GEM Control API Documentation

Subcomponents of a GEM Controller:

• Stages
• Block Diagrams
• PI Current Controller
• Torque Controller
• PI Speed Controller
• GEM Adapter
• Reference Plotter
• Utils

GEM Controllers

class gem_controllers.gem_controller.GemController

The GemController is the base for all motor controllers in the gem-control package.

A GemController consists of multiple stages that execute different control tasks like speed-control, a reference to current set point mapping or input and output processing.

Furthermore, the GemController has got a GemController.make factory function that automatically designs and tunes a classical cascaded motor controller based on classic control techniques like the proportional-integral (PI) controller to control a gym-electric-motor environment.

control(state, reference)

Calculate the voltage reference.

Parameters

• state (np.array) – state of the environment

• reference (np.array) – speed references

Returns

reference voltage

Return type

np.array

control_environment(env, n_steps, max_episode_length=inf, render_env=False)

Function to control an environment with the GemController.

Parameters

• env (ElectricMotorEnvironment) – The GEM-Environment that the controller should control.

• n_steps (int) – Number of iteration steps.

• max_episode_length (int) – Maximum length of an epsiode, after which the environment and controller should be reset.

• render_env (bool) – Flag, if the states of the environment should be plotted.

get_signal_value(signal_name)

Get the value of a signal calling by the signal name.

Parameters

signal_name (str) – Name of a signal of the state

Returns

float

classmethod make(env: ~gym_electric_motor.core.ElectricMotorEnvironment, env_id: str, decoupling: bool = True, current_safety_margin: float = 0.2, base_current_controller: str = 'PI', base_speed_controller: str = 'PI', a: int = 4, plot_references: bool = True, block_diagram: bool = True, save_block_diagram_as: (<class 'str'>, <class 'tuple'>) = None)

A factory function that generates (and parameterizes) a matching GemController for a given gym-electric-motor environment env.

Parameters

• env (ElectricMotorEnvironment) – The GEM-Environment that the controller shall be created for.

• env_id (str) – The corresponding environment-id to specify the concrete environment.

• decoupling (bool) – Flag, if a EMF-Feedforward correction stage should be used in the pi current controller.

• current_safety_margin (float in [0..1]) – The ratio between the maximum current set point the reference controller generates and the absolute current limit.

• base_speed_controller ('PI'/'PID'/'P'/'ThreePoint') – Selection of the basic control algorithm for the speed controller.

• base_current_controller ('PI'/'PID'/'P'/'ThreePoint') – Selection of the basic control algorithm for the current controller.

• a (float) – Tuning parameter of the symmetrical optimum.

• plot_references (bool) – Flag, if the reference values of the underlying control circuits should be plotted

• block_diagram (bool) – Selection whether the block diagram should be displayed

• save_block_diagram_as (str, tuple) – Selection of whether the block diagram should be saved

Returns

An initialized (and tuned) instance of a controller that fits to the specified environment.

Return type

GemController

reset()

Reset all stages of the controller

property signal_names

Signal names of the controller

property signals

Input signals of the controller

property stages

Stages of the GEM Controller