EMF Feedforward EESM

class gem_controllers.stages.emf_feedforward_eesm.EMFFeedforwardEESM[source]

This class extends the functions of the EMFFeedforward class to decouple the dq-components of the induction motor.

__call__(state, reference)[source]

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)

tune(env, env_id, **_)[source]

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.