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Update thermal model with fitted parameters + related scripts #43

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merged 6 commits into from
May 19, 2023

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@mfussi66 mfussi66 commented May 19, 2023

This PR updates the thermal model parameters with the ones that came out during a linear fit procedure.
The linear fit model is the same as the one proposed: first order, LTI, then discretized for implementation in Simulink.

The proposed critical temperature is 70 deg Celsius, though the high level logic to implement the protection is to be done. Additionally, the decaying factor of the moving RMS was decreased to 0.9995, to give less importance to old samples.

I added a Matlab Live script to explain the fitting process, and run it.

For more details see the issue comment: #36 (comment)

@mfussi66 mfussi66 requested a review from pattacini May 19, 2023 09:00
@mfussi66 mfussi66 requested a review from sgiraz as a code owner May 19, 2023 09:00
@mfussi66 mfussi66 self-assigned this May 19, 2023
@mfussi66 mfussi66 mentioned this pull request May 19, 2023
@pattacini pattacini linked an issue May 19, 2023 that may be closed by this pull request
@pattacini pattacini merged commit 943a8ad into robotology:devel May 19, 2023
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Fit the thermal model
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