From eccdade37e27f856b79ba1308071812679ce00b6 Mon Sep 17 00:00:00 2001 From: Henrik Tidefelt Date: Wed, 5 Apr 2023 22:08:34 +0200 Subject: [PATCH] Fix unit error in RobotR3.OneAxis --- .../Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo b/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo index 18aeed3fbe..d0028dee42 100644 --- a/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo +++ b/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis.mo @@ -4,6 +4,7 @@ model OneAxis extends Modelica.Icons.Example; parameter SI.Mass mLoad(min=0)=15 "Mass of load"; + parameter SI.Length rg = sqrt(1.3) "Radius of gyration of load"; parameter Real kp=5 "Gain of position controller of axis"; parameter Real ks=0.5 "Gain of speed controller of axis"; parameter SI.Time Ts=0.05 @@ -27,7 +28,7 @@ model OneAxis kp=kp, ks=ks, Ts=Ts) annotation (Placement(transformation(extent={{20,0},{40,20}}))); - Modelica.Mechanics.Rotational.Components.Inertia load(J=1.3*mLoad) + Modelica.Mechanics.Rotational.Components.Inertia load(J=rg^2*mLoad) annotation (Placement(transformation(extent={{60,0},{80,20}}))); Utilities.PathPlanning1 pathPlanning( swingTime=swingTime,