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, see these guidelines first.

Contributors

Thanks go to these wonderful people:

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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 />_{<b>Marko Hinkkanen</b>}</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 />_{<b>silundbe</b>}</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 />_{<b>JoonaKukkonen</b>}</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 />_{<b>jarno-k</b>}</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" 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