For a project I am working on I need to implement traction control to a RC car. In designing this algorithm I need to create a simulation environment in order to test the control algorithm. The basic idea is that I sense the driven wheel speed and compare it to a free wheel speed. If slip occurs, the driven wheel will rotate faster than the free wheel and the control algorithm will be activated. It will reduce the torque supplied to the driven wheel incrementally until optimal friction is restored and then in a controlled fashion increase the torque again to match the free wheel speed. How will I be able to test this in a simulation environment?
You need to have a fast model which can handle stick slip transitions at multiple wheel contacts in order to do control simulation such a technique is discussed in the following controls papers:
An augmented Lagrangian based shooting method for the optimal trajectory generation of switching Lagrangian systems
- January 2011
- Dynamics of Continuous, Discrete and Impulsive Systems Series B: Applications and Algorithms 5(5)
Optimal trajectory planning for structure-variant mechanical systems
- July 2006
- DOI:
- 10.1109/VSS.2006.1644534
- Source
- IEEE Xplore
- Conference: Variable Structure Systems, 2006. VSS'06. International Workshop
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