jze9 f9b77b3756 Add dual sensor models and single-stage simulator; fix energy-conservation bug ...

- physics/sensors.py: optical/Hall (velocity-independent) and inductive
  (velocity-scaled, sech^2 spatial sensitivity) trigger events for solve_ivp
- sim/stage.py: flight-to-trigger -> fire delay -> discharge -> energy
  accounting, returning StageResult(feasible=False, reason=...) instead of
  raising when a sensor never fires or discharge never commutates
- Found and fixed a real bug caught by the energy-conservation test: the
  saturation clamp was applied to the mechanical force but not the
  electrical back-EMF term, silently breaking energy balance by ~15%.
  Removed the dynamic clamp (documented as a deferred nonlinear-L(x,I)
  limitation) and kept saturation as a diagnostic-only warning
  (StageResult.saturation_warning) so numbers stay honest rather than
  quietly wrong. Balance error is now ~0.02%.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>

2026-07-06 19:55:26 +05:00

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