Awesome
motulator: Motor Drive and Grid Converter Simulator in Python
Introduction
This open-source software includes simulation models and controllers for electric machine drives and grid converter systems. The machine models include an induction machine, a synchronous reluctance machine, and a permanent-magnet synchronous machine. Various subsystem models are provided for modeling grid converter systems, such as an LCL filter connected to an inductive-resistive grid.
The system models are simulated in the continuous-time domain while the control algorithms run in discrete time. The default solver is the explicit Runge-Kutta method of order 5(4) from scipy.integrate.solve_ivp. Various control algorithms are provided as examples. The documentation is available here:
https://aalto-electric-drives.github.io/motulator/
Installation
This software can be installed using pip:
pip install motulator
Alternatively, the repository can be cloned:
https://aalto-electric-drives.github.io/motulator/installation.html
Usage
The system models, controllers, reference sequences etc. are easy to configure. As a starting point, example scripts and Jupyter notebooks can be downloaded here:
https://aalto-electric-drives.github.io/motulator/drive_examples/index.html
https://aalto-electric-drives.github.io/motulator/grid_examples/index.html
New system models and controllers can be developed using the existing ones as templates.
Contributing
If you would like to help us develop motulator, please have a look at these guidelines first.
Contributors
Thanks go to these wonderful people:
<!-- ALL-CONTRIBUTORS-LIST:START - Do not remove or modify this section --> <!-- prettier-ignore-start --> <!-- markdownlint-disable --> <table> <tbody> <tr> <td align="center" valign="top" width="14.28%"><a href="https://github.com/lauritapio"><img src="https://avatars.githubusercontent.com/u/85596019?v=4?s=50" width="50px;" alt="Lauri Tiitinen"/><br /><sub><b>Lauri Tiitinen</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=lauritapio" title="Code">💻</a> <a href="#ideas-lauritapio" title="Ideas, Planning, & Feedback">🤔</a> <a href="#example-lauritapio" title="Examples">💡</a> <a href="#mentoring-lauritapio" title="Mentoring">🧑🏫</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/HannuHar"><img src="https://avatars.githubusercontent.com/u/96597650?v=4?s=50" width="50px;" alt="HannuHar"/><br /><sub><b>HannuHar</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=HannuHar" title="Code">💻</a> <a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3AHannuHar" title="Bug reports">🐛</a></td> <td align="center" valign="top" width="14.28%"><a href="https://research.aalto.fi/en/persons/marko-hinkkanen"><img src="https://avatars.githubusercontent.com/u/76600872?v=4?s=50" width="50px;" alt="Marko Hinkkanen"/><br /><sub><b>Marko Hinkkanen</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=mhinkkan" title="Code">💻</a> <a href="#ideas-mhinkkan" title="Ideas, Planning, & Feedback">🤔</a> <a href="#example-mhinkkan" title="Examples">💡</a> <a href="#mentoring-mhinkkan" title="Mentoring">🧑🏫</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/silundbe"><img src="https://avatars.githubusercontent.com/u/81169347?v=4?s=50" width="50px;" alt="silundbe"/><br /><sub><b>silundbe</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=silundbe" title="Code">💻</a> <a href="#example-silundbe" title="Examples">💡</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/JoonaKukkonen"><img src="https://avatars.githubusercontent.com/u/85099403?v=4?s=50" width="50px;" alt="JoonaKukkonen"/><br /><sub><b>JoonaKukkonen</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=JoonaKukkonen" title="Code">💻</a> <a href="#infra-JoonaKukkonen" title="Infrastructure (Hosting, Build-Tools, etc)">🚇</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/jarno-k"><img src="https://avatars.githubusercontent.com/u/84438313?v=4?s=50" width="50px;" alt="jarno-k"/><br /><sub><b>jarno-k</b></sub></a><br /><a href="#ideas-jarno-k" title="Ideas, Planning, & Feedback">🤔</a> <a href="https://github.com/Aalto-Electric-Drives/motulator/pulls?q=is%3Apr+reviewed-by%3Ajarno-k" title="Reviewed Pull Requests">👀</a> <a href="#mentoring-jarno-k" title="Mentoring">🧑🏫</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/angelicaiaderosa"><img src="https://avatars.githubusercontent.com/u/112799415?v=4?s=50" width="50px;" alt="angelicaiaderosa"/><br /><sub><b>angelicaiaderosa</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=angelicaiaderosa" title="Code">💻</a> <a href="#example-angelicaiaderosa" title="Examples">💡</a></td> </tr> <tr> <td align="center" valign="top" width="14.28%"><a href="https://www.kth.se/profile/lucap"><img src="https://avatars.githubusercontent.com/u/64190518?v=4?s=50" width="50px;" alt="Luca Peretti"/><br /><sub><b>Luca Peretti</b></sub></a><br /><a href="#ideas-lucaperetti" title="Ideas, Planning, & Feedback">🤔</a> <a href="#promotion-lucaperetti" title="Promotion">📣</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/GianmarioPellegrinoPolito"><img src="https://avatars.githubusercontent.com/u/70333484?v=4?s=50" width="50px;" alt="GianmarioPellegrinoPolito"/><br /><sub><b>GianmarioPellegrinoPolito</b></sub></a><br /><a href="#data-GianmarioPellegrinoPolito" title="Data">🔣</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/SimFerr"><img src="https://avatars.githubusercontent.com/u/67151973?v=4?s=50" width="50px;" alt="Simone Ferrari"/><br /><sub><b>Simone Ferrari</b></sub></a><br /><a href="#data-SimFerr" title="Data">🔣</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/Jialed0303"><img src="https://avatars.githubusercontent.com/u/118135952?v=4?s=50" width="50px;" alt="Jialed0303"/><br /><sub><b>Jialed0303</b></sub></a><br /><a href="#ideas-Jialed0303" title="Ideas, Planning, & Feedback">🤔</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/murgui"><img src="https://avatars.githubusercontent.com/u/29175623?v=4?s=50" width="50px;" alt="murgui"/><br /><sub><b>murgui</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Amurgui" title="Bug reports">🐛</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/iam-nithin-10"><img src="https://avatars.githubusercontent.com/u/125553207?v=4?s=50" width="50px;" alt="Nithin Valiyaveettil Sadanandan"/><br /><sub><b>Nithin Valiyaveettil Sadanandan</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Aiam-nithin-10" title="Bug reports">🐛</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/saarela"><img src="https://avatars.githubusercontent.com/u/10281832?v=4?s=50" width="50px;" alt="saarela"/><br /><sub><b>saarela</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3Asaarela" title="Bug reports">🐛</a></td> </tr> <tr> <td align="center" valign="top" width="14.28%"><a href="https://github.com/UshnishChowdhury"><img src="https://avatars.githubusercontent.com/u/35863166?v=4?s=50" width="50px;" alt="Ushnish"/><br /><sub><b>Ushnish</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/issues?q=author%3AUshnishChowdhury" title="Bug reports">🐛</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/Francesco-Lelli"><img src="https://avatars.githubusercontent.com/u/127111681?v=4?s=50" width="50px;" alt="Francesco-Lelli"/><br /><sub><b>Francesco-Lelli</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=Francesco-Lelli" title="Code">💻</a> <a href="#example-Francesco-Lelli" title="Examples">💡</a> <a href="#ideas-Francesco-Lelli" title="Ideas, Planning, & Feedback">🤔</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/MiSaren"><img src="https://avatars.githubusercontent.com/u/166725462?v=4?s=50" width="50px;" alt="Mikko Sarén"/><br /><sub><b>Mikko Sarén</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=MiSaren" title="Code">💻</a> <a href="#example-MiSaren" title="Examples">💡</a> <a href="#ideas-MiSaren" title="Ideas, Planning, & Feedback">🤔</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/maattaj11"><img src="https://avatars.githubusercontent.com/u/165767331?v=4?s=50" width="50px;" alt="Juho Määttä"/><br /><sub><b>Juho Määttä</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=maattaj11" title="Code">💻</a> <a href="#example-maattaj11" title="Examples">💡</a> <a href="#ideas-maattaj11" title="Ideas, Planning, & Feedback">🤔</a></td> <td align="center" valign="top" width="14.28%"><a href="https://github.com/rayanmour"><img src="https://avatars.githubusercontent.com/u/111271373?v=4?s=50" width="50px;" alt="rayanmour"/><br /><sub><b>rayanmour</b></sub></a><br /><a href="https://github.com/Aalto-Electric-Drives/motulator/commits?author=rayanmour" title="Code">💻</a> <a href="#example-rayanmour" title="Examples">💡</a> <a href="#ideas-rayanmour" title="Ideas, Planning, & Feedback">🤔</a> <a href="https://github.com/Aalto-Electric-Drives/motulator/pulls?q=is%3Apr+reviewed-by%3Arayanmour" title="Reviewed Pull Requests">👀</a> <a href="#mentoring-rayanmour" title="Mentoring">🧑🏫</a></td> <td align="center" valign="top" width="14.28%"><a href="https://cusma.algo.xyz/"><img src="https://avatars.githubusercontent.com/u/65770425?v=4?s=50" width="50px;" alt="Cosimo Bassi"/><br /><sub><b>Cosimo Bassi</b></sub></a><br /><a href="#infra-cusma" title="Infrastructure (Hosting, Build-Tools, etc)">🚇</a></td> </tr> </tbody> </table> <!-- markdownlint-restore --> <!-- prettier-ignore-end --> <!-- ALL-CONTRIBUTORS-LIST:END -->This project follows the all-contributors specification. Contributions of any kind welcome!
Acknowledgement
This project has been sponsored by ABB Oy and by the Research Council of Finland Centre of Excellence in High-Speed Electromechanical Energy Conversion Systems. The example control methods included in this repository are based on published algorithms (available in textbooks and scientific articles). They do not present any proprietary control software.