Documentation issue in linear models

[geezIIT]

The linear models list (in-line code documentation) the input as [tau_m, tau_e], while in fact they are [i, tau_e], i.e. current inputs.

This may also exist in other places.

[joernmalzahn]

Ok, let's discuss what we wish to have there. Having a consistent torque interface to the mechanical subsystem models would make sense in my opinion.

This way the electrical subsystems that are actually the torque generators could have voltage as input and torque as output (before or after gearbox, i.e. where should the transmission ratio enter the game?).

[joernmalzahn]

Documentation issue in linear models

[geez0x1]

I'm currently working on this in the dev_mechanical_torque_inputs branch.

I agree that having a mechanical torque input is more consistent. As for the jointModel block itself, changing its input to mechanical torque makes current limits weird to implement, so I think those should also move to the electrical model blocks. The delay and noise can stay (useful when not using an electrical model), but be reformulated in terms of torque.

The electrical model blocks could have two outputs; current and torque (easier for debugging purposes). Torque should stay after the gearbox; everywhere k_t and n are together, and the mechanical models are defined with all variables reflected across the gearbox.

Things that need updating:

• Linear (mechanical) models -> Done
• Electrical models -> Done
• Joint model block -> Done
• Controllers -> Done
• Observers -> Done
• A number of tools -> Done
• Unit tests -> Done

[geez0x1]

@joernmalzahn Check out the branch if you have time. I think it is a nice improvement. If you have thoughts let me know otherwise I'll merge it into master sometime soon.

[geez0x1]

@joernmalzahn Have you looked at this? I'm ready to merge it into master.

[joernmalzahn]

Sorry, didn't manage before the holidays. So far it looks good to me.

Only jointBuilderTest/testElectricalSubsystem fails. Can you look at it?

It would be good to have also a couple of tests for the new input.

[joernmalzahn]

The error ocurrs in line 277. verifyTrue failed. --> The value must evaluate to "true".

[geez0x1]

Hmm, odd. I did go over the tests earlier and updated them. Perhaps I missed this one somehow. Anyway, it's fixed.

I agree more tests are needed. I don't have the time for them now though, perhaps next month. Merging this into master now.