Permanently Excited DC Motor

Schematic

../../../_images/ESBdcpermex.svg

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i}{\mathrm{d} t} &= \frac{u_\mathrm{a} - \mathit{\Psi}^\prime_\mathrm{e} \omega_\mathrm{me} - R_\mathrm{a} i}{L_\mathrm{a}} \\\end{split}\]

Torque Equation

\[T = \mathit{\Psi}_\mathrm{e} i\]

Code Documentation

class gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor(motor_parameter=None, nominal_values=None, limit_values=None, motor_initializer=None)[source]

Bases: DcMotor

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.

Note

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

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.

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, *_)[source]

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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, *_)[source]

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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)[source]

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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(state)[source]

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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(state)[source]

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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']

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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]

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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
I_IDX = 0
VOLTAGES = ['u']

API for gym_electric_motor.physical_systems.electric_motors.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.DcPermanentlyExcitedMotor.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.