Opened 14 years ago

Last modified 14 years ago

#1362 closed defect (fixed)

Erroneous equations in flat Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot

Reported by: otto@… Owned by: otto@…
Priority: blocker Milestone: Red October
Component: Instantiation Version:
Keywords: Cc: otto@…, Per Östlund

Description

The flat modelica code generated by omc for Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot contains some erroneous equations for the accSensor in the Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisType1 component. The flange on the accSensor is connected to gear.flang_b but equations are generated for the flange_a as well as we see in the following equations:

axis1.accSensor.flange.phi = axis1.gear.bearingFriction.flange_a.phi;
axis1.accSensor.flange.phi = axis1.gear.flange_a.phi;
axis1.accSensor.flange.phi = axis1.gear.flange_b.phi;
axis1.accSensor.flange.phi = axis1.gear.bearingFriction.flange_b.phi;

Combine this with the (correct) equation:

axis1.gear.bearingFriction.flange_b.phi = axis1.gear.bearingFriction.flange_a.phi;

And we get a structurally singular problem.

NOTE: This should be fixed on the OpenModelica-1.5.1-Maintenance branch.

Change History (3)

comment:2 by Adrian Pop, 14 years ago

  • added this bug to Red October milestone.

comment:3 by Per Östlund, 14 years ago

Fixed in revision 7185 of OpenModelica-1.5.1-Maintenance, and also in revision 7197 of trunk.

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