Permanent Magnet Synchronous Motor

Schematic

../../../_images/ESBdq.svg

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i_\mathrm{sd}}{\mathrm{d} t}&=\frac{u_\mathrm{sd} + p \omega_\mathrm{me} L_\mathrm{q} i_\mathrm{sq} - R_\mathrm{s} i_\mathrm{sd}}{L_\mathrm{d}} \\ \frac{\mathrm{d} i_\mathrm{sq}}{\mathrm{d} t}&=\frac{u_\mathrm{sq} - p \omega_\mathrm{me} (L_\mathrm{d} i_\mathrm{sd} + \mathit{\Psi}_\mathrm{p}) - R_\mathrm{s} i_\mathrm{sq}}{L_\mathrm{q}} \\ \frac{\mathrm{d} \varepsilon_\mathrm{el}}{\mathrm{d} t}&= p \omega_\mathrm{me}\end{split}\]

Torque Equation

\[T=\frac{3}{2} p (\mathit{\Psi}_\mathrm{p} +(L_\mathrm{d}-L_\mathrm{q})i_\mathrm{sd}) i_\mathrm{sq}\]

Code Documentation

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

Bases: SynchronousMotor

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.

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.PermanentMagnetSynchronousMotor.

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, *args)[source]

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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_dq, omega, *_)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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.

i_in(state)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.

static q(quantities, epsilon)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.q.

Note

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

static q_inv(quantities, epsilon)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.q_inv.

Note

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

q_inv_me(quantities, epsilon)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.q_inv_me.

Note

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

q_me(quantities, epsilon)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.q_me.

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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.seed.

Note

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

static t_23(quantities)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.t_23.

Note

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

static t_32(quantities)

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.t_32.

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)[source]

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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_sd', 'i_sq']

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.

EPSILON_IDX = 2
HAS_JACOBIAN = True

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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.

IO_CURRENTS = ['i_a', 'i_b', 'i_c', 'i_sd', 'i_sq']
IO_VOLTAGES = ['u_a', 'u_b', 'u_c', 'u_sd', 'u_sq']
I_SD_IDX = 0
I_SQ_IDX = 1
VOLTAGES = ['u_sd', 'u_sq']

API for gym_electric_motor.physical_systems.electric_motors.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.PermanentMagnetSynchronousMotor.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.