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Code Issues 123 Wiki Activity

AI does not fear SlippingWheels when driving ElectricInductionMotor vehicle + fix for adhesion calculation when slipping

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Królik Uszasty
2019-03-22 20:26:59 +01:00
committed by tmj-fstate
parent 73af767312
commit a767e36be8
3 changed files with 16 additions and 15 deletions
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26
McZapkie/Mover.cpp
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@@ -4001,12 +4001,18 @@ void TMoverParameters::ComputeTotalForce(double dt) {
&& ( std::abs(Fwheels) > TotalMassxg * Adhesive( RunningTrack.friction ) ) ) {
SlippingWheels = true;
}
if( true == SlippingWheels ) {
double temp_nrot = nrot;
if (true == SlippingWheels) {
double temp_nrot = ComputeRotatingWheel(Fwheels -
Sign(nrot * M_PI * WheelDiameter - V) *
Adhesive(RunningTrack.friction) * TotalMassxg,
dt, nrot);
temp_nrot = ComputeRotatingWheel(Fwheels - Sign(nrot * M_PI * WheelDiameter - V) *
Adhesive(RunningTrack.friction) * TotalMassxg, dt, nrot);
if (Sign(nrot * M_PI * WheelDiameter - V)*Sign(temp_nrot * M_PI * WheelDiameter - V) < 0)
{
SlippingWheels = false;
temp_nrot = V / M_PI / WheelDiameter;
}
}
if (true == SlippingWheels) {
Fwheels = Sign(temp_nrot * M_PI * WheelDiameter - V) * TotalMassxg * Adhesive(RunningTrack.friction);
if (Fwheels*Sign(V)>0)
{
@@ -4025,12 +4031,6 @@ void TMoverParameters::ComputeTotalForce(double dt) {
{
WheelFlat = sqrt(square(WheelFlat) + abs(Fwheels) / NAxles*Vel*0.000002);
}
if (Sign(nrot * M_PI * WheelDiameter - V)*Sign(temp_nrot * M_PI * WheelDiameter - V) < 0)
{
SlippingWheels = false;
temp_nrot = V / M_PI / WheelDiameter;
}
nrot = temp_nrot;
}
@@ -5368,9 +5368,9 @@ double TMoverParameters::v2n(void)
n = V / (M_PI * WheelDiameter); // predkosc obrotowa wynikajaca z liniowej [obr/s]
deltan = n - nrot; //"pochodna" prędkości obrotowej
if (SlippingWheels)
/* if (SlippingWheels)
if (std::abs(deltan) < 0.001)
SlippingWheels = false; // wygaszenie poslizgu
SlippingWheels = false; // wygaszenie poslizgu */ //poslizg jest w innym miejscu wygaszany też
if (SlippingWheels) // nie ma zwiazku z predkoscia liniowa V
{ // McZapkie-221103: uszkodzenia kol podczas poslizgu
if (deltan > dmgn)