paper: Drivetrain Acceleration Model

[Ether]

Originally Posted by lemiant

On line 84 voltage drop is calculated, but you don't ever seem to account for it when calculating the torque of the motors, is that correct?

No. It is accounted for in the motor torque calculation. See the last paragraph in the voltage drop model rev E.pdf document:

In the C code, there is an accel(V) function which computes the vehicle acceleration given its speed V. The vehicle speed V is directly related to the motor speed Wm through the wheels and the transmission, assuming no wheel slip. This motor speed Wm is then used in the formula Tm=Toffset-Tslope*Wm derived above to obtain the motor torque (see line 77 in the code). By using this formula for motor torque, the voltage drops due to current are automatically included in the calculation.

If you change the values of Rone and/or Rcom, you will definitely see the effect of changed voltage drop in the model's output.

Thanks for the words of encouragement.