EMF Feedforward

Subcomponent of the EMF Feedforward:

• EMF Feedforward Induction Motor
• EMF Feedforward EESM

class gem_controllers.stages.emf_feedforward.EMFFeedforward

This class calculates the emf feedforward, to decouple the actions.

__call__(state, reference)

Calculate the emf feedforward voltages and add them to the actions of the current controller.

Parameters

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

• reference (np.ndarray) – The reference voltages.

Returns

decoupled input voltages

Return type

input voltages(np.ndarray)

property action_range

Action range of the motor

property current_indices

Indices of the currents

property inductance

Inductances of the motor

omega_el(state)

Calculate the electrical speed.

Parameters

state (np.array) – state of the environment

Returns

electrical speed

Return type

float

property omega_idx

Index of the rotational speed omega

property psi

Permanent magnet flux of the motor

tune(env, env_id, **_)

Set all needed motor parameters for the decoupling.

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.