6.7-kW saturated SyRM, O-V/Hz control#

This example simulates observer-based V/Hz (O-V/Hz) control of a 6.7-kW synchronous reluctance machine (SyRM) drive. The magnetic saturation is included in the machine model, while the control system uses constant parameters.

import numpy as np

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

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

nom = utils.NominalValues(U=370, I=15.5, f=105.8, P=6.7e3, tau=20.1)
base = utils.BaseValues.from_nominal(nom, n_p=2)

Configure the system model. The saturation model is based on [1].

i_s_dq_fcn = utils.SaturationModelSyRM(
    a_d0=17.4, a_dd=373, S=5, a_q0=52.1, a_qq=658, T=1, a_dq=1120, U=1, V=0
)
par = model.SaturatedSynchronousMachinePars(
    n_p=2, R_s=0.54, i_s_dq_fcn=i_s_dq_fcn, kind="rel"
)
machine = model.SynchronousMachine(par)
mechanics = model.MechanicalSystem(J=0.015)
converter = model.VoltageSourceConverter(u_dc=540)
mdl = model.Drive(machine, mechanics, converter)

Configure the control system.

est_par = control.SynchronousMachinePars(
    n_p=2, R_s=0.54, L_d=37e-3, L_q=6.2e-3, psi_f=0, kind="rel"
)
cfg = control.ObserverBasedVHzControllerCfg(
    i_s_max=2 * base.i, psi_s_min=base.psi, psi_s_max=base.psi
)
vhz_ctrl = control.ObserverBasedVHzController(est_par, cfg)
ctrl = control.VHzControlSystem(vhz_ctrl)

Set the speed reference and the external load torque.

t_stop = 8
times = np.array([0, 0.125, 0.25, 0.375, 0.5, 0.625, 0.75, 0.875, 1]) * t_stop
values = np.array([0, 0, 1, 1, 0, -1, -1, 0, 0]) * base.w_M
ctrl.set_speed_ref(utils.SequenceGenerator(times, values))

times = np.array([0, 0.125, 0.125, 0.875, 0.875, 1]) * t_stop
values = np.array([0, 0, 1, 1, 0, 0]) * nom.tau
mdl.mechanics.set_external_load_torque(utils.SequenceGenerator(times, values))

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

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

References

Total running time of the script: (0 minutes 22.713 seconds)

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