FOC Simulation with GUI

This repository contains a Python-based Field-Oriented Control (FOC) simulation for a Brushless DC (BLDC)/PMSM motor, along with a Tkinter GUI that allows you to edit parameters and plot the simulation results.

Parameters Tab

Plot Tab

How to Run

1. Clone or download this repository.
2. In a terminal (or cmd prompt) navigate to the project folder
3. Run: python gui.py

Using the GUI

1. Parameters Tab:
   • You’ll see four columns:
     1. Motor & Load: Resistance, inductance, pole pairs, flux, inertia, friction, etc.
     2. Controller Gains: Position loop (Kp, Ki, Kd), speed loop, and dq current loops.
     3. Simulation: Total simulation time, time-step, DC bus voltage.
     4. Trajectory: Final angle (deg), max velocity, max acceleration, gear ratio.
   • Hover over any label to see a tooltip with more details about that parameter.
2. Run Simulation Button:
   • After editing parameters, click “Run Simulation”.
   • The script collects all parameter values, calls the FOC simulation function, and then plots the results in the Plot tab.
3. Plot Tab:
   • Displays eight subplots (arranged in 4×2) showing:
     • Load angle vs. reference
     • Speeds
     • dq currents
     • dq voltages
     • Electromagnetic torque
     • Three-phase voltages
     • PWM duty cycles
     • One spare plot (placeholder)
   • You can switch back and forth between tabs.

Simulation Details

• Trapezoidal Velocity Profile: The motor’s position reference is generated by a trapezoid (or triangular if the distance is too short) motion profile up to the final angle (in degrees).
• FOC Loops:
  1. Position Loop (outer) → speed reference
  2. Speed Loop (middle) → torque/current reference
  3. Current Loops (inner, dq-axis) → voltage commands
• Space-Vector PWM: The dq voltage commands are transformed back into three-phase voltages and duty cycles.
• Electrical & Mechanical Equations: The motor’s stator equations are integrated each time-step, as well as the rotor/load inertia and friction.

Customization

• Motor/Load Parameters: Adjust default values in foc_sim.py to match your hardware.
• Controller Gains: Tune Kp/Ki/Kd for position/speed/current loops to see different control responses.
• Plot Layout: Modify the draw_plots_in_figure method in gui.py to add or remove subplots.
• Tooltips: You can adjust tooltip text or position in the create_tooltip function.

Contents

1. foc_sim.py

   • Holds all the motor/load parameters, controller gains, and the simulation logic (including a trapezoidal velocity profile, the electrical/mechanical equations, and space-vector PWM calculations).
   • Returns a dictionary of time-series results (currents, voltages, torques, etc.) after running the simulation.

2. gui.py

   • Provides a Tkinter interface with two tabs:
     1. Parameters: All motor, load, controller, simulation, and trajectory parameters in one tab, arranged in columns. You can edit them directly in text fields.
     2. Plot: Shows embedded Matplotlib subplots after the simulation run.
   • Includes tooltips on each parameter label, displaying short explanations when you hover the mouse over them.

Requirements

• Python 3.7+ (or newer)
• NumPy (for numeric arrays)
• Matplotlib (for plotting)
• Tkinter (typically comes with Python on most platforms)
• (Optional) venv or conda environment recommended for clean dependency management.

You can install dependencies via:

pip install numpy matplotlib