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followme_e-tron
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Engine: Improvements

This commit is contained in:
Sidi Liang 2021-08-16 12:54:48 +08:00
parent ba387d0329
commit e8db2c14a2
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GPG Key ID: 9785F5EECFFA5311
1 changed files with 15 additions and 12 deletions
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27
Nasal/engine.nas
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@ -15,6 +15,10 @@ var Engine = {
new: func(mTorque, mPower, rpmAtMPower) {
var m = { parents:[Engine, followme.Appliance.new()]};
m.applianceName = "Engine Module";
m.applianceDescription = "This is the engine for the vehicle";
m.engineNode = followme.vehicleInformation.engine;
m.engineNode.throttleNode = props.getNode("/controls/engines/engine/throttle",1);
m.engineNode.rpmNode = props.getNode("/controls/engines/engine/rpma",1);
@ -28,11 +32,14 @@ var Engine = {
m.maxTorque = mTorque;
m.ratedPower = mPower;
m.rpmAtMaxPower = rpmAtMPower;
m.ratedVoltage = 402;#//Rated voltage, use this fixed value for now
m.ratedCurrent = 659.21; #//Rated Current, calculated using https://www.jcalc.net/motor-current-calculator
return m;
},
motorResistance: 0.2,#//No datasource, based on guess
resistance: 0.2,
protectionResistance: 0.5, #//temp solution
runningState: 0,
@ -85,15 +92,8 @@ var Engine = {
wheelSpeedNode: props.getNode("/gear/gear/rollspeed-ms", 1),
debugMode: 0,
calculateRatedCurrent: func(){ #//Returns the rated current
var a = me.motorResistance;
var ratedVoltage = 760;#//Rated voltage, use this fixed value for now
#//print(ratedVoltage * ratedVoltage - 4 * me.resistance * me.ratedPower);
var c = math.sqrt(ratedVoltage * ratedVoltage - 4 * me.motorResistance * me.ratedPower);
var d = ratedVoltage + c;
return d / (2 * a); #//Ampere
},
ratedVoltage: 0, #//Rated voltage
ratedCurrent: 0, #//Rated Current, calculated when initializing
rpm_calculate: func(angularAcceleration){
@ -175,21 +175,24 @@ var Engine = {
#print("throttle:" ~throttle);
me.controlResistance = (0 - throttle * 3000000000000) + 3000000000000;#//We do this for now as I still can't find out how is the speed of motor being controlled. Imagine this is a tunable resistor
me.resistance = me.controlResistance + me.motorResistance;
me.resistance = me.controlResistance + me.motorResistance + me.protectionResistance;
var actualMaxTorque = me.current * (me.maxTorque / me.calculateRatedCurrent()); #//We can do this because torque is directly proportional to the current
var actualMaxTorque = me.current * (me.maxTorque / me.ratedCurrent); #//We can do this because torque is directly proportional to the current
var cmdRpm = throttle * me.rpmAtMaxPower;
#print("cmdRpm: "~cmdRpm);
#var cmdPower = throttle * me.ratedPower;
#print("cmdPower: "~cmdPower);
me.cmdTorque = throttle * me.maxTorque;
#//me.cmdTorque = actualMaxTorque;
me.cmdPower = math.abs(me.rpm * me.cmdTorque / 9549);
if(me.cmdPower >= me.ratedPower){
me.cmdPower = me.ratedPower;
}
#//var cmdAngularAcceleration = me.cmdTorque / me.rotor_moi; #rad/s^2
var angularAcceleration = me.cmdTorque / me.rotor_moi; #rad/s^2
me.rpm = me.rpm_calculate(angularAcceleration);
if(me.rpm) me.torque = ((9549 * me.cmdPower) / me.rpm) * direction;
@ -239,6 +242,7 @@ var Engine = {
},
stopEngine: func(){
me.engineSwitch.switchDisconnect();
me.engineTimer.stop();
me.rpm = 0;
me.torque = 0;
@ -246,7 +250,6 @@ var Engine = {
outputForce(0);
me.activePower_kW = 0;
me.runningState = 0;
me.engineSwitch.switchDisconnect();
me.engineNode.isStarted.setValue(0);
},