PI Controller

class gem_controllers.stages.base_controllers.pi_controller.PIController(control_task)[source]

This class combines the proportional controller and the integration controller to a PI controller

Parameters

control_task (str) – Control task of the PI controller

_tune_current_controller(env, env_id, a=4)[source]

Tune the P controller and I controller for the current control by the symmetrical optimum.

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.

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

_tune_flux_controller(env, env_id, a=4, t_n=None)[source]

Tune the P controller and I controller for the flux control by the symmetrical optimum.

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.

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

  • t_n (float) – Time constant of the underlying torque controller.

_tune_speed_controller(env, env_id, a=4, t_n=None)[source]

Tune the P controller and I controller for the speed control by the symmetrical optimum.

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.

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

  • t_n (float) – Time constant of the underlying torque controller.

control(state, reference)[source]

Calculate the reference of the underlying stage by adding the P- and I-component.

Parameters

  • state (np.ndarray) – The state of the environment.

  • reference (np.ndarray) – The reference of the state.

Returns

output of the controller stage

Return type

controller_output(np.ndarray)

tune(env, env_id, a=4, t_n=None)[source]

Tune the components of the controller for the desired task.

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.

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

  • t_n (float) – Time constant of the underlying controller stage.