Be clearer about units in RobotR3 motor #4591
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The only controversial part is the name RaR. Without this change based on La.L=250/(2*D*w) and C.C=(1/250)*D/w one might conclude that D has unit Siemens (inverted Ohm).
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tobolar
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Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo
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HansOlsson
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Mar 12, 2025
Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo
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beutlich
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| parameter SI.AngularVelocity w_max=315 "Maximum speed of motor"; | ||
| parameter SI.Current i_max=9 "Maximum current of motor"; |
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| parameter SI.AngularVelocity w_max=315 "Maximum speed of motor"; | |
| parameter SI.Current i_max=9 "Maximum current of motor"; |
Remove if not used.
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I'm not confident in removing that in this PR.
Plotting the different axis*.motor.emf.i and axis*.motor.speed.w; indicates that the speed is within the bounds - but that the current peaks above the maximum. (For axis3 it is close to 15 A, so significantly above.)
I don't know - it could even be different for the different axis (it's worse for axis 1, 2, 3 and they are different.)
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I hope @MartinOtter can give feedback.
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Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo
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…s/Motor.mo Change to angular frequency, seems likely to be correct. Co-authored-by: Thomas Beutlich <modelica@tbeu.de>
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The only controversial part is the name RaR.
Without this change based on
La.L=250/(2*D*w)andC.C=(1/250)*D/wone might conclude that
Dhas unit Siemens (inverted Ohm).