Aalto-Electric-Drives · mhinkkan · Jun 22, 2025 · Jun 22, 2025
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -24,6 +24,7 @@
         "autoapi",
         "Awan",
         "axhline",
+        "axlim",
         "Baldor",
         "Blanco",
         "Böcker",
@@ -36,6 +37,7 @@
         "Capecchi",
         "Capponi",
         "Claypool",
+        "cmap",
         "Degner",
         "dejavuserif",
         "docstrings",
@@ -154,11 +156,13 @@
         "vartheta",
         "Verghese",
         "viridis",
+        "xdata",
         "xlabel",
         "xlim",
         "xtick",
         "xticklabels",
         "xticks",
+        "ydata",
         "Yepes",
         "ylabel",
         "ylabels",
@@ -167,6 +171,7 @@
         "yticks",
         "Zigliotto",
         "zlabel",
-        "zlim"
+        "zlim",
+        "zticks"
     ],
 }
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -26,7 +26,7 @@
 author = "Aalto Electric Drives"
 
 # The full version, including alpha/beta/rc tags
-release = "0.6.1"
+release = "0.6.2"
 
 # -- General configuration -------------------------------------------------------------
 

diff --git a/examples/drive/current_vector/plot_current_vector_pmsm_2kw_diode.py b/examples/drive/current_vector/plot_current_vector_pmsm_2kw_diode.py
@@ -55,4 +55,5 @@
 # Plot also the stator voltage and currents as well as the DC-bus and grid-side
 # quantities.
 
-utils.plot_extra(res, base, t_span=(0.8, 0.825))
+utils.plot_stator_waveforms(res, base, t_lims=(0.8, 0.825))
+utils.plot_dc_bus_waveforms(res, base, t_lims=(0.8, 0.825))
diff --git a/examples/drive/current_vector/plot_current_vector_pmsyrm_thor_sat.py b/examples/drive/current_vector/plot_current_vector_pmsyrm_thor_sat.py
@@ -33,7 +33,8 @@
 # Get the path of the MATLAB file and load the FEM data
 p = Path(__file__).resolve().parent if "__file__" in globals() else Path.cwd()
 fem_flux_map = utils.import_syre_data(str(p / "THOR.mat"))
-utils.plot_maps(fem_flux_map, base, x_lims=(-2, 2), y_lims=(-2, 2))
+utils.plot_map(fem_flux_map, "d", base, x_lims=(-2, 2), y_lims=(-2, 2))
+utils.plot_map(fem_flux_map, "q", base, x_lims=(-2, 2), y_lims=(-2, 2))
 
 # %%
 # Configure the system model.

diff --git a/examples/drive/flux_vector/plot_flux_vector_ctrl_pmsyrm_thor_sat.py b/examples/drive/flux_vector/plot_flux_vector_ctrl_pmsyrm_thor_sat.py
@@ -37,10 +37,11 @@
 fem_flux_map = utils.import_syre_data(str(p / "THOR.mat"))
 
 # %%
-# Plot the maps in per-unit values
+# Plot the maps in per-unit values.
 
 # sphinx_gallery_thumbnail_number = 3
-utils.plot_maps(fem_flux_map, base, x_lims=(-2, 2), y_lims=(-2, 2))
+utils.plot_map(fem_flux_map, "d", base, x_lims=(-2, 2), y_lims=(-2, 2))
+utils.plot_map(fem_flux_map, "q", base, x_lims=(-2, 2), y_lims=(-2, 2))
 
 # %%
 # Two-dimensional presentation of flux maps.

diff --git a/examples/drive/flux_vector/plot_flux_vector_pmsyrm_5kw_sat.py b/examples/drive/flux_vector/plot_flux_vector_pmsyrm_5kw_sat.py
@@ -1,8 +1,8 @@
 """
-5.5-kW PM-SyRM, saturated
+5.6-kW PM-SyRM, saturated
 =========================
 
-This example simulates sensorless stator-flux-vector control of a 5.5-kW PM-SyRM (Baldor
+This example simulates sensorless stator-flux-vector control of a 5.6-kW PM-SyRM (Baldor
 ECS101M0H7EF4) drive. The machine model is parametrized using the flux map data,
 measured using the constant-speed test. The control system is parametrized using the
 algebraic saturation model from [#Lel2024]_, fitted to the measured data. This
@@ -15,7 +15,6 @@
 
 from pathlib import Path
 
-import matplotlib.pyplot as plt
 import numpy as np
 from scipy.io import loadmat
 
@@ -25,7 +24,7 @@
 # %%
 # Compute base values based on the nominal values (just for figures).
 
-nom = utils.NominalValues(U=370, I=8.8, f=60, P=5.5e3, tau=29.2)
+nom = utils.NominalValues(U=460, I=8.8, f=60, P=5.6e3, tau=29.7)
 base = utils.BaseValues.from_nominal(nom, n_p=2)
 
 # %%
@@ -45,7 +44,7 @@
 
 # Plot the measured data
 # sphinx_gallery_thumbnail_number = 4
-utils.plot_flux_vs_current(meas_flux_map, base, lims=(-1.5, 1.5))
+utils.plot_flux_vs_current(meas_flux_map, base, x_lims=(-1.5, 1.5))
 
 # %%
 # Create a saturation model, which will be used in the control system.
@@ -72,14 +71,33 @@
 
 # Generate the flux map using the saturation model
 est_curr_map = i_s_dq_fcn.as_magnetic_model(
-    d_range=np.linspace(-0.1, 1.3 * base.psi, 256),
-    q_range=np.linspace(-1.7 * base.psi, 1.7 * base.psi, 256),
+    d_range=np.linspace(-0.1, base.psi, 256),
+    q_range=np.linspace(-1.4 * base.psi, 1.4 * base.psi, 256),
 )
 est_flux_map = est_curr_map.invert()
 
 # Plot the saturation model (surface) and the measured data (points)
-utils.plot_maps(
-    est_flux_map, base, x_lims=(-1.8, 1.8), y_lims=(-2.15, 2.15), raw_data=meas_flux_map
+utils.plot_map(
+    est_flux_map,
+    "d",
+    base,
+    x_lims=(-2, 2),
+    y_lims=(-2, 2),
+    z_lims=(0, 1),
+    x_ticks=[-2, -1, 0, 1, 2],
+    y_ticks=[-2, -1, 0, 1, 2],
+    raw_data=meas_flux_map,
+)
+utils.plot_map(
+    est_flux_map,
+    "q",
+    base,
+    x_lims=(-2, 2),
+    y_lims=(-2, 2),
+    z_lims=(-1.5, 1.5),
+    x_ticks=[-2, -1, 0, 1, 2],
+    y_ticks=[-2, -1, 0, 1, 2],
+    raw_data=meas_flux_map,
 )
 
 # %%
@@ -113,7 +131,6 @@
 mc.plot_current_vs_torque(i_s_vals, base)
 mc.plot_current_loci(i_s_vals, base)
 mc.plot_flux_loci(i_s_vals, base)
-plt.show()
 
 # %%
 # Set the speed reference and the external load torque.
@@ -125,7 +142,7 @@
 # Create the simulation object, simulate, and plot the results in per-unit values.
 
 sim = model.Simulation(mdl, ctrl)
-res = sim.simulate(t_stop=1.5)
+res = sim.simulate(t_stop=1.4)
 utils.plot(res, base)
 
 # %%

diff --git a/examples/drive/flux_vector/plot_flux_vector_syrm_7kw_sat.py b/examples/drive/flux_vector/plot_flux_vector_syrm_7kw_sat.py
@@ -41,8 +41,9 @@
 psi_q_range = np.linspace(-0.5 * base.psi, 0.5 * base.psi, 256)
 flux_map = curr_map.as_magnetic_model(psi_d_range, psi_q_range).invert()
 
-# Plot the flux map
-utils.plot_maps(flux_map, base)
+# Plot the flux maps
+utils.plot_map(flux_map, "d", base)
+utils.plot_map(flux_map, "q", base)
 
 # Parameter estimates
 est_par = control.SaturatedSynchronousMachinePars(

diff --git a/examples/drive/vhz/plot_obs_vhz_pmsm_2kw_two_mass.py b/examples/drive/vhz/plot_obs_vhz_pmsm_2kw_two_mass.py
@@ -62,13 +62,13 @@
 # %%
 # Plot the load speed and the twist angle.
 
-t_span = (0, 1.2)
+t_lims = (0, 1.2)
 _, (ax1, ax2) = plt.subplots(2, 1, figsize=(8, 5))
 ax1.plot(res.mdl.t, res.mdl.mechanics.w_M, label=r"$\omega_\mathrm{M}$")
 ax1.plot(res.mdl.t, res.mdl.mechanics.w_L, label=r"$\omega_\mathrm{L}$")
 ax2.plot(res.mdl.t, res.mdl.mechanics.theta_ML * 180 / np.pi)
-ax1.set_xlim(t_span)
-ax2.set_xlim(t_span)
+ax1.set_xlim(t_lims)
+ax2.set_xlim(t_lims)
 ax1.set_xticklabels([])
 ax1.legend()
 ax1.set_ylabel(r"$\omega_\mathrm{M}$, $\omega_\mathrm{L}$ (rad/s)")

diff --git a/examples/drive/vhz/plot_vhz_im_2kw.py b/examples/drive/vhz/plot_vhz_im_2kw.py
@@ -55,7 +55,9 @@
 res = sim.simulate(t_stop=1.4)
 # sphinx_gallery_thumbnail_number = 2
 utils.plot(res, base)
-utils.plot_extra(res, base, t_span=(1.1, 1.125))
+utils.plot_stator_waveforms(res, base, t_lims=(1.1, 1.125))
+utils.plot_dc_bus_waveforms(res, base, t_lims=(1.1, 1.125))
+
 
 # %%
 # .. note::

diff --git a/examples/drive/vhz/plot_vhz_im_2kw_lc.py b/examples/drive/vhz/plot_vhz_im_2kw_lc.py
@@ -61,20 +61,20 @@
 # %%
 # Plot additional waveforms.
 
-t_span = (1.1, 1.125)  # Time span for the zoomed-in plot
+t_lims = (1.1, 1.125)  # Time span for the zoomed-in plot
 
 # Plot the converter and stator voltages (phase a)
 fig1, (ax1, ax2) = plt.subplots(2, 1)
 ax1.plot(res.mdl.t, res.mdl.converter.u_c_ab.real / base.u, label=r"$u_\mathrm{ca}$")
 ax1.plot(res.mdl.t, res.mdl.machine.u_s_ab.real / base.u, label=r"$u_\mathrm{sa}$")
-ax1.set_xlim(t_span)
+ax1.set_xlim(t_lims)
 ax1.legend()
 ax1.set_xticklabels([])
 ax1.set_ylabel("Voltage (p.u.)")
 # Plot the converter and stator currents (phase a)
 ax2.plot(res.mdl.t, res.mdl.converter.i_c_ab.real / base.i, label=r"$i_\mathrm{ca}$")
 ax2.plot(res.mdl.t, res.mdl.machine.i_s_ab.real / base.i, label=r"$i_\mathrm{sa}$")
-ax2.set_xlim(t_span)
+ax2.set_xlim(t_lims)
 ax2.legend()
 ax2.set_ylabel("Current (p.u.)")
 ax2.set_xlabel("Time (s)")

diff --git a/examples/grid/grid_following/plot_gfl_10kva.py b/examples/grid/grid_following/plot_gfl_10kva.py
@@ -50,7 +50,9 @@
 
 sim = model.Simulation(mdl, ctrl)
 res = sim.simulate(t_stop=0.08)
-utils.plot(res, base, plot_pcc_voltage=False)
+utils.plot_control_signals(res, base)
+utils.plot_grid_waveforms(res, base, plot_pcc_voltage=False)
+
 
 # Uncomment line below to plot locus of the grid voltage space vector
 # utils.plot_voltage_vector(res, base)
diff --git a/examples/grid/grid_following/plot_gfl_dc_bus_10kva.py b/examples/grid/grid_following/plot_gfl_dc_bus_10kva.py
@@ -52,4 +52,5 @@
 
 sim = model.Simulation(mdl, ctrl)
 res = sim.simulate(t_stop=0.1)
-utils.plot(res, base)
+utils.plot_control_signals(res, base)
+utils.plot_grid_waveforms(res, base)
diff --git a/examples/grid/grid_following/plot_gfl_lcl_10kva.py b/examples/grid/grid_following/plot_gfl_lcl_10kva.py
@@ -5,7 +5,7 @@
 This example simulates a grid-following-controlled converter connected to a strong grid
 through an LCL filter. The control system includes a phase-locked loop (PLL) to
 synchronize with the grid, a current reference generator, and a PI-type current
-controller. The LCL filter dynamics are not taken into account in the control system.
+controller. The LCL-filter dynamics are not taken into account in the control system.
 
 """
 
@@ -53,4 +53,5 @@
 # %%
 # Plot the results.
 
-utils.plot(res, base)
+utils.plot_control_signals(res, base)
+utils.plot_grid_waveforms(res, base)
diff --git a/examples/grid/grid_forming/plot_gfm_obs_13kva.py b/examples/grid/grid_forming/plot_gfm_obs_13kva.py
@@ -61,4 +61,5 @@
 
 sim = model.Simulation(mdl, ctrl)
 res = sim.simulate(t_stop=1.4)
-utils.plot(res, base)
+utils.plot_control_signals(res, base)
+utils.plot_grid_waveforms(res, base)
diff --git a/examples/grid/grid_forming/plot_gfm_rfpsc_13kva.py b/examples/grid/grid_forming/plot_gfm_rfpsc_13kva.py
@@ -2,8 +2,8 @@
 12.5-kVA converter, RFPSC
 =========================
 
-This example simulates reference-feedforward power-synchronization control
-(RFPSC) of a converter connected to a weak grid.
+This example simulates reference-feedforward power-synchronization control (RFPSC) of a
+converter connected to a weak grid.
 
 """
 
@@ -49,4 +49,5 @@
 
 sim = model.Simulation(mdl, ctrl)
 res = sim.simulate(t_stop=1.4)
-utils.plot(res, base)
+utils.plot_control_signals(res, base)
+utils.plot_grid_waveforms(res, base)
diff --git a/motulator/common/model/_converter.py b/motulator/common/model/_converter.py
@@ -14,7 +14,7 @@
 import numpy as np
 
 from motulator.common.model._base import Subsystem
-from motulator.common.utils import abc2complex, complex2abc, empty_array
+from motulator.common.utils._utils import abc2complex, complex2abc, empty_array
 
 
 # %%

diff --git a/motulator/common/utils/__init__.py b/motulator/common/utils/__init__.py
@@ -4,22 +4,7 @@
     SequenceGenerator,
     Step,
     abc2complex,
-    clip,
     complex2abc,
-    empty_array,
-    get_value,
-    sign,
-    wrap,
 )
 
-__all__ = [
-    "SequenceGenerator",
-    "Step",
-    "abc2complex",
-    "complex2abc",
-    "clip",
-    "empty_array",
-    "get_value",
-    "sign",
-    "wrap",
-]
+__all__ = ["SequenceGenerator", "Step", "abc2complex", "complex2abc"]