.. 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_blocked_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_blocked_cvc.py: 2.2-kW IPMSM, blocked gates, CVC ================================ This example simulates sensorless current-vector control (CVC) of a 2.2-kW interior permanent-magnet synchronous machine (IPMSM) drive, whose converter gates are blocked before the start and during coasting. While the gates are blocked, the control system runs in standby: its observer tracks the machine using the measured converter voltage, and its current controller tracks the measured operating point, from which the control continues when the gates are released at 0.05 s. The drive then accelerates under speed control. At 0.6 s, the gates are blocked again: the stator current decays through the diodes within a millisecond, after which the loaded machine coasts at open circuit, since its voltage is below the DC-bus voltage. At 0.8 s, the gates are released, and the drive returns to the speed reference. .. GENERATED FROM PYTHON SOURCE LINES 19-27 .. code-block:: Python from math import pi import matplotlib.pyplot as plt import numpy as np import motulator.drive.control.sm as control from motulator.drive import model, utils .. GENERATED FROM PYTHON SOURCE LINES 28-29 Compute base values based on the nominal values. .. GENERATED FROM PYTHON SOURCE LINES 29-33 .. code-block:: Python nom = utils.NominalValues(U=370, I=4.3, f=75, P=2.2e3, tau=14) base = utils.BaseValues.from_nominal(nom, n_p=3) .. GENERATED FROM PYTHON SOURCE LINES 34-35 Configure the system model. .. GENERATED FROM PYTHON SOURCE LINES 35-42 .. 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) machine = model.SynchronousMachine(par) mechanics = model.MechanicalSystem(J=0.015) converter = model.VoltageSourceConverter(u_dc=540) mdl = model.Drive(machine, mechanics, converter) .. GENERATED FROM PYTHON SOURCE LINES 43-44 Configure the control system. .. GENERATED FROM PYTHON SOURCE LINES 44-51 .. code-block:: Python est_par = par # Assume accurate model parameter estimates cfg = control.CurrentVectorControllerCfg(i_s_max=1.5 * base.i) vector_ctrl = control.CurrentVectorController(est_par, cfg) speed_ctrl = control.SpeedController(J=0.015, alpha_s=2 * pi * 4) ctrl = control.VectorControlSystem(vector_ctrl, speed_ctrl) .. GENERATED FROM PYTHON SOURCE LINES 52-53 Set the gate enable, the speed reference, and the external load torque. .. GENERATED FROM PYTHON SOURCE LINES 53-58 .. code-block:: Python ctrl.set_enable(lambda t: 0.05 <= t < 0.6 or t >= 0.8) ctrl.set_speed_ref(lambda t: (t > 0.05) * 0.8 * base.w_M) mdl.mechanics.set_external_load_torque(lambda t: (t > 0.3) * 0.5 * nom.tau) .. GENERATED FROM PYTHON SOURCE LINES 59-60 Create the simulation object, simulate, and plot the results in per-unit values. .. GENERATED FROM PYTHON SOURCE LINES 60-65 .. code-block:: Python sim = model.Simulation(mdl, ctrl) res = sim.simulate(t_stop=1.2) utils.plot(res, base) .. image-sg:: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_blocked_cvc_001.png :alt: plot 2kw ipmsm blocked cvc :srcset: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_blocked_cvc_001.png :class: sphx-glr-single-img .. GENERATED FROM PYTHON SOURCE LINES 66-69 Plot the speed, the stator current magnitude, and the DC current of the converter, the intervals with blocked gates shaded. The DC current is negative while the stator current decays through the diodes. .. GENERATED FROM PYTHON SOURCE LINES 69-90 .. code-block:: Python t_ctrl, enabled = res.ctrl.t, res.ctrl.ref.enabled w_M = res.mdl.mechanics.w_M / base.w_M i_s = np.abs(res.mdl.machine.i_s_ab) / base.i i_dc = res.mdl.converter.i_dc_int / base.i fig, (ax1, ax2, ax3) = plt.subplots(3, 1, sharex=True) edges = np.flatnonzero(np.diff(np.concatenate(([1], enabled, [1])).astype(int))) for ax in (ax1, ax2, ax3): for k_off, k_on in zip(edges[::2], edges[1::2], strict=True): ax.axvspan(t_ctrl[k_off], t_ctrl[min(k_on, len(t_ctrl) - 1)], color="0.9") ax1.plot(res.mdl.t, w_M, label=r"$\omega_\mathrm{M}$") ax1.plot(t_ctrl, res.ctrl.ref.w_M / base.w_M, "--", label=r"$\omega_\mathrm{M,ref}$") ax1.set_ylabel("Speed (p.u.)") ax1.legend() ax2.plot(res.mdl.t, i_s) ax2.set_ylabel(r"$|i_\mathrm{s}|$ (p.u.)") ax3.plot(res.mdl.t, i_dc) ax3.set_ylabel(r"$i_\mathrm{dc}$ (p.u.)") ax3.set_xlabel("Time (s)") ax3.set_xlim(0, 1.2) plt.show() .. image-sg:: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_blocked_cvc_002.png :alt: plot 2kw ipmsm blocked cvc :srcset: /drive_examples/current_vector/images/sphx_glr_plot_2kw_ipmsm_blocked_cvc_002.png :class: sphx-glr-single-img .. rst-class:: sphx-glr-timing **Total running time of the script:** (0 minutes 5.630 seconds) .. _sphx_glr_download_drive_examples_current_vector_plot_2kw_ipmsm_blocked_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_blocked_cvc.ipynb ` .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: plot_2kw_ipmsm_blocked_cvc.py ` .. container:: sphx-glr-download sphx-glr-download-zip :download:`Download zipped: plot_2kw_ipmsm_blocked_cvc.zip ` .. only:: html .. rst-class:: sphx-glr-signature `Gallery generated by Sphinx-Gallery `_