ThermalBurstScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/plant.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
A burst_factor times rated-current burst in joint, first-order lumped, fixed resistance.
Notes
Equation: Compose mlsysim.physics.motors.calc_first_order_temperature, mlsysim.solvers.ThermalBurstModel.
Assumptions: The winding is a first-order lumped thermal body with fixed resistance during each burst.
Excludes: Spatial gradients, resistance-temperature feedback, and unmodeled cooling changes are absent.
References
Derivation: this scenario binds its input fields to the referenced implementation contracts: mlsysim.physics.motors.calc_first_order_temperature, mlsysim.solvers.ThermalBurstModel. The methods below identify any additional arithmetic.
Examples
>>> from mlsysim import Scenarios
>>> case = Scenarios.PandaClassJointBurst
>>> type(case.result).__name__
'ThermalBurstResult'Attributes
| Name | Description |
|---|---|
| ambient | |
| burst_factor | |
| burst_on | |
| ceiling | |
| joint | |
| limit | |
| motor | |
| result | Evaluate this scenario through mlsysim.solvers.ThermalBurstModel.solve. Equation: |
| thermal_capacitance | |
| thermal_resistance |
Methods
| Name | Description |
|---|---|
| temperature | Winding temperature after an elapsed constant-current burst from start. Equation: |
temperature
engine.scenario_types.ThermalBurstScenario.temperature(elapsed, start)Winding temperature after an elapsed constant-current burst from start. Equation: mlsysim.physics.motors.calc_first_order_temperature using the result’s asymptote and time constant. Units: temperature; resistance and lumped thermal parameters remain fixed.
joint
Type: Any.
Declared default: required.
motor
Type: Any.
Declared default: required.
thermal_capacitance
Type: Quantity.
Declared default: required.
thermal_resistance
Type: Quantity.
Declared default: required.
ambient
Type: Quantity.
Declared default: required.
limit
Type: Quantity.
Declared default: required.
ceiling
Type: Quantity.
Declared default: required.
burst_factor
Type: float.
Declared default: required.
burst_on
Type: Quantity.
Declared default: required.
result
engine.scenario_types.ThermalBurstScenario.result
Evaluate this scenario through mlsysim.solvers.ThermalBurstModel.solve. Equation: pass the stated fields to that implementation; its contract defines the calculation and feasibility tests. Units: each returned field follows the referenced result schema; no independent equation is evaluated by this wrapper.