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<p>Created page with &quot;This page contains the <a href="/index.php?title=Category:Muscod" title="Category:Muscod"> Muscod code</a> for the <a href="/index.php?title=Car_testdrive_(lane_change_manoeuvre)" title="Car testdrive (lane change manoeuvre)">Car testdrive (lane change manoeuvre)</a> problem. The differential equations in C code: &lt;source lang=&quot;cpp&quot;...&quot;</p> <p><b>New page</b></p><div>This page contains the [[:Category:Muscod | Muscod code]] for the [[Car testdrive (lane change manoeuvre)]] problem.<br /> <br /> <br /> The differential equations in C code:<br /> &lt;source lang=&quot;cpp&quot;&gt;<br /> // Controls<br /> double C_steer = u[0];<br /> double C_brake = u[1];<br /> double C_acc = u[2];<br /> <br /> // Differential states<br /> double X_v = xd[2];<br /> double X_beta = xd[3];<br /> double X_psi = xd[4];<br /> double X_wz = xd[5];<br /> double X_delta = xd[6];<br /> <br /> // Intermediate values<br /> double alpha_f, alpha_r, v_km_h, v_km_h2;<br /> double F_Ax, F_Ay, F_Bf, F_Br, F_Rf, F_Rr, F_sf, F_sr, F_lr, F_lf;<br /> double f_R, f_1, w_mot, f_2, f_3, M_mot, M_wheel;<br /> double X_v_cos_X_beta, X_v_sin_X_beta;<br /> <br /> X_v_cos_X_beta = X_v * cos ( X_beta );<br /> X_v_sin_X_beta = X_v * sin ( X_beta );<br /> alpha_f = X_delta - atan( ( P_l_f * X_wz - X_v_sin_X_beta ) / X_v_cos_X_beta );<br /> alpha_r = atan( ( P_l_r * X_wz + X_v_sin_X_beta ) / X_v_cos_X_beta );<br /> <br /> F_sf = P_D_f * sin( P_C_f * atan( P_B_f*alpha_f - P_E_f*(P_B_f*alpha_f - atan(P_B_f*alpha_f)) ) );<br /> F_sr = P_D_r * sin( P_C_r * atan( P_B_r*alpha_r - P_E_r*(P_B_r*alpha_r - atan(P_B_r*alpha_r)) ) );<br /> <br /> F_Ax = 0.5 * P_c_w * P_rho * P_A * X_v*X_v;<br /> F_Ay = 0.0;<br /> F_Bf = 2.0/3.0 * C_brake;<br /> F_Br = 1.0/3.0 * C_brake;<br /> <br /> v_km_h = X_v / 100.0 * 3.6;<br /> v_km_h2 = v_km_h * v_km_h;<br /> f_R = P_f_R0 + P_f_R1 * v_km_h + P_f_R4 * v_km_h2 * v_km_h2;<br /> F_Rf = f_R * P_F_zf;<br /> F_Rr = f_R * P_F_zr;<br /> <br /> f_1 = 1.0 - exp( -3.0 * C_acc );<br /> w_mot = X_v * P_ig * P_i_t / P_R;<br /> f_2 = -37.8 + (1.54 - 0.0019 * w_mot_i) * w_mot;<br /> f_3 = -34.9 - 0.04775 * w_mot;<br /> M_mot = f_1 * f_2_i + ( 1.0 - f_1 ) * f_3_i;<br /> M_wheel = P_ig * P_i_t * M_mot_i;<br /> <br /> F_lr = M_wheel / P_R - F_Br - F_Rr;<br /> F_lf = - F_Bf - F_Rf;<br /> <br /> // 0 Horizontal position x<br /> rhs[0] = X_v * cos( X_psi - X_beta );<br /> // 1 Vertical position y<br /> rhs[1] = X_v * sin( X_psi - X_beta );<br /> // 2 Velocity v<br /> rhs[2] = 1.0 / P_m * (<br /> (F_lr - F_Ax) * cos(X_beta) + F_lf * cos(X_delta + X_beta)<br /> - (F_sr - F_Ay) * sin(X_beta) - F_sf * sin(X_delta + X_beta) );<br /> // 3 Side slip angle beta<br /> rhs[3] = X_wz - 1.0 / (P_m * X_v) * (<br /> (F_lr - F_Ax) * sin(X_beta) + F_lf * sin(X_delta + X_beta)<br /> + (F_sr - F_Ay) * cos(X_beta) + F_sf * cos(X_delta + X_beta) );<br /> // 4 Yaw angle psi<br /> rhs[4] = X_wz;<br /> // 5 Velocity of yaw angle w_z<br /> rhs[5] = 1.0 / P_I_zz * (<br /> F_sf * P_l_f * cos(X_delta) - F_sr * P_l_r<br /> + F_lf * P_l_f * sin(X_delta) - F_Ay * P_e_SP );<br /> // 6 Steering angle delta<br /> rhs[6] = C_steer;<br /> &lt;/source&gt;<br /> <br /> [[Category:Muscod]]</div>

FelixMueller