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Add PTO kinematics comment regarding gear ratio #382

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Add PTO kinematics comment regarding gear ratio #382

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1156685
Fix pioneer tutorial bug
jtgrasb Oct 17, 2024
ef453fe
add comment about gear ratio
jtgrasb Oct 29, 2024
d285db3
Merge branch 'dev' of https://github.com/sandialabs/WecOptTool into P…
jtgrasb Oct 29, 2024
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1 change: 1 addition & 0 deletions examples/tutorial_1_WaveBot.ipynb
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Expand Up @@ -318,6 +318,7 @@
"\n",
"* The kinematics matrix, which converts from the WEC degrees of freedom to the PTO degrees of freedom.\n",
"In this case, the PTO extracts power directly from the heaving motion of the WEC, so the kinematics matrix is simply a $1 \\times 1$ identity matrix.\n",
" * Note that the PTO kinematics does not account for any gear ratio (instead included in PTO impedance matrix), so the resultant PTO kinematics will not reflect gearing.\n",
"* The definition of the PTO controller.\n",
"The `wecopttool.pto` submodule includes P, PI, and PID controller functions that can be provided to the `PTO` class and return the PTO force.\n",
"However, we will be using an unstructured controller in this case, which is the default when `controller=None`.\n",
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