Be clearer about units in RobotR3 motor #4591

HansOlsson · 2025-03-12T09:02:02Z

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).

Summary by CodeRabbit

New Features
- Introduced a configurable parameter for adjusting the motor’s electric resistance.
Refactor
- Updated parameter definitions to clarify motor frequency and damping.
- Revised component calculations for inductance, resistance, and capacitance to rely on the new resistance parameter, enhancing simulation flexibility and accuracy.

Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo

beutlich · 2025-03-12T19:33:49Z

Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo

  parameter SI.AngularVelocity w_max=315 "Maximum speed of motor";
  parameter SI.Current i_max=9 "Maximum current of motor";


Suggested change

parameter SI.AngularVelocity w_max=315 "Maximum speed of motor";

parameter SI.Current i_max=9 "Maximum current of motor";

Remove if not used.

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.)

I hope @MartinOtter can give feedback.

Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo

coderabbitai · 2025-04-09T10:01:49Z

Walkthrough

This change updates the motor model in the RobotR3 utilities by adjusting parameter types and modifying calculation formulas. The parameter w is now defined as an angular frequency, and the damping constant D includes a unit annotation. A new parameter RaR (electric resistance) has been added, and the formulas for the inductor, resistor, and capacitor have been updated to reference RaR rather than hardcoded constants. These modifications provide greater flexibility in tuning the motor parameters.

Changes

File	Changes Summary
Modelica/Mechanics/.../RobotR3/Utilities/Motor.mo	- Parameters: Updated `w` from `Real` (time constant) to `SI.AngularFrequency` (angular frequency), and added unit `"1"` to `D`. - New Parameter: Added `RaR` as `SI.Resistance` with a default of 250. - Calculations: Modified inductor (`La`), resistor (`Ra`), and capacitor (`C`) expressions to use `RaR` instead of a fixed value.

Poem

In my burrow of code I hop with cheer,
Tweaks in motor parameters now appear.
From angular spins to resistance so true,
My circuits dance as they compute anew.
With every change, my logic does gleam—
A rabbit's delight in a motor's dream!
🐇✨

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HansOlsson · 2025-04-09T10:09:50Z

I find the experiment with coderabbit interesting and the statements look suggestive.
However, the summary completely misses the intent of the changes.

beutlich · 2025-04-09T10:21:07Z

I find the experiment with coderabbit interesting and the statements look suggestive. However, the summary completely misses the intent of the changes.

Yes, it's experimental. The summary feature is rather useless. The actual review comments seem more promising to me, however that's not part of a free service and only available now during the coderabbit trial phase of 14 days.

casella · 2025-04-11T10:51:24Z

But the poem, oh, the poem...

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).

…s/Motor.mo

…s/Motor.mo Change to angular frequency, seems likely to be correct. Co-authored-by: Thomas Beutlich <[email protected]>

HansOlsson added the L: Mechanics.MultiBody Issue addresses Modelica.Mechanics.MultiBody label Mar 12, 2025

HansOlsson added this to the MSL4.2.0 milestone Mar 12, 2025

tobolar reviewed Mar 12, 2025

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HansOlsson commented Mar 12, 2025

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beutlich reviewed Mar 12, 2025

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beutlich added the example Issue only addresses example(s) label Mar 12, 2025

beutlich changed the title ~~Be clearer about units. No actual change.~~ Be clearer about units in RobotR3 motor Mar 12, 2025

beutlich reviewed Mar 12, 2025

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Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilities/Motor.mo Outdated Show resolved Hide resolved

beutlich requested a review from MartinOtter March 13, 2025 15:54

beutlich force-pushed the ImproveUnitRobot branch from 48fe8ca to 5542be3 Compare April 9, 2025 10:01

HansOlsson and others added 3 commits April 22, 2025 06:54

Be clearer about units. No actual change.

8b26cee

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).

Update Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilitie…

6d71389

…s/Motor.mo

Update Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/Utilitie…

544d814

…s/Motor.mo Change to angular frequency, seems likely to be correct. Co-authored-by: Thomas Beutlich <[email protected]>

beutlich force-pushed the ImproveUnitRobot branch from 5542be3 to 544d814 Compare April 22, 2025 04:54

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Be clearer about units in RobotR3 motor #4591

Be clearer about units in RobotR3 motor #4591

HansOlsson commented Mar 12, 2025 •

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beutlich Mar 12, 2025

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tobolar Mar 13, 2025

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HansOlsson commented Apr 9, 2025

beutlich commented Apr 9, 2025

casella commented Apr 11, 2025

		parameter SI.AngularVelocity w_max=315 "Maximum speed of motor";
		parameter SI.Current i_max=9 "Maximum current of motor";

Be clearer about units in RobotR3 motor #4591

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Be clearer about units in RobotR3 motor #4591

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HansOlsson commented Mar 12, 2025 • edited by coderabbitai bot Loading

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coderabbitai bot commented Apr 9, 2025 • edited Loading

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HansOlsson commented Apr 9, 2025

beutlich commented Apr 9, 2025

casella commented Apr 11, 2025

HansOlsson commented Mar 12, 2025 •

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