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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Added

Changed

Fixed

[2.0.0] - 2023-08-15

Added

  • Support for Python 3.10
  • Changed API to be compatible with Gymnasium v0.29.0
  • Output a Motor Dashborad graph as PNG or PDF file (with LaTeX font)
  • Automated integration test (run a motor simulation with controller)

Changed

  • Dropped support for Python 3.7 (due to gymnasium not supporting it)

Fixed

  • Bugfixes for EESM environment

[1.1.0] - 2022-04-25

Added

  • Physical System Wrappers as a new feature to process actions and states directly in the environment. A decent introduction can be found in the GEM cookbook (Paragraph 2.8)
  • The externally excited synchronous motor (EESM) has been added to the GEM-toolbox.
  • The environments of the EESM can be instantiated with the following keys: "{Cont|Finite}-{CC|TC|SC}-EESM-v0",

Changed

  • The MotorDashboard has received a "initialize()" method to initialize the plots below a specific cell.
  • The MotorDashboard is now compatible with the "%matplotlib widget" backend. Therefore, GEM is now compatible with the integrated jupiter notebook execution of Visual Studio Code

Fixed

  • If multiple converters were used and the time constant tau was changed from its default values, it was possible that the values of tau were different in each converter

[1.0.1] - 2021-12-20

Added

  • Classic field oriented controllers for induction motors
  • Uniform initialization of the WienerProcessReferenceGenerator

Changed

  • Reduced the dynamics of the reference signals in several speed control environments
  • Changed the default ode-solver of all environments to the ScipyOdeSolver

Fixed

  • gym version compatibility for all versions >= 0.21.0
  • Docs: m2r dependency to m2r2. Enables compatibility with latest sphinx versions.
  • matplotlib compatibility with versions >= 3.5.0
  • Bugfix in the stable_baselines3_dqn_disc_pmsm_example.ipynb example notebook
  • Bugfix in the jacobian of the ConstantSpeedLoad

[1.0.0] - 2021-08-23

Added

  • classic controllers in examples with complete makeover
  • Possibility to seed all random number generators at once with a unified API - Reproduciblity improved.

Changed

Environment IDs

  • The environments have changed the IDs for their creation.
  • Furthermore, environments specialized for torque (TC), current (CC) and speed (SC) control tasks have been introduced.
  • The ids are now structured as follows: {Cont/Finite}-{CC/TC/SC}-motorType-v0
  • Details can be looked up on the code documentation pages.

gem.make() parameters

The arbitrary environment creation keyword arguments that were passed to every subcomponent of the environment have been removed. Instead, there is a fixed set of keyword parameters for every environment described in the API-documentation of every environment.

MPC example

  • Visualization improvements
  • fix: State variables were updated

Miscellaneous

  • Documentation was updated
  • Changed all DC Envs to FourQuadrantConverters per default
  • Adjusted the dynamics of the speed references in DC environments
  • Adjusted the plots for better visibility of single points

Removed

  • simple_controllers.py in examples
  • Tensorforce tutorial due to deprecation

[0.3.1] - 2020-12-18

Added

  • Constraint monitor class

Changed

  • Visualization framework