.. DO NOT EDIT. .. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY. .. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE: .. "drive_examples/current_vector/plot_2kw_ipmsm_afe_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_drive_examples_current_vector_plot_2kw_ipmsm_afe_cvc.py: 2.2-kW IPMSM, active front end, CVC =================================== This example simulates a 2.2-kW interior permanent-magnet synchronous machine (IPMSM) drive equipped with an active front end (AFE), i.e., a grid-connected converter that controls the DC-bus voltage. The machine-side converter uses sensorless current-vector control (CVC), and the grid-side converter uses grid-following current-vector control with a DC-bus voltage controller. The two control systems are independent: they have different sampling periods, and their carriers are not synchronized. .. GENERATED FROM PYTHON SOURCE LINES 15-27 .. code-block:: Python from math import pi import matplotlib.pyplot as plt import motulator.drive.control.sm as sm_control from motulator.common.utils import complex2abc from motulator.drive import model as drive_model from motulator.drive import utils as drive_utils from motulator.grid import control as grid_control from motulator.grid import model as grid_model from motulator.grid import utils as grid_utils .. GENERATED FROM PYTHON SOURCE LINES 28-29 Compute base values based on the nominal values of the machine and the grid converter. .. GENERATED FROM PYTHON SOURCE LINES 29-35 .. code-block:: Python nom_m = drive_utils.NominalValues(U=370, I=4.3, f=75, P=2.2e3, tau=14) base_m = drive_utils.BaseValues.from_nominal(nom_m, n_p=3) nom_g = grid_utils.NominalValues(U=400, I=5, f=50, P=2.2e3) base_g = grid_utils.BaseValues.from_nominal(nom_g) .. GENERATED FROM PYTHON SOURCE LINES 36-39 Configure the system model. The two converters are fed from the same DC bus. The grid-side converter system and the drive are modeled separately, each with its own PWM, and combined into a composite model. .. GENERATED FROM PYTHON SOURCE LINES 39-59 .. code-block:: Python afe = grid_model.VoltageSourceConverter() inv = drive_model.VoltageSourceConverter() dc_bus = drive_model.DCBus(C_dc=470e-6, u_dc=650, converters=[afe, inv]) ac_filter = grid_model.LFilter(L_f=0.1 * base_g.L) ac_source = grid_model.ThreePhaseSource(w_g=base_g.w, e_g=base_g.u) grid_sys = grid_model.GridConverterSystem( afe, ac_filter, ac_source, pwm=True, dc_bus=dc_bus ) par = drive_model.SynchronousMachinePars( n_p=3, R_s=3.6, L_d=0.036, L_q=0.051, psi_f=0.545 ) machine = drive_model.SynchronousMachine(par) mechanics = drive_model.MechanicalSystem(J=0.015) drive_sys = drive_model.Drive(machine, mechanics, inv, pwm=True, dc_bus=dc_bus) mdl = drive_model.CompositeModel({"grid": grid_sys, "drive": drive_sys}) .. GENERATED FROM PYTHON SOURCE LINES 60-62 Configure the control systems. The grid-side control runs at 10 kHz (5-kHz switching frequency) and the machine-side control at 8 kHz (4-kHz switching frequency). .. GENERATED FROM PYTHON SOURCE LINES 62-81 .. code-block:: Python cfg_g = grid_control.CurrentVectorControllerCfg( i_max=1.5 * base_g.i, L=0.1 * base_g.L, T_s=100e-6 ) dc_bus_voltage_ctrl = grid_control.DCBusVoltageController( C_dc=470e-6, alpha_dc=2 * pi * 50, p_max=1.5 * base_g.p ) ctrl_g = grid_control.GridConverterControlSystem( grid_control.CurrentVectorController(cfg_g), dc_bus_voltage_ctrl ) est_par = par # Assume accurate model parameter estimates cfg_m = sm_control.CurrentVectorControllerCfg( i_s_max=1.5 * base_m.i, alpha_o=2 * pi * 100, T_s=125e-6 ) vector_ctrl = sm_control.CurrentVectorController(est_par, cfg_m) speed_ctrl = sm_control.SpeedController(J=0.015, alpha_s=2 * pi * 4) ctrl_m = sm_control.VectorControlSystem(vector_ctrl, speed_ctrl) .. GENERATED FROM PYTHON SOURCE LINES 82-84 Set the references and the external load torque. The speed is reversed under load, after which the drive regenerates power to the grid. .. GENERATED FROM PYTHON SOURCE LINES 84-90 .. code-block:: Python ctrl_g.set_dc_bus_voltage_ref(650) ctrl_g.set_reactive_power_ref(0) ctrl_m.set_speed_ref(lambda t: (t > 0.1) * base_m.w_M - (t > 0.7) * 2 * base_m.w_M) mechanics.set_external_load_torque(lambda t: (t > 0.4) * nom_m.tau) .. GENERATED FROM PYTHON SOURCE LINES 91-94 Create the simulation object and simulate. The clocks of the two control systems are not synchronized: the machine-side control starts 40 µs after the grid-side control. The results of each model and its control system are available by the model names. .. GENERATED FROM PYTHON SOURCE LINES 94-102 .. code-block:: Python sim = drive_model.Simulation( mdl, {"grid": ctrl_g, "drive": ctrl_m}, t_start={"drive": 40e-6} ) res = sim.simulate(t_stop=1) res_drive = drive_model.SimulationResults(res.mdl.drive, res.ctrl.drive) res_grid = grid_model.SimulationResults(res.mdl.grid, res.ctrl.grid) .. GENERATED FROM PYTHON SOURCE LINES 103-104 Plot the drive and grid-side results in per-unit values. .. GENERATED FROM PYTHON SOURCE LINES 104-109 .. code-block:: Python # sphinx_gallery_thumbnail_number = 3 drive_utils.plot(res_drive, base_m) grid_utils.plot_control_signals(res_grid, base_g) .. rst-class:: sphx-glr-horizontal * .. image-sg:: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_001.png :alt: plot 2kw ipmsm afe cvc :srcset: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_001.png :class: sphx-glr-multi-img * .. image-sg:: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_002.png :alt: plot 2kw ipmsm afe cvc :srcset: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_002.png :class: sphx-glr-multi-img .. GENERATED FROM PYTHON SOURCE LINES 110-113 Plot the DC-bus voltage and the power balance: the power drawn from the grid (as estimated by the grid-side control) equals the mechanical power plus the losses (mainly the stator resistive losses), except during the DC-bus voltage transients. .. GENERATED FROM PYTHON SOURCE LINES 113-134 .. code-block:: Python p_g = res.ctrl.grid.fbk.p_g p_M = res.mdl.drive.machine.tau_M * res.mdl.drive.machine.w_M fig, (ax1, ax2) = plt.subplots(2, 1, sharex=True) ax1.plot(res.mdl.t, res.mdl.drive.dc_bus.u_dc, label=r"$u_\mathrm{dc}$") ax1.plot( res.ctrl.grid.t, res.ctrl.grid.ref.u_dc, "--", ds="steps-post", label=r"$u_\mathrm{dc}^\mathrm{ref}$", ) ax1.set_ylabel("Voltage (V)") ax1.legend() ax2.plot(res.ctrl.grid.t, -p_g / 1e3, ds="steps-post", label=r"$-\hat{p}_\mathrm{g}$") ax2.plot(res.mdl.t, p_M / 1e3, label=r"$\tau_\mathrm{M}\omega_\mathrm{M}$") ax2.set_ylabel("Power (kW)") ax2.set_xlabel("Time (s)") ax2.legend() plt.show() .. image-sg:: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_003.png :alt: plot 2kw ipmsm afe cvc :srcset: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_003.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 135-137 Plot the switched phase-a voltages of the two converters over one millisecond. The switching periods differ, and the switching instants are not aligned. .. GENERATED FROM PYTHON SOURCE LINES 137-151 .. code-block:: Python u_ga = complex2abc(res.mdl.grid.converter.u_c_ab)[0] u_sa = complex2abc(res.mdl.drive.converter.u_c_ab)[0] fig, (ax1, ax2) = plt.subplots(2, 1, sharex=True, sharey=True) ax1.plot(res.mdl.t, u_ga, label=r"$u_\mathrm{ga}$") ax1.set_ylabel("Voltage (V)") ax1.legend(loc="lower right") ax2.plot(res.mdl.t, u_sa, label=r"$u_\mathrm{sa}$") ax2.set_ylabel("Voltage (V)") ax2.set_xlabel("Time (s)") ax2.set_xlim(0.5, 0.501) ax2.set_ylim(-500, 500) ax2.legend(loc="lower right") plt.show() .. image-sg:: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_004.png :alt: plot 2kw ipmsm afe cvc :srcset: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_afe_cvc_004.png :class: sphx-glr-single-img .. rst-class:: sphx-glr-timing **Total running time of the script:** (0 minutes 20.015 seconds) .. _sphx_glr_download_drive_examples_current_vector_plot_2kw_ipmsm_afe_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_2kw_ipmsm_afe_cvc.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_2kw_ipmsm_afe_cvc.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_2kw_ipmsm_afe_cvc.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_