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geez0x1 / CompliantJointToolbox

Compliant Joint Toolbox (CJT) for MATLAB and Simulink
GNU General Public License v3.0
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Voltage limits #21

Closed geez0x1 closed 7 years ago

geez0x1 commented 7 years ago

Feature proposal; Adding voltage limits. Currently we only limit the torque, while based on the back-EMF and the max applicable voltage we could/should also limit it when it cannot be realised.

joernmalzahn commented 7 years ago

I have the model for the electrical subsystem implemented. Just have to clean it and make it ready for the toolbox. This can do the job.

geez0x1 commented 7 years ago

Does that include the electrical dynamics? If so, that significantly impacts the simulation speed. It's nice to have but we should also have the option to include voltage limits without simulating the full electrical dynamics.

joernmalzahn commented 7 years ago

Yes, that is what I meant by "electrical subsystem". The part that affects the simulation speed a lot is the consideration of inductance that introduces small time constants of the system dynamics. In many cases these dynamics are fast enough to be neglected. In that case the electrical subsystem models the effect of back-emf, winding resistance and eventually also thermodynamics.

Am 05.12.2016 um 11:59 schrieb Wesley Roozing:

dynamics? If so, that significantly impacts the simulation speed. It's nice to have but we should also have the option to include voltage limits without simulating the full electrical dynamics.

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Istituto Italiano Di Tecnologia Department of Advanced Robotics

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geez0x1 commented 7 years ago

OK, that's what I meant. In that case, feel free to add it to the toolbox (in its own branch please due to tagging v0.2 soon). I'm currently working on a unified torque ripple model which might make it into v0.2, depending on when #15 gets fixed.

joernmalzahn commented 7 years ago

Electrical subsystem models are implemented now in genericJoint and as Simulink block. The genericJoint class has a new abstract method getElectricalDynamicsMatrices. Two implementations are available. One static model incorporating back-emf but neglecting winding inductance (used as default). One including the winding inductance (small simulation time steps needed). The simulink block makes use of these functions and can simulate DAC quantization, communication delay, voltage limitation and noise on top of that.