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.

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

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

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)

Determine the path of the current script.

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

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

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)

Configure the control system.

# 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)

Set the speed reference and the external load torque.

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)

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

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