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:

_{Lauri Tiitinen} 💻 🤔 💡 🧑‍🏫	_HannuHar 💻 🐛	_{Marko Hinkkanen} 💻 🤔 💡 🧑‍🏫	_silundbe 💻 💡	_{JoonaKukkonen} 💻 🚇	_jarno-k 🤔 👀 🧑‍🏫	_{angelicaiaderosa} 💻 💡
_{Luca Peretti} 🤔 📣	_{GianmarioPellegrinoPolito} 🔣	_{Simone Ferrari} 🔣	_Jialed0303 🤔	_murgui 🐛	_{Nithin Valiyaveettil Sadanandan} 🐛	_saarela 🐛
_Ushnish 🐛	_{Francesco-Lelli} 💻 💡 🤔	_{Mikko Sarén} 💻 💡 🤔	_{Juho Määttä} 💻 💡 🤔	_rayanmour 💻 💡 🤔 👀 🧑‍🏫	_{Cosimo Bassi} 🚇	_{Junyi Li} 💻 💡 🤔
_{Tim Foißner} 🔣 🤔

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.

Metadata

Release files for motulator 0.7.7

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for motulator 0.7.7
File	Size	Uploaded
motulator-0.7.7.tar.gz	58.5 MB	Sep 13, 2026	Details

Built distribution (wheel)

Table of built distributions (wheels) for motulator 0.7.7
File	Interpreter	ABI	Platform	Reset
motulator-0.7.7-py3-none-any.whl 127.2 kB Sep 13, 2026	Python 3	none	any	Details

Total release size: 58.6 MB

Release files / motulator-0.7.7.tar.gz

Download URL	motulator-0.7.7.tar.gz
Size	58.5 MB
Tags	Source
SHA-256 checksum How to use checksums	`38caf43027f52806970000d370dc07a2357bf80d6e9856ae810f80719f9dab0c`
BLAKE2b-256 checksum How to use checksums	`8b4c0bf37a2a69c1a4dab760366dffa60e3e39a6f9409abc7c2d21b4f9f237f0`
Upload date	Sep 13, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/7.0.0 CPython/3.12.14`

Release files / motulator-0.7.7-py3-none-any.whl

Download URL	motulator-0.7.7-py3-none-any.whl
Size	127.2 kB
Tags	Python 3
SHA-256 checksum How to use checksums	`e2f3e6ad229fac381ecc3eab02d181cfd72ee44f9b7394bb4575a3112653cb24`
BLAKE2b-256 checksum How to use checksums	`caa9a7ac92772bbc26fd70e2ad719e298a964ccdb82a361b62612fc3230efd86`
Upload date	Sep 13, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/7.0.0 CPython/3.12.14`