paper: Drivetrain Acceleration Model

[Andrew Schreiber]

Originally Posted by Ether

Yes. Kt, the motor torque constant, is Newton_meters per amp. So you can calculate the motor amps A=Tm/Kt. For a CIM, Kt≈0.018 Nm/A. You could easily modify the C code to output amps so it could be plotted.

However, the model does not account for voltage drops due to heavy currents through the wires, the wire connection points, the battery' s internal resistance, changes in motor resistance due to temperature, etc so the accuracy of Tm (and the current) will be affected. Also, Kt is not strictly constant - it varies somewhat with motor temperature.

So, close enough for determining if it's bad or not but not close enough to be an "accurate model".

Originally Posted by Ether

I've been programming since 1969 and I've never liked long variable names. To me it makes the code much less readable. I like the code to look like the way I would write the equations. I know opinions differ on this matter.

Twas just a joke, I know the equations look like this but I've always found annotating them with english names helped me understand what was going on. Course, that was the second thing I did with this (first was read what heun integration was). Thanks for sharing this.