Lapsim_Matlab/OneWheelAccel.m at master · UBCFormulaElectric/Lapsim_Matlab · GitHub

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function  OneWheelAccel()


      %rho = 1.225;
     %[CfdragT, CfdownT] = AeroMap(AP);
     %Fdrag1 = 1/2*rho*CfdragT*Drag_Var;   %Calculates Fdrag prime which is simply the collection of constants such that Drag Force = Fdrag1*Velocity^2
     %Fdown1 = 1/2*rho*CfdownT*Down_Var;

    CarMass = 270*0.25;
    TireCf = 1.2;
    Rtire = 0.2286;

       dt = 0.01;
     Distance_Max = 75; %m
     PowerLim = 30000;

     i = 1;
     t(i) = 0;
     Fz = CarMass*9.81;
     Fx(i) = 0;
     %T(i) = 0;

     %Ffz(i) = 0;
     %Frz(i) = 0;
     %Ffx(i) = 0;
     %Frx(i) = 0;
     %Tr(i) = 0;
     %Tf(i) = 0;

     %Fdrag(i) = 0;
     %Fdown(i) = 0;

     pos(i) = 0;
     vel(i) = 0;
     accel(i) = 0;

     TracLimFx(i) = 0;   %Traction limit front wheel
     %TracLimFrx(i) = 0;   %Traction limit rear wheel

%

%          A = [ 2 2 CP.CarMass*9.81+vel(i)^2*Fdrag1; (2*(CP.WheelBase-CP.CG(1))+2*CP.TireCf*CP.CG(2)) (-2*CP.CG(1)+2*CP.TireCf*CP.CG(2)) -Fdown1*vel(i)^2*(CP.CG(1)-AP.CP(1)) - Fdrag1*vel(i)^2*(AP.CP(2) - CP.CG(2))];
%          B = rref(A)
%          Ffz(i) = B(1,3)
%          Frz(i) = B(2,3)
%          Ffx(i) = CP.TireCf*Ffz(i)
%          Frx(i) = CP.TireCf*Frz(i)


      while pos(i) < Distance_Max

         %A = [ 2 2 CP.CarMass*9.81+vel(i)^2*Fdrag1; (2*(CP.WheelBase-CP.CG(1))+2*CP.TireCf*CP.CG(2)) (-2*CP.CG(1)+2*CP.TireCf*CP.CG(2)) -Fdown1*vel(i)^2*(CP.CG(1)-AP.CP(1)) - Fdrag1*vel(i)^2*(AP.CP(2) - CP.CG(2))];
         %B = rref(A);

         %Ffz(i) = B(1,3);
         %Frz(i) = B(2,3);
         %Ffx(i) = CP.TireCf*Ffz(i);
         %Frx(i) = CP.TireCf*Frz(i);

         %TracLimFfx(i) = Ffx(i);
         %TracLimFrx(i) = Frx(i);

         Fx(i) = Fz*TireCf;

         if vel(i)*Fx(i) > PowerLim
             Fx(i) = PowerLim/vel(i);
         end

         %OutputPower(i) = (Ffx(i)+Frx(i))*vel(i)

         %accel(i) = (-Fdrag1*vel(i)^2 + 2*Ffx(i) + 2*Frx(i))/CP.CarMass;
         accel(i) = Fx(i)/CarMass;
         vel(i+1) = vel(i)+accel(i)*dt;

         pos(i+1) = pos(i)+vel(i)*dt + 1/2*accel(i)*dt^2;
         t(i+1) = t(i) + dt;
         i = i+1;

      end

      Fx(i) = Fx(i-1);
      accel(i) = accel(i-1);
%        Ffz(i) = Ffz(i-1);
%        Frz(i) = Frz(i-1);
%        Ffx(i) = Ffx(i-1);
%        Frx(i) = Frx(i-1);
%        TracLimFfx(i) = TracLimFfx(i-1);
%        TracLimFrx(i) = TracLimFrx(i-1);
%
       T = Fx*Rtire;
       P = Fx.*vel;

       %        Tf = Ffx*CP.Rtire;

%        TracLimTr = TracLimFrx*CP.Rtire;
%        TracLimTf = TracLimFfx*CP.Rtire;

%        Pf = Ffx.*vel;
%        Pr = Frx.*vel;


%        AccelPowerResults = [max(Pf), max(Pr)];

       AccelSimResults(:,1) = Fx;
       AccelSimResults(:,2) = T;
       AccelSimResults(:,3) = P;
       AccelSimResults(:,4) = pos;
       AccelSimResults(:,5) = vel;
       AccelSimResults(:,6) = accel;
       AccelSimResults(:,7) = t;

       yyaxis left
       plot(pos(:),T(:),'r')
       hold on
       yyaxis right
       plot(pos(:),P,'g')
       hold off

%        AccelSimResults(:,1) = Ffz(:);  % Ffz
%        AccelSimResults(:,2) = Frz(:);  % Frz
%        AccelSimResults(:,3) = Ffx(:);  % Ffx
%        AccelSimResults(:,4) = Frx(:);  % Frx
%        AccelSimResults(:,5) = TracLimFfx(:);
%        AccelSimResults(:,6) = TracLimFrx(:);
%        AccelSimResults(:,7) = Tr(:);
%        AccelSimResults(:,8) = Tf(:);
%        AccelSimResults(:,9) = Pf(:);
%        AccelSimResults(:,10) = Pr(:);
%        AccelSimResults(:,11) = vel(:);
%        AccelSimResults(:,12) = pos(:);
%        AccelSimResults(:,13) = t(:);
%


end