Some last changes examples and added sb3 DDPG PMSM example

upb-lea · Nov 7, 2024 · cfccc20 · cfccc20
1 parent 5747506
commit cfccc20
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Showing 11 changed files with 715 additions and 1,660 deletions.
diff --git a/examples/environment_features/external_speed_profile.py b/examples/environment_features/external_speed_profile.py
@@ -2,6 +2,8 @@
 import gym_electric_motor as gem
 from gym_electric_motor import reference_generators as rg
 from gym_electric_motor.visualization import MotorDashboard
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
+from gym_electric_motor.physical_systems.solvers import ScipySolveIvpSolver
 
 import time
 from scipy import signal
@@ -67,11 +69,19 @@
 # inital value is given by bias of the profile
 sampling_time = 1e-4
 
+#define the motor env object
+motor = Motor(
+    motor_type=MotorType.SeriesDc,
+    control_type=ControlType.CurrentControl,
+    action_type=ActionType.Continuous,
+)
+
+
 if __name__ == "__main__":
     # Create the environment
     env = gem.make(
-        "Cont-CC-SeriesDc-v0",
-        ode_solver="scipy.solve_ivp",
+        motor.env_id(),
+        ode_solver=ScipySolveIvpSolver(),
         tau=sampling_time,
         reference_generator=const_switch_gen,
         visualization=MotorDashboard(state_plots=["omega", "i"], reward_plot=True),

diff --git a/examples/environment_features/scim_ideal_grid_simulation.py b/examples/environment_features/scim_ideal_grid_simulation.py
@@ -6,6 +6,8 @@
 
 import numpy as np
 import gym_electric_motor as gem
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
+from gym_electric_motor.physical_systems.solvers import ScipyOdeSolver
 import matplotlib.pyplot as plt
 
 
@@ -31,17 +33,18 @@ def grid_voltage(t):
 
     return grid_voltage
 
+motor = Motor(motor_type=MotorType.SquirrelCageInductionMotor, control_type=ControlType.CurrentControl, action_type=ActionType.Continuous)
 
 # Create the environment
 env = gem.make(
     # Choose the squirrel cage induction motor (SCIM) with continuous-control-set
-    "Cont-CC-SCIM-v0",
+    motor.env_id(),
     #
     load=gem.physical_systems.PolynomialStaticLoad(
         dict(a=0.0, b=0.0, c=0.0, j_load=1e-6)
     ),
     # Define the numerical solver for the simulation
-    ode_solver="scipy.ode",
+    ode_solver=ScipyOdeSolver(),
     # Define which state variables are to be monitored concerning limit violations
     # "()" means, that limit violation will not necessitate an env.reset()
     constraints=(),
@@ -53,7 +56,7 @@ def grid_voltage(t):
 limits = env.physical_system.limits
 
 # reset the environment such that the simulation can be started
-(state, reference) = env.reset()
+(state, reference),_ = env.reset()
 
 # We define these arrays in order to save our simulation results in them
 # Initial state and initial time are directly inserted

diff --git a/examples/environment_features/userdefined_initialization.py b/examples/environment_features/userdefined_initialization.py
@@ -1,6 +1,8 @@
 import gym_electric_motor as gem
 from gym_electric_motor import reference_generators as rg
 from gym_electric_motor.visualization import MotorDashboard
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
+from gym_electric_motor.physical_systems.solvers import ScipySolveIvpSolver
 import time
 
 """
@@ -39,15 +41,17 @@
 # initializer for a specific speed
 load_init = {"states": {"omega": 20}}
 
+motor = Motor(motor_type=MotorType.SeriesDc, control_type=ControlType.CurrentControl, action_type=ActionType.Continuous)
+
 if __name__ == "__main__":
     env = gem.make(
-        "Cont-CC-SeriesDc-v0",
+        motor.env_id(),
         visualization=MotorDashboard(state_plots=["omega", "i"]),
         motor=dict(
             motor_parameter=dict(j_rotor=0.001), motor_initializer=gaussian_init
         ),
         load=dict(j_load=0.001, load_initializer=uniform_init),
-        ode_solver="scipy.solve_ivp",
+        ode_solver=ScipySolveIvpSolver(),
         reference_generator=rg.SwitchedReferenceGenerator(
             sub_generators=[
                 rg.SinusoidalReferenceGenerator(reference_state="omega"),
@@ -63,7 +67,7 @@
     cum_rew = 0
 
     for j in range(10):
-        state, reference = env.reset()
+        (state, reference), _ = env.reset()
 
         # Print the initial states:
         denorm_state = state * env.limits

diff --git a/examples/model_predictive_controllers/pmsm_mpc_dq_current_control.ipynb b/examples/model_predictive_controllers/pmsm_mpc_dq_current_control.ipynb
diff --git a/examples/observers/state_observer_example.py b/examples/observers/state_observer_example.py
@@ -13,6 +13,7 @@
 from classic_controllers import Controller  # noqa: E402
 from externally_referenced_state_plot import ExternallyReferencedStatePlot  # noqa: E402
 
+
 if __name__ == "__main__":
     """
     motor type:     'PermExDc'  Permanently Excited DC Motor
@@ -27,7 +28,7 @@
     action_type:    'Cont'      Continuous Action Space
                     'Finite'    Discrete Action Space
     """
-
+    
     motor = Motor(
         MotorType.PermanentlyExcitedDcMotor,
         ControlType.SpeedControl,
@@ -66,7 +67,6 @@
     
     """
     controller = Controller.make(env, external_ref_plots=external_ref_plots)
-    # controller = GemController.make(env, env_id=motor.env_id())
 
     (state, reference), _ = env.reset(seed=1337)
     print("state_names: ", motor.states())