pyDynaMapp.models package

Submodules

pyDynaMapp.models.BLDC module

class pyDynaMapp.models.BLDC.BLDC(inertia=0.558, torqueConstant=0.11, damping=0.14, Tck=None, Ta=0.22, Tb=0.21, Imax=5, Tmax=39)

Bases: object

BLDC - Brushless Direct Current Motor Model Function.

Args:

dQ_dt (numpy array): Motor rotor velocity. d2Q_d2t (numpy array) : Motor rotor acceleration. Q_t (numpy array): Motor rotor position.

Keyword Args:

Jm (float): Robot inertia factor. kf (float): Motor damping coefficient. Kt (float): Motor current coefficient. Tck (float): Motor cogging torque coefficients. Ta (float): Motor mechanical disturbance coefficients. Tb (float): Motor mechanical disturbance coefficients.

Returns:

• Ia Armature current vector.

• Td : Motor developed torque vector.

Ref:

Practical Modeling and Comprehensive System Identification of a BLDC Motor - C.Jiang, X.Wang, Y.Ma, B.Xu - 2015.

checkCurrent(I)

Check the computed actuator current, clip it if exceeded

checkTorque(T)

Check the computed actuator torque, clip it if exceeded

computeArmatureCurrent(Q_t, dQ_dt, d2Q_d2t)

computeOutputTorque(Q_t, dQ_dt, d2Q_d2t)

pyDynaMapp.models.harmonic_drive module

class pyDynaMapp.models.harmonic_drive.HarmonicDrive(Tinput, Vinput, N=100)

Bases: object

HarmonicDrive Base Class model Ref:

computeCompliance(inputSpeed)

Compute the

getOutputTorque()

getOutputVelocity()

Module contents