upb-lea · bhk11 · Apr 30, 2025 · Feb 19, 2025 · Feb 26, 2025 · Mar 5, 2025
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## Added
 - Automated testing of the existing examples
 - Automated testing of the electric motors
+- 2x3 phase PMSM environment with tests and documentation
 ## Changed
 - Changed minimal required gymnasium version to 0.29.1.
 - updated the code of gem-control to be compatible with gymnasium v1.0.0

diff --git a/docs/parts/environments/environment.rst b/docs/parts/environments/environment.rst
@@ -8,7 +8,7 @@ In general, all environment-ids are structured as follows:
 
 - The ``ControlType`` is in ``{Finite / Cont}`` for finite control set and continuous control set action spaces
 - The ``ControlTask`` is in ``{TC / SC / CC}`` (Torque / Speed / Current Control)
-- The ``MotorType`` is in ``{PermExDc / ExtExDc / SeriesDc / ShuntDc / PMSM / SynRM / / EESM / DFIM / SCIM }``
+- The ``MotorType`` is in ``{PermExDc / ExtExDc / SeriesDc / ShuntDc / PMSM / SynRM / / EESM / DFIM / SCIM / SIXPMSM }``
 
 
 =================================================================== ==============================
@@ -96,6 +96,15 @@ Speed Control DFIM Environment                                       ``'Cont-SC-
 Finite Current Control DFIM Environment                              ``'Finite-CC-DFIM-v0'``
 Current Control DFIM Environment                                     ``'Cont-CC-DFIM-v0'``
 
+**Six Phase Permanent Magnet Synchronous Motor (SIXPMSM) Environments**
+
+Finite Torque Control SIXPMSM Environment                               ``'Finite-TC-SIXPMSM-v0'``
+Torque Control SIXPMSM Environment                                      ``'Cont-TC-SIXPMSM-v0'``
+Finite Speed Control SIXPMSM Environment                                ``'Finite-SC-SIXPMSM-v0'``
+Speed Control SIXPMSM Environment                                       ``'Cont-SC-SIXPMSM-v0'``
+Finite Current Control SIXPMSM Environment                              ``'Finite-CC-SIXPMSM-v0'``
+Current Control SIXPMSM Environment                                     ``'Cont-CC-SIXPMSM-v0'``
+
 =================================================================== ==============================
 
 .. toctree::
@@ -112,6 +121,7 @@ Current Control DFIM Environment                                     ``'Cont-CC-
    synrm/synrm_envs
    scim/scim_envs
    dfim/dfim_envs
+   sixpmsm/sixpmsm_envs
 
 
 Electric Motor Base Environment

diff --git a/docs/parts/environments/sixpmsm/cont_cc_sixpmsm.rst b/docs/parts/environments/sixpmsm/cont_cc_sixpmsm.rst
@@ -0,0 +1,4 @@
+Current Control Six Phase Permanent Magnet Synchronous Motor Environment
+*****************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/sixpmsm/cont_sc_sixpmsm.rst b/docs/parts/environments/sixpmsm/cont_sc_sixpmsm.rst
@@ -0,0 +1,4 @@
+Speed Control Six Phase Permanent Magnet Synchronous Motor Environment
+****************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/sixpmsm/cont_tc_sixpmsm.rst b/docs/parts/environments/sixpmsm/cont_tc_sixpmsm.rst
@@ -0,0 +1,4 @@
+Torque Control Six Phase Permanent Magnet Synchronous Motor Environment
+******************************************************************************
+.. autoclass:: gym_electric_motor.envs.ContTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/sixpmsm/finite_cc_sixpmsm.rst b/docs/parts/environments/sixpmsm/finite_cc_sixpmsm.rst
@@ -0,0 +1,4 @@
+Finite Control Set Current Control Six Phase Permanent Magnet Synchronous Motor Environment
+**********************************************************************************
+.. autoclass:: gym_electric_motor.envs.FiniteCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/sixpmsm/finite_sc_sixpmsm.rst b/docs/parts/environments/sixpmsm/finite_sc_sixpmsm.rst
@@ -0,0 +1,4 @@
+Finite Control Set Speed Control Six Phase Permanent Magnet Synchronous Motor Environment
+********************************************************************************
+.. autoclass:: gym_electric_motor.envs.FiniteSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/sixpmsm/finite_tc_sixpmsm.rst b/docs/parts/environments/sixpmsm/finite_tc_sixpmsm.rst
@@ -0,0 +1,4 @@
+Finite Control Set Torque Control Six Phase Permanent Magnet Synchronous Motor Environment
+*********************************************************************************
+.. autoclass:: gym_electric_motor.envs.FiniteTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv
+   :members:
diff --git a/docs/parts/environments/sixpmsm/sixpmsm_envs.rst b/docs/parts/environments/sixpmsm/sixpmsm_envs.rst
@@ -0,0 +1,12 @@
+Six Phase Permanent Magnet Synchronous Motor Environments
+************************************************
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Environments:
+   :glob:
+
+   *
+
+
diff --git a/docs/parts/physical_systems/electric_motors/electric_motor.rst b/docs/parts/physical_systems/electric_motors/electric_motor.rst
@@ -18,6 +18,8 @@ Electric Motors
     three_phase_base
     synchronous_base
     induction_base
+    sixphase_base
+    sixphase_pmsm
 
 Electric Motor Base Class
 *************************************

diff --git a/docs/parts/physical_systems/electric_motors/sixphase_base.rst b/docs/parts/physical_systems/electric_motors/sixphase_base.rst
@@ -0,0 +1,11 @@
+Base Six Phase Motor
+############################
+
+
+
+Code Documentation
+******************
+
+.. autoclass:: gym_electric_motor.physical_systems.electric_motors.SixPhaseMotor
+   :members:
+   :inherited-members:
diff --git a/docs/parts/physical_systems/electric_motors/sixphase_pmsm.rst b/docs/parts/physical_systems/electric_motors/sixphase_pmsm.rst
@@ -0,0 +1,26 @@
+Six Phase Permanent Magnet Synchronous Motor
+##################################
+
+
+Electrical ODE
+**************
+
+.. math::
+    \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}} \\
+
+
+
+Torque Equation
+***************
+
+.. math:: T=\frac{3}{2} p (\mathit{\Psi}_\mathrm{p} +(L_\mathrm{d}-L_\mathrm{q})i_\mathrm{sd}) i_\mathrm{sq}
+
+Code Documentation
+******************
+
+.. autoclass:: gym_electric_motor.physical_systems.electric_motors.SixPhasePMSM
+   :members:
+   :inherited-members:
diff --git a/examples/classic_controllers/demoSixPhasePMSM.py b/examples/classic_controllers/demoSixPhasePMSM.py
@@ -0,0 +1,41 @@
+import gym_electric_motor as gem
+from gym_electric_motor.envs.motors import ActionType, ControlType, Motor, MotorType
+from gym_electric_motor.reference_generators import LaplaceProcessReferenceGenerator
+from gym_electric_motor.visualization import MotorDashboard
+from gym_electric_motor.visualization.render_modes import RenderMode
+from gym_electric_motor.visualization.console_printer import ConsolePrinter
+from gym_electric_motor.physical_systems import ConstantSpeedLoad
+
+
+my_changed_voltage_supply_args = {'u_nominal': 200.0}
+motor_dashboard = MotorDashboard(state_plots=("i_a1","i_a2"),render_mode=RenderMode.Figure)
+load = ConstantSpeedLoad(omega_fixed=200)
+motor = Motor(
+        MotorType.SixPhasePMSM,
+        ControlType.CurrentControl,
+        ActionType.Continuous,
+    )
+env = gem.make(
+         motor.env_id(),
+         supply = my_changed_voltage_supply_args,
+         load = load,
+         visualization = motor_dashboard)
+terminated = True
+for _ in range(1000):
+   if terminated:
+     state, reference = env.reset()
+   (state, reference), reward, terminated, truncated, _ = env.step(0 * env.action_space.sample())
+
+motor_dashboard.initialize()
+fig = motor_dashboard.figure()
+fig.gca().set_ylim([-20,+20])
+fig.gca().set_xlim([0,0.02])
+fig.get_axes()[0].set_ylim([-20,+20])
+fig.gca().legend(loc='upper right')
+fig.get_axes()[0].legend(loc='upper right')
+fig.savefig("test")
+motor_dashboard.save_to_file()
+
+
+#console.render()
+env.close()
diff --git a/src/gym_electric_motor/__init__.py b/src/gym_electric_motor/__init__.py
@@ -281,3 +281,23 @@
 register(
     id="Cont-SC-DFIM-v0", entry_point=envs_path + "ContSpeedControlDoublyFedInductionMotorEnv", **registration_kwargs
 )
+
+#sixphase machines
+register(
+    id="Cont-CC-SIXPMSM-v0", entry_point=envs_path + "ContCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv", **registration_kwargs
+)
+register(
+    id="Cont-SC-SIXPMSM-v0", entry_point=envs_path + "ContSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv", **registration_kwargs
+)
+register(
+    id="Cont-TC-SIXPMSM-v0", entry_point=envs_path + "ContTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv", **registration_kwargs
+)
+register(
+    id="Finite-CC-SIXPMSM-v0", entry_point=envs_path + "FiniteCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv", **registration_kwargs
+)
+register(
+    id="Finite-SC-SIXPMSM-v0", entry_point=envs_path + "FiniteSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv", **registration_kwargs
+)
+register(
+    id="Finite-TC-SIXPMSM-v0", entry_point=envs_path + "FiniteTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv", **registration_kwargs
+)
diff --git a/src/gym_electric_motor/envs/__init__.py b/src/gym_electric_motor/envs/__init__.py
@@ -50,6 +50,26 @@
 from .gym_eesm.finite_tc_eesm_env import (
     FiniteTorqueControlExternallyExcitedSynchronousMotorEnv,
 )
+from .gym_sixphase_pmsm.cont_cc_sixpmsm_env import (
+    ContCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv,
+
+)
+from .gym_sixphase_pmsm.cont_sc_sixpmsm_env import (
+    ContSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv,
+)
+from .gym_sixphase_pmsm.cont_tc_sixpmsm_env import (
+    ContTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv,
+)
+from .gym_sixphase_pmsm.finite_cc_sixpmsm_env import (
+    FiniteCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv,
+)
+from .gym_sixphase_pmsm.finite_sc_sixpmsm_env import (
+    FiniteSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv,
+)
+from .gym_sixphase_pmsm.finite_tc_sixpmsm_env import (
+    FiniteTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv,
+)
+
 from .gym_im import (
     ContCurrentControlDoublyFedInductionMotorEnv,
     ContCurrentControlSquirrelCageInductionMotorEnv,

diff --git a/src/gym_electric_motor/envs/gym_sixphase_pmsm/__init__.py b/src/gym_electric_motor/envs/gym_sixphase_pmsm/__init__.py
@@ -0,0 +1,6 @@
+from .cont_cc_sixpmsm_env import ContCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv
+from .cont_sc_sixpmsm_env import ContSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv
+from .cont_tc_sixpmsm_env import ContTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv
+from .finite_cc_sixpmsm_env import FiniteCurrentControlSixPhasePermanentMagnetSynchronousMotorEnv
+from .finite_sc_sixpmsm_env import FiniteSpeedControlSixPhasePermanentMagnetSynchronousMotorEnv
+from .finite_tc_sixpmsm_env import FiniteTorqueControlSixPhasePermanentMagnetSynchronousMotorEnv