.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "examples/plot_4kw_dual_three_phase_ipmsm_fvc.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_4kw_dual_three_phase_ipmsm_fvc.py: 4.4-kW dual-three-phase IPMSM, FVC ================================== This example simulates sensorless flux-vector control (FVC) of an asymmetrical dual-three-phase interior permanent-magnet synchronous machine (IPMSM) drive. Each three-phase set corresponds to the 2.2-kW IPMSM of the motulator examples, and the sets are displaced by 30°. The common mode (CM) of the sets is controlled using the flux-vector controller of motulator, parametrized with the parallel-connected equivalent machine. The differential mode (DM) is current-controlled, and the current sharing between the sets is changed during the simulation [#Rub2021]_. .. GENERATED FROM PYTHON SOURCE LINES 16-23 .. 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 24-25 Compute base values of the parallel-connected equivalent machine (just for figures). .. GENERATED FROM PYTHON SOURCE LINES 25-30 .. code-block:: Python n_sets = 2 nom = utils.NominalValues(U=370, I=2 * 4.3, f=75, P=2 * 2.2e3, tau=2 * 14) base = utils.BaseValues.from_nominal(nom, n_p=3) .. GENERATED FROM PYTHON SOURCE LINES 31-34 Configure the system model. The parameters describe one three-phase set, when both sets carry equal currents. The leakage inductance `L_ls` of a set is not coupled to the other set, and it determines the DM dynamics. .. GENERATED FROM PYTHON SOURCE LINES 34-42 .. code-block:: Python par = model.SynchronousMachinePars(n_p=3, R_s=3.6, L_d=0.036, L_q=0.051, psi_f=0.545) L_ls = 0.005 machine = model.MultiThreePhaseMachine(par, L_ls=L_ls, n_sets=n_sets) mechanics = model.MechanicalSystem(J=2 * 0.015) converter = model.MultiThreePhaseConverter(u_dc=540, n_sets=n_sets) mdl = model.MultiThreePhaseDrive(machine, mechanics, converter) .. GENERATED FROM PYTHON SOURCE LINES 43-45 Configure the control system. The flux-vector controller of motulator is used for the CM. .. GENERATED FROM PYTHON SOURCE LINES 45-53 .. code-block:: Python est_par = utils.to_parallel(par, n_sets) cfg = sm_control.FluxVectorControllerCfg(i_s_max=1.5 * base.i, sensorless=True) vector_ctrl = sm_control.FluxVectorController(est_par, cfg) dm_ctrl = control.DifferentialModeController(L_ls, n_sets=n_sets, alpha_c=2 * pi * 200) speed_ctrl = sm_control.SpeedController(J=2 * 0.015, alpha_s=2 * pi * 4) ctrl = control.MultiThreePhaseControlSystem(vector_ctrl, dm_ctrl, speed_ctrl) .. GENERATED FROM PYTHON SOURCE LINES 54-56 Set the speed reference, the load torque, and the current-sharing coefficients. In the end, the first set carries 75% of the total current. .. GENERATED FROM PYTHON SOURCE LINES 56-61 .. code-block:: Python ctrl.set_speed_ref(lambda t: (t > 0.2) * base.w_M) mdl.mechanics.set_external_load_torque(lambda t: (t > 0.8) * nom.tau) ctrl.set_current_sharing(lambda t: [1.5, 0.5] if t > 1.2 else [1.0, 1.0]) .. GENERATED FROM PYTHON SOURCE LINES 62-64 Simulate and plot the results. The first figure shows the CM quantities in per-unit values, and the second one the currents of the sets and the DM. .. GENERATED FROM PYTHON SOURCE LINES 64-71 .. code-block:: Python sim = model.Simulation(mdl, ctrl) res = sim.simulate(t_stop=1.6) utils.plot(res, base) utils.plot_sets(res) print("Torque at the end (Nm):", np.round(res.mdl.machine.tau_M[-1], 2)) .. rst-class:: sphx-glr-horizontal * .. image-sg:: /examples/images/sphx_glr_plot_4kw_dual_three_phase_ipmsm_fvc_001.png :alt: plot 4kw dual three phase ipmsm fvc :srcset: /examples/images/sphx_glr_plot_4kw_dual_three_phase_ipmsm_fvc_001.png :class: sphx-glr-multi-img * .. image-sg:: /examples/images/sphx_glr_plot_4kw_dual_three_phase_ipmsm_fvc_002.png :alt: plot 4kw dual three phase ipmsm fvc :srcset: /examples/images/sphx_glr_plot_4kw_dual_three_phase_ipmsm_fvc_002.png :class: sphx-glr-multi-img .. rst-class:: sphx-glr-script-out .. code-block:: none Torque at the end (Nm): 28.0 .. GENERATED FROM PYTHON SOURCE LINES 72-77 .. 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 15.806 seconds) .. _sphx_glr_download_examples_plot_4kw_dual_three_phase_ipmsm_fvc.py: .. only:: html .. container:: sphx-glr-footer sphx-glr-footer-example .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: plot_4kw_dual_three_phase_ipmsm_fvc.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_4kw_dual_three_phase_ipmsm_fvc.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_4kw_dual_three_phase_ipmsm_fvc.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_