Updated Electrical Loss Model

osrf · Oct 4, 2023 · 355fe4a · 355fe4a
1 parent 22a9c9c
commit 355fe4a
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicSoln.hpp b/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicSoln.hpp
@@ -89,12 +89,12 @@ struct ElectroHydraulicSoln : Functor<double>
   static constexpr double HydMotorDisp{0.30};  // Default to Parker F11-5  0.30in^3/rev
 
   // Friction Loss Model constants
-  static constexpr double tau_c{.1};  // N-m
-  static constexpr double k_v{.06 / 1000.0};  // N-m/RPM
+  static constexpr double tau_c{.1596};  // N-m
+  static constexpr double k_v{.12897 / 1000.0};  // N-m/RPM
   static constexpr double k_th{100.0};
 
   // Switching Loss Model constants
-  static constexpr double k_switch{0.05};             // W/Volt
+  static constexpr double k_switch{0.1713};             // W/Volt
 
   // Winding Resitance Loss Model constants
   static constexpr double R_w{0.8};             // Ohms

diff --git a/buoy_gazebo/src/ElectroHydraulicPTO/WindingCurrentTarget.hpp b/buoy_gazebo/src/ElectroHydraulicPTO/WindingCurrentTarget.hpp
@@ -27,7 +27,7 @@
 #include <simple_interp/interp1d.hpp>
 
 // Defines from Controller Firmware, behavior replicated here
-#define TORQUE_CONSTANT 0.438   // 0.62 N-m/ARMS  0.428N-m/AMPS Flux Current
+#define TORQUE_CONSTANT .4580 // 0.438   // 0.62 N-m/ARMS  0.428N-m/AMPS Flux Current
 #define CURRENT_CMD_RATELIMIT 200  // A/second.  Set to zero to disable feature
 #define TORQUE_CMD_TIMEOUT 2  // Torque Command Timeut, in secs. Set to zero to disable timeout
 #define BIAS_CMD_TIMEOUT 10  // Bias Current Command Timeut, secs. Set to zero to disable timeout