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ABS and TCL as 500 Hz single wheel controlling system in simuV4 as option/feature

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Test with car sc-boxer-96

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5816 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 05e57d5a9545757c74a9985e8ffdb18064b2632a
Former-commit-id: 414c8d809e5133ea4c681c3c52857bc6de7c41d8
This commit is contained in:
wdbee 2014-11-05 21:26:57 +00:00
parent fcfe8c65ed
commit edbfd028f2
6 changed files with 156 additions and 5 deletions
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41
src/modules/simu/simuv4/brake.cpp
View file

@ -27,7 +27,30 @@ SimBrakeConfig(void *hdle, const char *section, tBrake *brake)
diam = GfParmGetNum(hdle, section, PRM_BRKDIAM, (char*)NULL, 0.2f);
area = GfParmGetNum(hdle, section, PRM_BRKAREA, (char*)NULL, 0.002f);
mu = GfParmGetNum(hdle, section, PRM_MU, (char*)NULL, 0.30f);
brake->coeff = (tdble) (diam * 0.5 * area * mu);
// Option TCL ...
//if (car->features & FEAT_TCLINSIMU)
{
brake->TCL = 1.0f;
brake->TCLMin = 1.0f;
}
// ... Option TCL
// Option ABS ...
//if (car->features & FEAT_ABSINSIMU)
{
brake->ABS = 1.0f;
brake->EnableABS
= GfParmGetNum(hdle, section, PRM_ABSINSIMU, (char*)NULL, 0.0f) > 0;
/*
if (brake->EnableABS)
fprintf(stderr,"ABS: Enabled\n");
else
fprintf(stderr,"ABS: Disabled\n");
*/
}
// ... Option ABS
brake->coeff = (tdble) (diam * 0.5 * area * mu);
brake->I = GfParmGetNum(hdle, section, PRM_INERTIA, (char*)NULL, 0.13f);
brake->radius = diam/2.0f;
@ -38,6 +61,22 @@ SimBrakeUpdate(tCar *car, tWheel *wheel, tBrake *brake)
{
brake->Tq = brake->coeff * brake->pressure;
// Option ABS ...
if (car->features & FEAT_ABSINSIMU)
{
if (brake->EnableABS)
brake->Tq *= brake->ABS;
}
// ... Option ABS
// Option TCL ...
if (car->features & FEAT_TCLINSIMU)
{
tdble TCL_BrakeScale = 400.0f; // Make it be a parameter later
if ((brake->TCLMin < 1.0) && (brake->TCLMin == brake->TCL))
brake->Tq += TCL_BrakeScale/brake->TCL;
}
// ... Option TCL
brake->temp -= (tdble) (fabs(car->DynGC.vel.x) * 0.0001 + 0.0002);
if (brake->temp < 0 ) brake->temp = 0;
brake->temp += (tdble) (brake->pressure * brake->radius * fabs(wheel->spinVel) * 0.00000000005);

15
src/modules/simu/simuv4/brake.h
View file

@ -28,6 +28,21 @@ typedef struct
tdble I;
tdble radius;
tdble temp;
// Options that can be enabled in simuV4
// by parameters in the car type setup file
// Add variables here (tdble)
// TCL ...
tdble TCL; // TCL factor
tdble TCLMin; // Minimum of TCL factors at all wheels
// ... TCL
// ABS ...
tdble ABS; // ABS factor
// ... ABS
// Add switches here (bool)
bool EnableABS; // Switch to enable ABS
} tBrake;
typedef struct

19
src/modules/simu/simuv4/car.cpp
View file

@ -27,6 +27,9 @@
const tdble aMax = 1.0f; /* */
static const char *SuspSect[4] = {SECT_FRNTRGTSUSP, SECT_FRNTLFTSUSP, SECT_REARRGTSUSP, SECT_REARLFTSUSP};
// The "Simu" logger instance
GfLogger* PLogSimu = 0;
void
SimCarConfig(tCar *car)
{
@ -66,6 +69,14 @@ SimCarConfig(tCar *car)
if (strcmp(enabling, VAL_YES) == 0) {
car->features = car->features | FEAT_FIXEDWHEELFORCE;
}
enabling = GfParmGetStr(hdle, SECT_FEATURES, PRM_TCLINSIMU, VAL_NO);
if (strcmp(enabling, VAL_YES) == 0) {
car->features = car->features | FEAT_TCLINSIMU;
}
enabling = GfParmGetStr(hdle, SECT_FEATURES, PRM_ABSINSIMU, VAL_NO);
if (strcmp(enabling, VAL_YES) == 0) {
car->features = car->features | FEAT_ABSINSIMU;
}
/* continue with car parameters */
car->dimension.x = GfParmGetNum(hdle, SECT_CAR, PRM_LEN, (char*)NULL, 4.7f);
@ -114,10 +125,10 @@ SimCarConfig(tCar *car)
wf0 = w * gcfr;
wr0 = w * (1 - gcfr);
car->wheel[FRNT_RGT].weight0 = wf0 * gcfrl * K[FRNT_RGT] / (K[FRNT_RGT] + 0.5*Kfheave);
car->wheel[FRNT_LFT].weight0 = wf0 * (1 - gcfrl) * K[FRNT_LFT] / (K[FRNT_LFT] + 0.5*Kfheave);
car->wheel[REAR_RGT].weight0 = wr0 * gcrrl * K[REAR_RGT] / (K[REAR_RGT] + 0.5*Krheave);
car->wheel[REAR_LFT].weight0 = wr0 * (1 - gcrrl) * K[REAR_LFT] / (K[REAR_LFT] + 0.5*Krheave);
car->wheel[FRNT_RGT].weight0 = wf0 * gcfrl * K[FRNT_RGT] / (K[FRNT_RGT] + 0.5f*Kfheave);
car->wheel[FRNT_LFT].weight0 = wf0 * (1 - gcfrl) * K[FRNT_LFT] / (K[FRNT_LFT] + 0.5f*Kfheave);
car->wheel[REAR_RGT].weight0 = wr0 * gcrrl * K[REAR_RGT] / (K[REAR_RGT] + 0.5f*Krheave);
car->wheel[REAR_LFT].weight0 = wr0 * (1 - gcrrl) * K[REAR_LFT] / (K[REAR_LFT] + 0.5f*Krheave);
/*for (i = 0; i < 2; i++) {
SimAxleConfig(car, i, 0.0);

25
src/modules/simu/simuv4/engine.cpp
View file

@ -49,6 +49,18 @@ SimEngineConfig(tCar *car)
car->engine.I_joint = car->engine.I;
car->engine.timeInLimiter = 0.0f;
// Option TCL ...
if (car->features & FEAT_TCLINSIMU)
{
car->engine.TCL = 1.0f;
car->engine.EnableTCL = GfParmGetNum(hdle, SECT_ENGINE, PRM_TCLINSIMU, (char*)NULL, 0.0f) > 0;
if (car->engine.EnableTCL)
fprintf(stderr,"TCL: Enabled\n");
else
fprintf(stderr,"TCL: Disabled\n");
}
// ... Option TCL
sprintf(idx, "%s/%s", SECT_ENGINE, ARR_DATAPTS);
car->engine.curve.nbPts = GfParmGetEltNb(hdle, idx);
edesc = (struct tEdesc*)malloc((car->engine.curve.nbPts + 1) * sizeof(struct tEdesc));
@ -156,6 +168,19 @@ SimEngineUpdateTq(tCar *car)
engine->timeInLimiter = 0.1f;
}
}
// Option TCL ...
if (car->features & FEAT_TCLINSIMU)
{
if (engine->EnableTCL)
Tq_max *= engine->TCL;
/*
if (engine->EnableTCL)
fprintf(stderr,"TCL: %.1f %%\n", engine->TCL * 100);
*/
}
// ... Option TCL
if ( (car->features & FEAT_REVLIMIT) && (engine->timeInLimiter > 0.0f) ) {
alpha = 0.0;
engine->timeInLimiter -= SimDeltaTime;

3
src/modules/simu/simuv4/engine.h
View file

@ -54,6 +54,9 @@ typedef struct
tdble exhaust_pressure;
tdble exhaust_refract;
tdble timeInLimiter; /* time to still spend with fuel cut, in secundum */
tdble TCL; // Optional TCL
bool EnableTCL; // Enable optional TCL
} tEngine;
#endif /* _ENGINE_H_ */

58
src/modules/simu/simuv4/wheel.cpp
View file

@ -169,6 +169,18 @@ void SimWheelUpdateRide(tCar *car, int index)
// update wheel brake
SimBrakeUpdate(car, wheel, &(wheel->brake));
// Option TCL ...
if (car->features & FEAT_TCLINSIMU)
{
if (index == 3)
{ // After using the values for the last wheel
tEngine *engine = &(car->engine);
engine->TCL = 1.0; // Reset the TCL accel command
wheel->brake.TCLMin = 1.0; // Reset the TCL brake command reference value
}
}
// ... Option TCL
}
@ -351,6 +363,52 @@ void SimWheelUpdateForce(tCar *car, int index)
car->carElt->_tyreT_out(index) = wheel->Ttire;
car->carElt->_tyreCondition(index) = tireCond;
}
// Option TCL ...
if (car->features & FEAT_TCLINSIMU)
{
tdble TCL_SlipScale = 0.1f; // Make it be a parameter later
tdble TCL_BrakeScale = 1/60.0f; // Make it be a parameter later
tdble TCL_AccelScale = 0.5f; // Make it be a parameter later
tEngine *engine = &(car->engine); // Get engine
if (sx < -TCL_SlipScale) // Slip is over our limit
{ // Store the TCL_Brake command for this wheel
wheel->brake.TCL = 1 + TCL_BrakeScale/sx;
if (wheel->brake.TCLMin > wheel->brake.TCL)
{ // We need the minimum for all driven wheels later
engine->TCL = TCL_AccelScale * wheel->brake.TCL;
}
}
else
{ // Keep the minimum for all dSriven wheels
engine->TCL = (tdble) MIN(1.0,engine->TCL);
}
}
// ... Optional TCL
// Optional ABS ...
if (car->features & FEAT_ABSINSIMU)
{
tdble ABS_SlipScale = 0.1f; // Make it be a parameter later
tdble ABS_BrakeScale = 1.0f; // Make it be a parameter later
// If slip is over the limit, set brake command for this wheel
if (sx > ABS_SlipScale)
wheel->brake.ABS = 1 - ABS_BrakeScale * sx;
else
wheel->brake.ABS = 1.0f;
/**/
if (wheel->brake.EnableABS)
{
if (index == 0)
fprintf(stderr,"\nABS: %.1f %% ", wheel->brake.ABS * 100);
else
fprintf(stderr," %.1f %% ", wheel->brake.ABS * 100);
}
/**/
}
// ... Optional ABS
}