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EESM rotor parameters can be defined untransformed or transformed to stator side #243

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EESM rotor parameters can be defined untransformed or transformed to stator side #243

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74a4127
change transformation routine to be optional
max-schenke May 28, 2024
9af33cf
Merge branch 'EESM_transformations' of https://github.com/upb-lea/gym…
max-schenke May 28, 2024
0da1fd8
delete redundant import
max-schenke May 28, 2024
47d3caf
Merge branch 'nightly' of https://github.com/upb-lea/gym-electric-mot…
max-schenke May 28, 2024
c1db431
changed the default parameters of EESM to more reliable ones
max-schenke Jun 13, 2024
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2 changes: 1 addition & 1 deletion src/gym_electric_motor/envs/gym_eesm/cont_cc_eesm_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ def __init__(
ps.ContFourQuadrantConverter(),
)
physical_system = ExternallyExcitedSynchronousMotorSystem(
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=300.0)),
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=200.0)),
converter=initialize(
ps.PowerElectronicConverter,
converter,
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2 changes: 1 addition & 1 deletion src/gym_electric_motor/envs/gym_eesm/cont_sc_eesm_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ def __init__(
ps.ContFourQuadrantConverter(),
)
physical_system = ExternallyExcitedSynchronousMotorSystem(
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=420.0)),
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=200.0)),
converter=initialize(
ps.PowerElectronicConverter,
converter,
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2 changes: 1 addition & 1 deletion src/gym_electric_motor/envs/gym_eesm/cont_tc_eesm_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -154,7 +154,7 @@ def __init__(
ps.ContFourQuadrantConverter(),
)
physical_system = ExternallyExcitedSynchronousMotorSystem(
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=420.0)),
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=200.0)),
converter=initialize(
ps.PowerElectronicConverter,
converter,
Expand Down
2 changes: 1 addition & 1 deletion src/gym_electric_motor/envs/gym_eesm/finite_cc_eesm_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ def __init__(
ps.FiniteFourQuadrantConverter(),
)
physical_system = ExternallyExcitedSynchronousMotorSystem(
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=420.0)),
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=200.0)),
converter=initialize(
ps.PowerElectronicConverter,
converter,
Expand Down
2 changes: 1 addition & 1 deletion src/gym_electric_motor/envs/gym_eesm/finite_sc_eesm_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ def __init__(
ps.FiniteFourQuadrantConverter(),
)
physical_system = ExternallyExcitedSynchronousMotorSystem(
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=420.0)),
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=200.0)),
converter=initialize(
ps.PowerElectronicConverter,
converter,
Expand Down
2 changes: 1 addition & 1 deletion src/gym_electric_motor/envs/gym_eesm/finite_tc_eesm_env.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ def __init__(
ps.FiniteFourQuadrantConverter(),
)
physical_system = ExternallyExcitedSynchronousMotorSystem(
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=420.0)),
supply=initialize(ps.VoltageSupply, supply, ps.IdealVoltageSupply, dict(u_nominal=200.0)),
converter=initialize(
ps.PowerElectronicConverter,
converter,
Expand Down
52 changes: 36 additions & 16 deletions ...m_electric_motor/physical_systems/electric_motors/externally_excited_synchronous_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -97,21 +97,21 @@ class ExternallyExcitedSynchronousMotor(SynchronousMotor):
CURRENTS = ["i_sd", "i_sq", "i_e"]
VOLTAGES = ["u_sd", "u_sq", "u_e"]

#### Parameters taken from DOI: 10.1109/ICELMACH.2014.6960287 (C. D. Nguyen; W. Hofmann)
#### Parameters derived from DOI: 10.1109/ICPE.2015.7168165 (Q. K. Nguyen; J. Schuster; J. Roth-Stielow)
_default_motor_parameter = {
'p': 3,
'l_d': 1.66e-3,
'l_q': 0.35e-3,
'l_m': 1.589e-3,
'l_e': 1.74e-3,
'p': 2,
'l_d': 3.78e-3,
'l_q': 1.21e-3,
'l_m': 40e-3,
'l_e': 870e-3,
'j_rotor': 0.3883,
'r_s': 15.55e-3,
'r_e': 7.2e-3,
'k': 65.21,
'r_s': 123e-3,
'r_e': 15.6,
'k': 0.057,
}
HAS_JACOBIAN = True
_default_limits = dict(omega=12e3 * np.pi / 30, torque=0.0, i=150, i_e=150, epsilon=math.pi, u=320)
_default_nominal_values = dict(omega=4.3e3 * np.pi / 30, torque=0.0, i=120, i_e=150, epsilon=math.pi, u=320)
_default_limits = dict(omega=12e3 * np.pi / 30, torque=0.0, i=25, i_e=25, epsilon=math.pi, u=200, u_e=200)
_default_nominal_values = dict(omega=4.3e3 * np.pi / 30, torque=0.0, i=25, i_e=25, epsilon=math.pi, u=200, u_e=200)
_default_initializer = {
"states": {"i_sq": 0.0, "i_sd": 0.0, "i_e": 0.0, "epsilon": 0.0},
"interval": None,
Expand All @@ -126,18 +126,38 @@ def _update_model(self):
# Docstring of superclass
mp = self._motor_parameter

# Transform rotor quantities to stator side (uppercase index denotes transformation to stator side)
mp['r_E'] = mp['k'] ** 2 * 3/2 * mp['r_e']
mp['l_M'] = mp['k'] * 3/2 * mp['l_m']
mp['l_E'] = mp['k'] ** 2 * 3/2 * mp['l_e']
if all(key in mp for key in ['r_e', 'l_m', 'l_e']):
print("Transforming r_e, l_m and l_e to stator side.")
print("To specify stator-side quantities, make use of keys r_E, l_M and l_E instead.")

# Transform rotor quantities to stator side (uppercase index denotes transformation to stator side)
mp['r_E'] = 3 / 2 * mp['k'] ** 2 * mp['r_e']
mp['l_M'] = 3 / 2 * mp['k'] * mp['l_m']
mp['l_E'] = 3 / 2 * mp['k'] ** 2 * mp['l_e']

elif all(key in mp for key in ['r_E', 'l_M', 'l_E']):

if mp != self._default_motor_parameter:
print("Assuming r_E, l_M and l_E are already transformed to stator side.")
print("To specify rotor-side quantities, make use of keys r_e, l_m and l_e instead.")

# Transform rotor quantities to rotor side (only for completing the mp dict, not needed for calculation)
mp['r_e'] = 2 / 3 * mp['r_E'] / (mp['k'] ** 2)
mp['l_m'] = 2 / 3 * mp['l_M'] / mp['k']
mp['l_e'] = 2 / 3 * mp['l_E'] / (mp['k'] ** 2)

else:
raise KeyError("Rotor quantities are not specified in a consistent frame or are incomplete."
"Specify either r_e, l_m and l_e (rotor-side) or r_E, l_M and l_E (stator-side).")


mp['i_k_rs'] = 2 / 3 / mp['k'] # ratio (i_E / i_e)
mp['sigma'] = 1 - mp['l_M'] ** 2 / (mp['l_d'] * mp['l_E'])

# fmt: off

self._model_constants = np.array([
# omega, i_d, i_q, i_e, u_d, u_q, u_e, omega * i_d, omega * i_q, omega * i_e
# omega, i_d, i_q, i_e, u_d, u_q, u_e, omega * i_d, omega * i_q, omega * i_e
[ 0, -mp["r_s"] / mp["sigma"], 0, mp["l_M"] * mp["r_E"] / (mp["sigma"] * mp["l_E"]) * mp["i_k_rs"], 1 / mp["sigma"], 0, -mp["l_M"] * mp["k"] / (mp["sigma"] * mp["l_E"]), 0, mp["l_q"] * mp["p"] / mp["sigma"], 0],
[ 0, 0, -mp["r_s"], 0, 0, 1, 0, -mp["l_d"] * mp["p"], 0, -mp["p"] * mp["l_M"] * mp["i_k_rs"]],
[ 0, mp["l_M"] * mp["r_s"] / (mp["sigma"] * mp["l_d"]), 0, -mp["r_E"] / mp["sigma"] * mp["i_k_rs"], -mp["l_M"] / (mp["sigma"] * mp["l_d"]), 0, mp["k"] / mp["sigma"], 0, -mp["p"] * mp["l_M"] * mp["l_q"] / (mp["sigma"] * mp["l_d"]), 0],
Expand Down
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