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vehicle drift #2

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vehicle drift #2

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a8e6cfa
Update InnerLoop.m
liuwl1220 Mar 27, 2023
90492d0
Update GetParameters.m
liuwl1220 Mar 27, 2023
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25 changes: 20 additions & 5 deletions control/InnerLoop.m
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@
e_r = e_x(2);
e_Ux = e_x(3);

beta_eq = pars.beta_eq;

% Compute constants
[k1,k2] = Compute_ks(x(3), pars);

Expand All @@ -46,16 +48,22 @@
FxR_des = max(FxR_des, 0);

% Compute rear lateral force based on current state
% FyR_des = a*m/L*r*Ux; % Page 42 of Thesis - is this valid for normal use?
alphaR = atan(beta - b/Ux*r);
FyR_des = Fiala('rear', pars.CaR, pars.mu, pars.FzR, FxR_des, alphaR);
% FyR_des = a*m/L*r*Ux; % Page 42 of Thesis - is this valid for normal use?
% alphaR = atan(beta - b/Ux*r);
% FyR_des = Fiala('rear', pars.CaR, pars.mu, pars.FzR, FxR_des, alphaR);
% FyR_des should be calculated based on the saturation condition
if beta_eq < 0
FyR_des = sqrt((mu*FzR)^2 - FxR_des^2);
else
FyR_des = - sqrt((mu*FzR)^2 - FxR_des^2);
end

% Compute desired front lateral force
FyF_des = 1/k1 * ( k2 * FyR_des - K_beta^2 * e_beta - K_beta * r_eq - ...
(K_beta + K_r) * e_r );

% Compute desired steering angle if this is possible
if FyF_des < pars.mu*pars.FzF
if abs(FyF_des) < pars.mu*pars.FzF
% Compute desired steering angle
delta_des = FyF2delta(x, FyF_des, pars);
success = true;
Expand All @@ -79,11 +87,18 @@
e_beta = e_x(1);
e_r = e_x(2);

beta_eq = pars.beta_eq;

% Compute constants
[k1,k2] = Compute_ks(x(3), pars);

% Compute desired front lateral force - saturated
FyF_des = mu * FzF;
% FyF_des = mu * FzF;
if beta_eq < 0
FyF_des = mu * FzF;
else
FyF_des = - mu * FzF;
end

% Compute desired rear lateral force
FyR_des = 1/k2 * (k1 * mu * FzF + K_beta^2 * e_beta + K_beta * r_eq + ...
Expand Down
32 changes: 22 additions & 10 deletions simulation/GetParameters.m
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,12 @@
pars.dt = 1e-2; % seconds

%% Initial state and control
pars.x0 = [(-20.44+20.44+40)*pi/180; % Beta
0.600+0.2; % r
8+3]; % Ux
% pars.x0 = [(-20.44+20.44+40)*pi/180; % Beta
% 0.600+0.2; % r
% 8+3]; % Ux
pars.x0 = [0*pi/180; % Beta
0; % r
5]; % Ux
pars.u0 = [-12*pi/180;2293];
pars.vs0 = [0;0;0]; % Initial vehicle position and orientation

Expand All @@ -28,17 +31,26 @@
pars.FzR = pars.a*pars.m*pars.g/pars.L; % N

%% Equilibrium point - hard coded
pars.delta_eq = -12*pi/180; % rad
pars.Ux_eq = 8; % m / s
% pars.delta_eq = -12*pi/180; % rad
% pars.Ux_eq = 8; % m / s

pars.beta_eq = -20.44*pi/180;% rad
% pars.beta_eq = -20.44*pi/180;% rad
% pars.beta_eq = -21.35*pi/180;% rad
pars.r_eq = 0.600; % rad / s
% pars.r_eq = 0.600; % rad / s
% pars.r_eq = 0.5061; % rad / s
pars.FxR_eq = 2293; % N
% pars.FxR_eq = 2293; % N
% pars.FxR_eq = 2290; % N
pars.FyF_eq = 3807; % N
pars.FyR_eq = 4469; % N
% pars.FyF_eq = 3807; % N
% pars.FyR_eq = 4469; % N

pars.delta_eq = 12*pi/180; % rad
pars.Ux_eq = 8; % m / s

pars.beta_eq = 20.44*pi/180; % rad
pars.r_eq = -0.6; % rad / s
pars.FxR_eq = 2293; % N
pars.FyF_eq = -3807; % N
pars.FyR_eq = -4469; % N

pars.x_eq = [pars.beta_eq; pars.r_eq; pars.Ux_eq];

Expand Down