Go to Post Ohhh Chiefdelphi how I love you and your 700 posts about a picture of a fish. - Boydean [more]
Home
Go Back   Chief Delphi > ChiefDelphi.com Website > Extra Discussion
CD-Media   CD-Spy  
portal register members calendar search Today's Posts Mark Forums Read FAQ rules

 
 
 
Thread Tools Rate Thread Display Modes
Prev Previous Post   Next Post Next
  #18   Spotlight this post!  
Unread 27-12-2012, 00:37
apalrd's Avatar
apalrd apalrd is offline
More Torque!
AKA: Andrew Palardy (Most people call me Palardy)
VRC #3333
Team Role: College Student
 
Join Date: Mar 2009
Rookie Year: 2009
Location: Auburn Hills, MI
Posts: 1,347
apalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond reputeapalrd has a reputation beyond repute
Re: paper: Battery Voltage in Robot Drivetrain Simulation and Modeling

First, the design distance ('Ref Distance' on the calculator) is used as the time it takes to accelerate to that distance from stopped. I don't include decel time, just accel time. You would still be moving when you reached that distance. I did not write the majority of the calculator, it's JVN's.

Second, Time to Distance. Time to Speed is used to validate acceleration targets, to make sure shorter-distance movements might possibly be acceptable.

Third, this method was the easiest method to implement. It has some noise, especially at the start, so I filter the voltage. It seemed to work well enough.

The reason I calculate it iteratively is because voltage is needed to calculate torque in the mechanical portion of the calculator. So, I calculate voltage from the last iteration current, for use to calculate this iteration's torque. The voltage change per iteration is so small that I don't really need immediate accuracy.
__________________
Kettering University - Computer Engineering
Kettering Motorsports
Williams International - Commercial Engines - Controls and Accessories
FRC 33 - The Killer Bees - 2009-2012 Student, 2013-2014 Advisor
VEX IQ 3333 - The Bumble Bees - 2014+ Mentor

"Sometimes, the elegant implementation is a function. Not a method. Not a class. Not a framework. Just a function." ~ John Carmack
Reply With Quote
 


Thread Tools
Display Modes Rate This Thread
Rate This Thread:

Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

vB code is On
Smilies are On
[IMG] code is On
HTML code is Off
Forum Jump


All times are GMT -5. The time now is 03:00.

The Chief Delphi Forums are sponsored by Innovation First International, Inc.


Powered by vBulletin® Version 3.6.4
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.
Copyright © Chief Delphi