Are there any teams who are doing driver-based traction control?
- edit - (like this)
Quote:
|
Our team has impemented filtering of the joystick inputs. While not as good as sensor feed back type traction control, the improvements are quite obvious. It's also less complex. For those who are using sensor feed back remeber that the control loop is going to be disturbed heavily by impacts.
|
I.e. rather than a direct 1-to-1 magnitudal relationship from the joystick to the motor outputs, there is more of a geometric or exponential scalar applied? That way, the motors really only apply the full torque when the joystick is out on the perimeter, whereas halfway the software only sends, say 20% torque. Drivers could learn how and when to slow things down vs. the software doing wonky acceleration/decceleration 'detection' algorithms that are hard for the drivers to get used to.
Maybe it's dependent upon what the drivers are comfortable with, but I would think that I could 'feel' the way the robot handles alot faster and better than software could, and with alot less hassle. I mean, true slip detection is very hard to add in to a control algorithm if you don't have all independently-controllable wheels, or at least have electronically-controlled differentials in between them...and proper weight distribution plays a
huge role too... Maybe that could be a new 'control' feature -- a force-feedback system that the driver wears to physically simulate the g-forces on the robot.
Hmm, maybe it's just me and my racing experiences talking here, and the fact that I'm a control nut when it comes to my car.