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organizing project
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‎Dateien Projektwettbewerb/matfiles/racetrack.mat

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‎MotionModelGP_SingleTrack_nominal.m

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@@ -30,7 +30,7 @@
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%
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%--------------------------------------------------------------------------
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33-
properties
33+
properties(Constant)
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M = 500 *1.5 % vehicle mass
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I_z = 600 *1.5 % vehicle moment of inertia (yaw axis)
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g = 9.81 % gravitation

‎MotionModelGP_SingleTrack_true.m

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@@ -30,7 +30,7 @@
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%
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%--------------------------------------------------------------------------
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33-
properties
33+
properties(Constant)
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M = 500 % vehicle mass
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I_z = 600 % vehicle moment of inertia (yaw axis)
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g = 9.81 % gravitation
@@ -48,21 +48,10 @@
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C_f = 8; % shape factor (Pacejka) (front wheel)
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D_f = 4560.4; % peak value (Pacejka) (front wheel)
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E_f = -0.5; % curvature factor (Pacejka) (front wheel)
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B_r = 0.45; % stiffnes factor (Pacejka) (rear wheel)
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C_r = 8; % shape factor (Pacejka) (rear wheel)
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D_r = 4000; % peak value (Pacejka) (rear wheel)
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E_r = -0.5; % curvature factor (Pacejka) (rear wheel)
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% B_f = 10.96; % stiffnes factor (Pacejka) (front wheel)
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% C_f = 1.3; % shape factor (Pacejka) (front wheel)
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% D_f = 4560.4; % peak value (Pacejka) (front wheel)
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% E_f = -0.5; % curvature factor (Pacejka) (front wheel)
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%
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% B_r = 12.67; % stiffnes factor (Pacejka) (rear wheel)
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% C_r = 1.3; % shape factor (Pacejka) (rear wheel)
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% D_r = 3947.81; % peak value (Pacejka) (rear wheel)
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% E_r = -0.5; % curvature factor (Pacejka) (rear wheel)
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end
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properties(Constant)
@@ -220,55 +209,6 @@
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%------------------------------------------------------------------
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gradu = zeros(obj.m,obj.n);
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end
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function testTyres(obj)
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c_f = 14000; % = 1*g*M/deltamax % front coornering stiffness (C*delta=Fy~M*a)
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c_r = 14000; % = 2*g*M/deltamax % rear coornering stiffness
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% Pacejka lateral dynamics parameters
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B_f = 0.4; % stiffnes factor (Pacejka) (front wheel)
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C_f = 8; % shape factor (Pacejka) (front wheel)
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D_f = 4560.4; % peak value (Pacejka) (front wheel)
232-
E_f = -0.5; % curvature factor (Pacejka) (front wheel)
233-
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B_r = 0.45; % stiffnes factor (Pacejka) (rear wheel)
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C_r = 8; % shape factor (Pacejka) (rear wheel)
236-
D_r = 4000; % peak value (Pacejka) (rear wheel)
237-
E_r = -0.5; % curvature factor (Pacejka) (rear wheel)
238-
239-
B_f = 10.96; % stiffnes factor (Pacejka) (front wheel)
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C_f = 1.3; % shape factor (Pacejka) (front wheel)
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D_f = 4560.4; % peak value (Pacejka) (front wheel)
242-
E_f = -0.5; % curvature factor (Pacejka) (front wheel)
243-
244-
B_r = 12.67; % stiffnes factor (Pacejka) (rear wheel)
245-
C_r = 1.3; % shape factor (Pacejka) (rear wheel)
246-
D_r = 3947.81; % peak value (Pacejka) (rear wheel)
247-
E_r = -0.5; % curvature factor (Pacejka) (rear wheel)
248-
249-
a_r = deg2rad(-25:0.1:25);
250-
a_f = deg2rad(-25:0.1:25);
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W_Fy_r = D_r*sin(C_r*atan(B_r*a_r-E_r*(B_r*a_r -atan(B_r*a_r)))); % rear lateral force
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W_Fy_f = D_f*sin(C_f*atan(B_f*a_f-E_f*(B_f*a_f -atan(B_f*a_f)))); % front lateral force
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254-
figure('Color','w'); hold on; grid on;
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plot(rad2deg(a_r),W_Fy_r/1000,'DisplayName','Pacejka tyre model')
256-
plot(rad2deg(a_r),a_r*c_r/1000,'DisplayName','Constant coornering stiffness model')
257-
title('Rear tyre')
258-
xlabel('Slip angle [deg]');
259-
ylabel('Tyre lateral force [kN]')
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legend
261-
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figure; hold on; grid on;
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plot(rad2deg(a_f),W_Fy_f/1000,'DisplayName','Pacejka tyre model')
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plot(rad2deg(a_f),a_r*c_f/1000,'DisplayName','Constant coornering stiffness model')
265-
title('Front tyre')
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xlabel('Slip angle [deg]');
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ylabel('Tyre lateral force [kN]')
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legend
269-
end
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end
273-
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end

‎main_singletrack.m

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maxiter = 30; % max NMPC iterations per time step
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N = 10; % NMPC prediction horizon
2020

21-
loadPreTrainedGP = false;
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loadPreTrainedGP = true;
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GPfile = fullfile(pwd,'/simresults/20-01-15-out-GP-without-GP.mat');
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% GPfile = fullfile(pwd,'/simresults/20-01-15-out-GP-with-GP-optimized.mat');
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useGP = false;

‎test-files/tyres_diff.m

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clear all; close all; clc;
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% Linear wheel dynamics from nominal model
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c_f = MotionModelGP_SingleTrack_nominal.c_f;
6+
c_r = MotionModelGP_SingleTrack_nominal.c_r;
7+
8+
9+
% Pacejka lateral dynamics parameters
10+
B_f = MotionModelGP_SingleTrack_true.B_f; % stiffnes factor (Pacejka) (front wheel)
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C_f = MotionModelGP_SingleTrack_true.C_f; % shape factor (Pacejka) (front wheel)
12+
D_f = MotionModelGP_SingleTrack_true.D_f; % peak value (Pacejka) (front wheel)
13+
E_f = MotionModelGP_SingleTrack_true.E_f; % curvature factor (Pacejka) (front wheel)
14+
15+
B_r = MotionModelGP_SingleTrack_true.B_r; % stiffnes factor (Pacejka) (rear wheel)
16+
C_r = MotionModelGP_SingleTrack_true.C_r; % shape factor (Pacejka) (rear wheel)
17+
D_r = MotionModelGP_SingleTrack_true.D_r; % peak value (Pacejka) (rear wheel)
18+
E_r = MotionModelGP_SingleTrack_true.E_r; % curvature factor (Pacejka) (rear wheel)
19+
20+
a_r = deg2rad(-30:0.1:30);
21+
a_f = deg2rad(-30:0.1:30);
22+
W_Fy_r = D_r*sin(C_r*atan(B_r*a_r-E_r*(B_r*a_r -atan(B_r*a_r)))); % rear lateral force
23+
W_Fy_f = D_f*sin(C_f*atan(B_f*a_f-E_f*(B_f*a_f -atan(B_f*a_f)))); % front lateral force
24+
25+
figure('Color','w'); hold on; grid on;
26+
plot(rad2deg(a_r),W_Fy_r/1000,'DisplayName','Pacejka tyre model')
27+
plot(rad2deg(a_r),a_r*c_r/1000,'DisplayName','Constant cornering stiffness model')
28+
% title('Rear tyre')
29+
xlabel('Slip angle [deg]');
30+
ylabel('Tyre lateral force [kN]')
31+
legend('Location','northwest')
32+
xlim([-30,30])
33+
ylim([-6,6])
34+
fp.savefig('rear_tyre')
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36+
figure('Color','w'); hold on; grid on;
37+
plot(rad2deg(a_f),W_Fy_f/1000,'DisplayName','Pacejka tyre model')
38+
plot(rad2deg(a_f),a_r*c_f/1000,'DisplayName','Constant cornering stiffness model')
39+
% title('Front tyre')
40+
xlabel('Slip angle [deg]');
41+
ylabel('Tyre lateral force [kN]')
42+
legend('Location','northwest')
43+
xlim([-30,30])
44+
ylim([-6,6])
45+
fp.savefig('front_tyre')

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