.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "drive_examples/gradnet/plot_6kw_pmsyrm_gn_fvc_fem_harm.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_drive_examples_gradnet_plot_6kw_pmsyrm_gn_fvc_fem_harm.py>`
        to download the full example code.

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_drive_examples_gradnet_plot_6kw_pmsyrm_gn_fvc_fem_harm.py:


5.6-kW PM-SyRM, GradNet from FEM data, FVC
==========================================

This example simulates flux-vector control (FVC) of a 5.6-kW PM synchronous reluctance
machine (Baldor ECS101M0H7EF4) drive. GradNet models trained on FEM data are used for
both the machine model and the control system. The machine model uses a GradNet
current map with spatial harmonics, while the control system uses a GradNet flux map
without spatial harmonics.

.. GENERATED FROM PYTHON SOURCE LINES 14-23

.. code-block:: Python


    from pathlib import Path

    import numpy as np

    import motulator.drive.control.sm as control
    import motulator.drive.gradnet as gn
    from motulator.drive import model, utils








.. GENERATED FROM PYTHON SOURCE LINES 24-25

Compute base values based on the nominal values (just for figures).

.. GENERATED FROM PYTHON SOURCE LINES 25-29

.. code-block:: Python


    nom = utils.NominalValues(U=460, I=8.8, f=60, P=5.6e3, tau=29.7)
    base = utils.BaseValues.from_nominal(nom, n_p=2)








.. GENERATED FROM PYTHON SOURCE LINES 30-31

Determine the path of the current script.

.. GENERATED FROM PYTHON SOURCE LINES 31-34

.. code-block:: Python


    p = Path(__file__).resolve().parent if "__file__" in globals() else Path.cwd()








.. GENERATED FROM PYTHON SOURCE LINES 35-37

Configure the system model using the GradNet saturation model with spatial harmonics,
trained on the FEM data.

.. GENERATED FROM PYTHON SOURCE LINES 37-50

.. code-block:: Python


    path = "trained_models/baldor_fem_curr_map_harm_softmax_d48_sub10.pth"
    gradnet = gn.load_gradnet(p / path, activation=gn.Softmax)
    magnetic_map = gn.CurrentMapWithHarmonics(gradnet)
    par = model.SpatialSaturatedSynchronousMachinePars(
        n_p=2, R_s=0.63, magnetic_map_fcn=magnetic_map
    )

    machine = model.SynchronousMachine(par)
    mechanics = model.MechanicalSystem(J=0.05)
    converter = model.VoltageSourceConverter(u_dc=540)
    mdl = model.Drive(machine, mechanics, converter)








.. GENERATED FROM PYTHON SOURCE LINES 51-52

Configure the control system.

.. GENERATED FROM PYTHON SOURCE LINES 52-68

.. code-block:: Python


    # Load the GradNet flux map trained on the FEM data for the estimated machine model
    path = "trained_models/baldor_fem_flux_map_pnorm_d12_sub20.pth"
    est_flux_map = gn.FluxMap(gn.load_gradnet(p / path, activation=gn.PNormGradient))

    # Parametrize the estimated machine model and the control system
    est_par = control.SaturatedSynchronousMachinePars(
        n_p=2, R_s=0.63, psi_s_dq_fcn=est_flux_map
    )
    cfg = control.FluxVectorControllerCfg(
        i_s_max=2 * base.i, alpha_i=0, alpha_o=2 * np.pi * 8, J=0.05, sensorless=False
    )
    vector_ctrl = control.FluxVectorController(est_par, cfg)
    speed_ctrl = control.SpeedController(J=0.05, alpha_s=2 * np.pi * 4)
    ctrl = control.VectorControlSystem(vector_ctrl, speed_ctrl)








.. GENERATED FROM PYTHON SOURCE LINES 69-70

Set the speed reference and the external load torque.

.. GENERATED FROM PYTHON SOURCE LINES 70-74

.. code-block:: Python


    ctrl.set_speed_ref(lambda t: (t > 0.25) * 2 * base.w_M)
    mdl.mechanics.set_external_load_torque(lambda t: (t > 1.25) * 0.5 * base.tau)








.. GENERATED FROM PYTHON SOURCE LINES 75-76

Create the simulation object, simulate, and plot the results in per-unit values.

.. GENERATED FROM PYTHON SOURCE LINES 76-80

.. code-block:: Python


    sim = model.Simulation(mdl, ctrl)
    res = sim.simulate(t_stop=1.75)
    utils.plot(res, base)



.. image-sg:: /drive_examples/gradnet/images/sphx_glr_plot_6kw_pmsyrm_gn_fvc_fem_harm_001.png
   :alt: plot 6kw pmsyrm gn fvc fem harm
   :srcset: /drive_examples/gradnet/images/sphx_glr_plot_6kw_pmsyrm_gn_fvc_fem_harm_001.png
   :class: sphx-glr-single-img






.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (1 minutes 14.752 seconds)


.. _sphx_glr_download_drive_examples_gradnet_plot_6kw_pmsyrm_gn_fvc_fem_harm.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: plot_6kw_pmsyrm_gn_fvc_fem_harm.ipynb <plot_6kw_pmsyrm_gn_fvc_fem_harm.ipynb>`

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: plot_6kw_pmsyrm_gn_fvc_fem_harm.py <plot_6kw_pmsyrm_gn_fvc_fem_harm.py>`

    .. container:: sphx-glr-download sphx-glr-download-zip

      :download:`Download zipped: plot_6kw_pmsyrm_gn_fvc_fem_harm.zip <plot_6kw_pmsyrm_gn_fvc_fem_harm.zip>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_