.radians([0, 15, 30]) machine = model.MultiThreePhaseMachine( par, L_ls=L_ls, n_sets=n_sets, theta_sets=theta_sets ) mechanics = model.MechanicalSystem(J=0.0133) converter = model.MultiThreePhaseConverter(u_dc=450, n_sets=n_sets) sensors = model.DriveSensors(theta_M=model.Sensor()) # Sensored control mdl = model.MultiThreePhaseDrive(machine, mechanics, converter, sensors=sensors) .. GENERATED FROM PYTHON SOURCE LINES 45-47 Configure the control system. The current amplitude of each set is limited to 3.5 A, as in [#Rub2021]_. .. GENERATED FROM PYTHON SOURCE LINES 47-57 .. code-block:: Python est_par = utils.to_parallel(par, n_sets) cfg = sm_control.CurrentVectorControllerCfg(i_s_max=n_sets * 3.5, sensorless=False) vector_ctrl = sm_control.CurrentVectorController(est_par, cfg) dm_ctrl = control.DifferentialModeController(L_ls, n_sets=n_sets) speed_ctrl = sm_control.SpeedController(J=0.0133, alpha_s=2 * pi * 4) ctrl = control.MultiThreePhaseControlSystem( vector_ctrl, dm_ctrl, speed_ctrl, theta_sets=theta_sets ) .. GENERATED FROM PYTHON SOURCE LINES 58-61 Set the speed reference, the rated load torque of 7.1 Nm, and the current sharing. The rated current is 1.4 A (rms) per set. In the end, the sets carry 50%, 30%, and 20% of the total current. .. GENERATED FROM PYTHON SOURCE LINES 61-66 .. code-block:: Python ctrl.set_speed_ref(lambda t: (t > 0.1) * 2 * pi * 1000 / 60) mdl.mechanics.set_external_load_torque(lambda t: (t > 0.5) * 7.1) ctrl.set_current_sharing(lambda t: [1.5, 0.9, 0.6] if t > 0.8 else n_sets * [1.0]) .. GENERATED FROM PYTHON SOURCE LINES 67-70 Simulate and plot the results. The first figure shows the CM quantities, where the current is the sum of the set currents, and the second one the currents of the sets and the DMs. .. GENERATED FROM PYTHON SOURCE LINES 70-76 .. code-block:: Python sim = model.Simulation(mdl, ctrl) res = sim.simulate(t_stop=1.2) utils.plot(res) utils.plot_sets(res) .. rst-class:: sphx-glr-horizontal * .. image-sg:: /examples/images/sphx_glr_plot_1kw_triple_three_phase_spmsm_cvc_001.png :alt: plot 1kw triple three phase spmsm cvc :srcset: /examples/images/sphx_glr_plot_1kw_triple_three_phase_spmsm_cvc_001.png :class: sphx-glr-multi-img * .. image-sg:: /examples/images/sphx_glr_plot_1kw_triple_three_phase_spmsm_cvc_002.png :alt: plot 1kw triple three phase spmsm cvc :srcset: /examples/images/sphx_glr_plot_1kw_triple_three_phase_spmsm_cvc_002.png :class: sphx-glr-multi-img .. GENERATED FROM PYTHON SOURCE LINES 77-82 .. rubric:: References .. [#Rub2021] Rubino, Dordevic, Armando, Bojoi, Levi, "A novel matrix transformation for decoupled control of modular multiphase PMSM drives," IEEE Trans. Power Electron., 2021, https://doi.org/10.1109/TPEL.2020.3043083 .. rst-class:: sphx-glr-timing **Total running time of the script:** (0 minutes 12.059 seconds) .. _sphx_glr_download_examples_plot_1kw_triple_three_phase_spmsm_cvc.py: .. only:: html .. container:: sphx-glr-footer sphx-glr-footer-example .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: plot_1kw_triple_three_phase_spmsm_cvc.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_1kw_triple_three_phase_spmsm_cvc.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_1kw_triple_three_phase_spmsm_cvc.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_