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Parameter identification
I run car 1 on circles with constant steer input and I manually measured the diameter of the circle it went through. Results are reported in the table below. All measures are reported in millimiters (with the exception of the input of course). Measured diameters for right and left turns is separated. The error in the table is the difference between the radius (not the diameter) predicted by the model and the real radius. The steer factor was computed in order to minimize the average error which lead to the value c = 0.2116466582.
input | diameter right (mm) | diameter left (mm) | error right (mm) | error left (mm) |
|---|---|---|---|---|
100 | 1360 | 1380 | 4.02 | -5.98 |
90 | 1450 | 1420 | 39.18 | 54.18 |
80 | 1710 | 1680 | 8.90 | 23.90 |
70 | 1940 | 1880 | 21.56 | 51.56 |
60 | 2400 | 2290 | -38.88 | 16.12 |
50 | 2980 | 2960 | -92.27 | -82.27 |
The steer factor was computed in order to minimize the average error which lead to the value c = 0.2116466582.
Model validation
The model has been validated with cars 2 and 3. Data is reported in the table below.
CAR 2
input | diameter right (mm) | diameter left (mm) | error right (mm) | error left (mm) |
|---|---|---|---|---|
100 | 1340 | 1370 | 14.02 | -0.98 |
90 | 1340 | 1370 | 94.18 | 79.18 |
80 | 1520 | 1600 | 103.90 | 63.90 |
50 | 2440 | 2730 | 177.73 | 32.73 |
CAR 3
input | diameter right (mm) | diameter left (mm) | error right (mm) | error left (mm) |
|---|---|---|---|---|
100 | 1670 | 1560 | -150.98 | -95.98 |
90 | 1670 | 1560 | -70.82 | -15.82 |
80 | 1830 | 1720 | -51.10 | 3.90 |
50 | 2730 | 3030 | 32.73 | -117.27 |
EFFECT OF PWM AND STEER INPUT ON THE SPEED DYNAMICS
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