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Placed tire model in new folder software/vehicle_modelling_and_controls #1346

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Placed tire model in new folder software/vehicle_modelling_and_controls #1346

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35589d4
Placed tire model in new folder software/vehicle_modelling_and_controls
1mackenziekyle Oct 5, 2024
1486385
Slip controller in progress
1mackenziekyle Oct 16, 2024
063c921
Removed unused submodule SEGGER_SystemView_Src
1mackenziekyle Oct 17, 2024
42514c2
added PID to Torque Controller. Tuning still needed
shayana18 Oct 27, 2024
bb80d29
PID has been tuned, tested with ramp into with varying slopes (slope …
shayana18 Nov 3, 2024
de6c005
Power limiting and active diff added. Slip calculation corrected and …
shayana18 Nov 29, 2024
b6bb0f5
did some pid tuning, cant seem to get rid of steady state error. Mode…
shayana18 Nov 30, 2024
d3a15b6
Sim has largely been corrected, getting reliable velocity data in com…
shayana18 Dec 30, 2024
610cd1f
jan updates
shayana18 Jan 11, 2025
c4845bf
Clean up and fix PID feedback
philam2001 Jan 12, 2025
e902b6e
new control architecture simulated in matlab. Minor traction control …
shayana18 Jan 20, 2025
faccabc
new sim and workspace)
shayana18 Jan 20, 2025
1b6ef5f
most recent sim progress and reverting active diff change to do it on…
shayana18 Jan 21, 2025
9b4cd22
more changes :)
shayana18 Jan 25, 2025
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1 change: 1 addition & 0 deletions firmware/quadruna/VC/src/app/vehicle_dynamics/app_activeDifferential.c
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Expand Up @@ -30,6 +30,7 @@ void app_activeDifferential_computeTorque(ActiveDifferential_Inputs *inputs, Act

float app_activeDifferential_wheelAngleToSpeedDelta(float wheel_angle_deg)
{
// equation below derrived from https://ieeexplore.ieee.org/document/6635706 equation 11
// angle > 0 = right5
// angle < = left

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2 changes: 1 addition & 1 deletion firmware/quadruna/VC/src/app/vehicle_dynamics/app_tractionControl.c
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Expand Up @@ -18,7 +18,7 @@ void app_tractionControl_computeTorque(TractionControl_Inputs *inputs, TractionC
float slip_ratio_left = app_tractionControl_computeSlip(inputs->motor_speed_left_rpm, wheel_speed_front_left_rpm);
float slip_ratio_right =
app_tractionControl_computeSlip(inputs->motor_speed_right_rpm, wheel_speed_front_right_rpm);

float slip_ratio_max = fmaxf(slip_ratio_left, slip_ratio_right);
float k = app_pid_compute(pid, SLIP_RATIO_IDEAL, slip_ratio_max);

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6 changes: 6 additions & 0 deletions ...ehicle_modelling_and_controls/slprj/sim/varcache/car_model/tmwinternal/simulink_cache.xml
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<?xml version="1.0" encoding="UTF-8"?>
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<?xml version="1.0" encoding="UTF-8"?>
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