motor_sim

Deterministic, no_std electric motor simulator in pure Rust, for testing motor controllers in software.

• PMSM in dq, solved exactly per PWM period, with an average inverter, rotor mechanics and loads (constant, viscous, fan, second inertia through a spring, time profile, dyno speed, locked rotor).
• A layered core: Plant takes any machine with flux as state (full inductance matrix, stationary frame, saturated flux maps on uniform tables), and a PWM carrier makes the step independent of the PWM period.
• The true state (Truth) is kept apart from what a controller measures (Sensors: current and DC link ADCs with offsets, noise and quantisation, encoder, halls). Faults break only the sensor and inverter paths.
• Same parameters and seed, same run on every target. libm is the only dependency.
• Motor::visit lists every variable with name, unit and a rate tier (PWM, control, telemetry).
• Presets: the VESC firmware's default hobby outrunner, a small industrial SPM servo, an IPM.

use motor_sim::{Drive, Load, Motor, presets};

let mut motor = Motor::new(presets::vesc_hobby_outrunner(), 42);
motor.set_load(Load::Fan { k_nms2_per_rad2: 2e-7 });
let dt = 1.0 / 25_000.0;
for _ in 0..25_000 {
    let _s = motor.sensors();          // i_abc_a, vdc_v, encoder_count, hall
    let drive = Drive::Duty([0.5; 3]); // your controller here
    motor.step(&drive, dt);
}

Workspace

Crate	What
motor_sim	the no_std plant above, builds for thumbv7em-none-eabihf
motor_demo_api	a wire_weaver API: 52 +observe properties of a motor controller in three rate tiers
motor_demo	a VESC-like FOC controller driving motor_sim, served as a wire_weaver device (in process or on UDP), and the motor_demo CLI that observes it
motor_bench	just bench: ns per Motor::step per configuration and the thumbv7em code size of motor_sim, against a committed baseline that flags regressions (MS-8)

motor_demo builds against a wire_weaver checkout next to this one (../wire_weaver); just deps-pull brings it up to its main.

git clone https://github.com/vhrdtech/wire_weaver
git clone https://github.com/vhrdtech/motor_sim
cd motor_sim
cargo run --release -p motor_demo -- observe --compare        # a device in this process, 3 tiers, 1 s reports
cargo run --release -p motor_demo -- device --listen 127.0.0.1:9000
cargo run --release -p motor_demo -- observe --udp 127.0.0.1:9000 --prop i_q=every:1ms,speed_electrical,fault
cargo run --release -p motor_demo -- list                     # every property with the unit it is shown in

What the demo shows and its measured numbers: Motor controller demo in the wire_weaver docs.

Status and plans: FEATURES.md. Development: AGENTS.md.