Six Phase Permanent Magnet Synchronous Motor

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i_\mathrm{d}}{\mathrm{d} t}&= \frac{u_\mathrm{d} + \omega_\mathrm{el} L_\mathrm{q} i_\mathrm{q} - R_\mathrm{s} i_\mathrm{d}}{L_\mathrm{d}} \\ \frac{\mathrm{d} i_\mathrm{q}}{\mathrm{d} t}&= \frac{u_\mathrm{q} - \omega_\mathrm{el} L_\mathrm{d} i_\mathrm{d} - R_\mathrm{s} i_\mathrm{q} - \omega_\mathrm{el} \psi_\mathrm{PM}}{L_\mathrm{q}} \\ \frac{\mathrm{d} i_\mathrm{x}}{\mathrm{d} t}&= \frac{u_\mathrm{x} - \omega_\mathrm{el} L_\mathrm{y} i_\mathrm{y} - R_\mathrm{s} i_\mathrm{x}}{L_\mathrm{x}} \\ \frac{\mathrm{d} i_\mathrm{y}}{\mathrm{d} t}&= \frac{u_\mathrm{y} + \omega_\mathrm{el} L_\mathrm{x} i_\mathrm{x} - R_\mathrm{s} i_\mathrm{y}}{L_\mathrm{y}} \\\end{split}\]

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.SixPhasePMSM(motor_parameter=None, nominal_values=None, limit_values=None, motor_initializer=None)

Bases: SixPhaseMotor

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.

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.SixPhasePMSM.

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)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.electrical_jacobian.

Note

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electrical_ode(state, u_dqxy, omega, *_)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.electrical_ode.

Note

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i_in(state)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.i_in.

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initialize(state_space, state_positions, **__)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.initialize.

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next_generator()

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.next_generator.

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static q(quantities, epsilon)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.q.

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static q_inv(quantities, epsilon)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.q_inv.

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reset(state_space, state_positions, **__)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.reset.

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seed(seed=None)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.seed.

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static t_46(quantities)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.t_46.

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torque(currents)

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.torque.

Note

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CURRENTS = ['i_sd', 'i_sq', 'i_sx', 'i_sy']

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.CURRENTS.

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CURRENTS_IDX = [0, 1, 2, 3]

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.CURRENTS_IDX.

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HAS_JACOBIAN = True

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.HAS_JACOBIAN.

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IO_CURRENTS = ['i_a1', 'i_b1', 'i_a2', 'i_b2', 'i_c2', 'i_c1', 'i_sd', 'i_sq', 'i_sx', 'i_sy']

IO_VOLTAGES = ['u_a1', 'u_b1', 'u_c1', 'u_a2', 'u_b2', 'u_c2', 'u_sd', 'u_sq', 'u_sx', 'u_sy']

I_SD_IDX = 0

I_SQ_IDX = 1

I_SX_IDX = 2

I_SY_IDX = 3

VOLTAGES = ['u_sd', 'u_sq', 'u_sx', 'u_sy']

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.VOLTAGES.

Note

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property initial_limits

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.initial_limits.

Note

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property initializer

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.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.SixPhasePMSM.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.SixPhasePMSM.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.SixPhasePMSM.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.SixPhasePMSM.random_generator.

Note

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property seed_sequence

API for gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM.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.