Gearbox ratio in electric subystem models

geez0x1 / CompliantJointToolbox

Compliant Joint Toolbox (CJT) for MATLAB and Simulink

GNU General Public License v3.0

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Closed joernmalzahn closed 6 years ago

joernmalzahn commented 7 years ago

The file electric_dyn_zero_inductance.m includes the transmission ratio. The model implemented in electric_dyn.m does not.

Hence the two electric dynamics models have different outputs. This shall not be.

joernmalzahn commented 7 years ago

geez0x1 commented 6 years ago

Fixed in 587c5516e5bbb2e0c6a909bb3de9a32a3f60df67. Not closing yet, as that branch is not merged.

geez0x1 commented 6 years ago

What was also missing was a factor 1/L for the q_m_dot input element in the B matrix.