Externally Excited DC Motor

Schematic

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i_\mathrm{a}}{\mathrm{d} t} &= \frac{u_\mathrm{a} - L_\mathrm{e}^\prime i_\mathrm{e} \omega_\mathrm{me} - R_\mathrm{a} i_\mathrm{a}}{L_\mathrm{a}} \\ \frac{\mathrm{d} i_\mathrm{e}}{\mathrm{d} t} &= \frac{u_\mathrm{e} - R_\mathrm{e} i_\mathrm{e}}{L_\mathrm{e}}\end{split}\]

Torque Equation

\[T = L_\mathrm{e}^\prime i_\mathrm{e} i_\mathrm{a}\]

Code Documentation

class gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor(motor_parameter=None, nominal_values=None, limit_values=None, motor_initializer=None)

Bases: DcMotor

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

electrical_jacobian(state, u_in, omega, *_)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.electrical_jacobian.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

electrical_ode(state, u_in, omega, *_)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.electrical_ode.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

get_state_space(input_currents, input_voltages)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.get_state_space.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

i_in(currents)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.i_in.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

initialize(state_space, state_positions, **__)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.initialize.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

next_generator()

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.next_generator.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

reset(state_space, state_positions, **__)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.reset.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

seed(seed=None)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.seed.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

torque(currents)

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.torque.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

CURRENTS = ['i_a', 'i_e']

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.CURRENTS.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

CURRENTS_IDX = [0, 1]

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.CURRENTS_IDX.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

HAS_JACOBIAN = True

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.HAS_JACOBIAN.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

I_A_IDX = 0

I_E_IDX = 1

VOLTAGES = ['u_a', 'u_e']

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.VOLTAGES.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property initial_limits

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.initial_limits.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property initializer

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.initializer.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property limits

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.limits.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property motor_parameter

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.motor_parameter.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property nominal_values

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.nominal_values.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property random_generator

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.random_generator.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.

property seed_sequence

API for gym_electric_motor.physical_systems.electric_motors.DcExternallyExcitedMotor.seed_sequence.

Note

The original docstring is temporarily suppressed due to formatting issues upstream. Once it’s cleaned, we’ll restore the full text here.