Minor fixes in docstrings (#182)

Author: mhinkkan

motulator/common/utils/_utils.py

@@ -248,7 +248,7 @@ def from_nominal(cls, nom: NominalValues, n_p: int | None = None) -> "BaseValues
                 f : float
                     Frequency (Hz).
         n_p : int | None, optional
-            Number of pole pairs, default to None.
+            Number of pole pairs, defaults to None.
 
         Returns
         -------

motulator/drive/control/_im_flux_vector.py

@@ -274,7 +274,7 @@ class FluxVectorController:
     cfg : FluxVectorControllerCfg
         Flux-vector control configuration.
     sensorless : bool, optional
-        If True, sensorless control is used, default to True.
+        If True, sensorless control is used, defaults to True.
     T_s : float, optional
         Sampling period (s), defaults to 125e-6.
 

motulator/drive/control/_im_observers.py

@@ -150,7 +150,7 @@ def compute_output(
         )
         num = (v_s + k_o1 * (v_r - v_s) + k_o2 * (v_r - v_s).conjugate()).imag
         out.w_s = num / den if den > 0 else w_m
-        out.w_r = self.par.R_R * out.i_s.imag / out.psi_R if out.psi_R > 0 else 0
+        out.w_r = par.R_R * out.i_s.imag / out.psi_R if out.psi_R > 0 else 0
         out.w_m = w_m
         out.w_M = w_m / par.n_p
 
@@ -234,8 +234,8 @@ def create_sensored_observer(
     par : InductionMachineInvGammaPars
         Machine model parameters.
     k_o : Callable[[float], complex], optional
-        Observer gain as a function of the rotor angular speed, default to ``lambda w_m:
-        1 + 0.2*abs(w_m)/(R_R/L_M - 1j*w_m)``.
+        Observer gain as a function of the rotor angular speed, defaults to
+        ``lambda w_m: 1 + 0.2*abs(w_m)/(R_R/L_M - 1j*w_m)``.
 
     """
     alpha = par.R_R / par.L_M

motulator/drive/control/_sm_current_vector.py

@@ -93,7 +93,7 @@ class CurrentVectorControllerCfg:
     alpha_c : float, optional
         Current-control bandwidth (rad/s), defaults to 2*pi*200.
     alpha_i : float, optional
-        Current-control integral-action bandwidth (rad/s), default to `alpha_c`.
+        Current-control integral-action bandwidth (rad/s), defaults to `alpha_c`.
     alpha_o : float, optional
         Speed estimation bandwidth (rad/s), defaults to 2*pi*100.
     k_o : Callable[[float], float], optional

motulator/drive/control/_sm_observers.py

@@ -295,8 +295,8 @@ def create_sensorless_observer(
         w_m: 0.25*(R_s*(L_d + L_q)/(L_d*L_q) + 0.2*abs(w_m))`` if `sensorless` else
         ``lambda w_m: 2*pi*15``.
     k_f : Callable[[float], float], optional
-        PM-flux estimation gain (V) as a function of the rotor angular speed, default to
-        zero, ``lambda w_m: 0``. A typical nonzero gain is of the form ``lambda w_m:
+        PM-flux estimation gain (V) as a function of the rotor angular speed, defaults
+        to zero, ``lambda w_m: 0``. A typical nonzero gain is of the form ``lambda w_m:
         max(k*(abs(w_m) - w_min), 0)``, i.e., zero below the speed `w_min` (rad/s) and
         linearly increasing above that with the slope `k` (Vs).