soft4pes.utils#

Reference frame transformations and reference sequence generation.

Submodules#

Classes#

Sequence

Sequence class can be used to generate a sequence of values over time.

Functions#

abc_2_alpha_beta(abc)

Convert a quantity from abc-frame to alpha-beta frame using the reduced

alpha_beta_2_abc(alpha_beta)

Convert a quantity from abc-frame to alpha-beta frame using the inverse

alpha_beta_2_dq(alpha_beta, theta)

Convert a quantity from alpha-beta frame to dq-frame. The common-mode

dq_2_alpha_beta(dq, theta)

Convert a quantity from dq-frame to alpha-beta frame. The common-mode

dq_2_abc(dq, theta)

Convert a quantity from dq-frame to abc-frame using the inverse reduced Park

Package Contents#

soft4pes.utils.abc_2_alpha_beta(abc)[source]#

Convert a quantity from abc-frame to alpha-beta frame using the reduced Clarke transformation. The common-mode component is neglected.

Parameters:

abc (1 x 3 ndarray of floats) – Input quantity in abc-frame.

Returns:

Quantity in alpha-beta frame.

Return type:

1 x 2 ndarray of floats

soft4pes.utils.alpha_beta_2_abc(alpha_beta)[source]#

Convert a quantity from abc-frame to alpha-beta frame using the inverse reduced Clarke transformation. The common-mode component is neglected.

Parameters:

abc (1 x 3 ndarray of floats) – Input quantity in abc-frame.

Returns:

Quantity in alpha-beta frame.

Return type:

1 x 2 ndarray of floats

soft4pes.utils.alpha_beta_2_dq(alpha_beta, theta)[source]#

Convert a quantity from alpha-beta frame to dq-frame. The common-mode component is neglected.

Parameters:

  • alpha_beta (1 x 2 ndarray of floats) – Quantity in alpha-beta frame.

  • theta (float) – Angle of the reference frame in radians.

Returns:

Quantity in dq-frame.

Return type:

1 x 2 ndarray of floats

soft4pes.utils.dq_2_alpha_beta(dq, theta)[source]#

Convert a quantity from dq-frame to alpha-beta frame. The common-mode component is neglected.

Parameters:

  • dq (1 x 2 ndarray of floats) – Quantity in dq-frame.

  • theta (float) – Angle of the reference frame in radians.

Returns:

Quantity in alpha-beta frame.

Return type:

1 x 2 ndarray of floats

soft4pes.utils.dq_2_abc(dq, theta)[source]#

Convert a quantity from dq-frame to abc-frame using the inverse reduced Park trasformation. The common-mode component is neglected.

Parameters:

  • dq (1 x 2 ndarray of floats) – Quantity in dq-frame.

  • theta (float) – Angle of the reference frame in radians.

Returns:

Quantity in abc-frame.

Return type:

1 x 3 ndarray of floats

class soft4pes.utils.Sequence(times, values)[source]#

Sequence class can be used to generate a sequence of values over time.

The time array must be increasing. The output values are interpolated between the data points.

Parameters:

  • times (n x 1 ndarray of floats) – Time instants is seconds.

  • values (n x m ndarray of floats) – Output values.

times#

Time instants is seconds.

Type:

n x 1 ndarray of floats

values#

Output values.

Type:

n x m ndarray of floats

__call__(kTs)[source]#

Interpolate the output.

Parameters:

kTs (float) – Current discrete time instant [s].

Returns:

Interpolated output.

Return type:

1 x m ndarray of floats