drivetrain acceleration model parameters

[Ether]

Originally Posted by Ether

Drivetrain Acceleration Model

I just wrote a script to run the model¹ with a series of different values for n, Kro, Kf, and G:

n = 4, 2
Kro= 6, 7, 8, 9, 10, 11, 12
Kf = 0.5, 0.6, 0.7, 0.8, 0.9
G = 7, 7.5, 8, 8.5, 9, 9.5, 10

Output attached.

Still looking for test data to refine the values of the parameters, especially mechanical parameters Kro, Krv, and Kf; and electrical parameters Rcom and Rone.

¹slightly modified to output a small table of time-to-distance

[AlecS]

Originally Posted by Ether

Still looking for test data to refine the values of the parameters, especially mechanical parameters Kro, Krv, and Kf; and electrical parameters Rcom and Rone.

These would be very interesting values to see tested, particularly across multiple types of drivetrains. Just by playing around with numbers and their impacts, I am unsure if teams would be able to accurately measure the torque efficiency (Kf) and the rolling resistance slope (Krv). However, even just a simple rolling resistance (Kro) number, measured on different drivetrains, would be extremely useful.

The change in final speed and average amperage over a typical FRC distance (~40ft) just due to varying rolling resistance by 5-10lbs is quite substantial.

If time and work permits I will look into testing these variables before build.