"""
Wheel Class
===========
The `Wheel` class represents the properties and dynamics of a single wheel in a vehicle model.
This includes physical parameters such as mass, stiffness, and adherence properties,
as well as the wheel's position and orientation in 3D space.
"""
from pymycar.files import append_results_to_file
[docs]
class Wheel:
"""
Represents a single wheel in the vehicle model with its physical and dynamic properties.
Attributes
----------
mass : float
Mass of the wheel in kilograms.
spin_inertia : float
Moment of inertia for spinning motion in kg·m².
nominal_radius : float
Nominal radius of the wheel in meters.
radial_stiffness : float
Radial stiffness of the wheel in N/m.
radial_damping : float
Radial damping coefficient of the wheel in Ns/m.
nominal_vertical_load : float
Nominal vertical load supported by the wheel in N.
max_longitudinal_adherence : float
Maximum longitudinal adherence coefficient.
max_lateral_adherence : float
Maximum lateral adherence coefficient.
sidelsip_stiffness : float
Side-slip stiffness in N/deg.
longitudinal_stiffness : float
Longitudinal stiffness in N/deg.
x : float
X-coordinate position of the wheel.
y : float
Y-coordinate position of the wheel.
z : float
Z-coordinate position of the wheel.
camber : float
Camber angle of the wheel in degrees.
toe : float
Toe angle of the wheel in degrees.
side_view : float
Side view tilt angle of the wheel in degrees.
Methods
-------
__init__(mass, spin_inertia, nominal_radius, radial_stiffness, radial_damping, nominal_vertical_load, max_longitudinal_adherence, max_lateral_adherence, sidelsip_stiffness, longitudinal_stiffness)
Initializes the Wheel object with provided or default parameters.
save_log_info(logger, name="Wheel")
Logs the wheel's parameters in a tabular format.
"""
def __init__(self,
mass=None,
spin_inertia=None,
nominal_radius=None,
radial_stiffness=None,
radial_damping=None,
nominal_vertical_load=None,
max_longitudinal_adherence=None,
max_lateral_adherence=None,
sidelsip_stiffness=None,
longitudinal_stiffness=None):
"""
Initializes the Wheel object with physical and position parameters.
Parameters
----------
mass : float, optional
Mass of the wheel in kilograms (default: 15.0).
spin_inertia : float, optional
Moment of inertia for spinning motion in kg·m² (default: 1.3).
nominal_radius : float, optional
Nominal radius of the wheel in meters (default: 0.29).
radial_stiffness : float, optional
Radial stiffness of the wheel in N/m (default: 200,000.0).
radial_damping : float, optional
Radial damping coefficient of the wheel in Ns/m (default: 150.0).
nominal_vertical_load : float, optional
Nominal vertical load supported by the wheel in N (default: 5000.0).
max_longitudinal_adherence : float, optional
Maximum longitudinal adherence coefficient (default: 1.57).
max_lateral_adherence : float, optional
Maximum lateral adherence coefficient (default: 1.41).
sidelsip_stiffness : float, optional
Side-slip stiffness in N/deg (default: 25.0).
longitudinal_stiffness : float, optional
Longitudinal stiffness in N/deg (default: 34.0).
"""
self.time = 0.0
# Initialize position and orientation
self.x = 0.0
self.y = 0.0
self.z = 0.0
self.camber = 0.0
self.toe = 0.0
self.side_view = 0.0
# Initialize physical properties
self.mass = mass
self.spin_inertia = spin_inertia
self.nominal_radius = nominal_radius
self.radial_stiffness = radial_stiffness
self.radial_damping = radial_damping
self.nominal_vertical_load = nominal_vertical_load
self.max_longitudinal_adherence = max_longitudinal_adherence
self.max_lateral_adherence = max_lateral_adherence
self.sidelsip_stiffness = sidelsip_stiffness
self.longitudinal_stiffness = longitudinal_stiffness
[docs]
def save_state_2_text_file(self, output_file_path):
header = '#time\tx\ty\tz\tcamber\ttoe\tside_view'
append_results_to_file(output_file_path, header, self.time, self.x, self.y, self.z,self.camber, self.toe, self.side_view)
[docs]
def save_log_info(self, logger, name="Wheel"):
"""
Logs the wheel parameters in a tabular format using the provided logger.
Parameters
----------
logger : logging.Logger
Logger instance for logging the wheel details.
name : str, optional
Name or identifier for the wheel (default: "Wheel").
"""
data = [
("mass", f"{self.mass}"),
("spin_inertia", f"{self.spin_inertia}"),
("nominal_radius", f"{self.nominal_radius}"),
("radial_stiffness", f"{self.radial_stiffness}"),
("radial_damping", f"{self.radial_damping}"),
("nominal_vertical_load", f"{self.nominal_vertical_load}"),
("max_longitudinal_adherence", f"{self.max_longitudinal_adherence}"),
("max_lateral_adherence", f"{self.max_lateral_adherence}"),
("sidelsip_stiffness", f"{self.sidelsip_stiffness}"),
("longitudinal_stiffness", f"{self.longitudinal_stiffness}"),
]
# Create the table header
logger.info("Wheel Parameters: " + name)
logger.info("================================================")
logger.info("+---------------------------+--------------------------+")
logger.info("| Parameter | Value |")
logger.info("+===========================+==========================+")
# Log each row of the table
for param, value in data:
logger.info(f"| {param:<25} | {value:<24} |")
logger.info("+---------------------------+--------------------------+")
# # self.wheel_base =
# # self.wheel_track =
# # self.wheel_jounce =
# # self.caster_angle =
# # self.kingpin_angle =
# # self.camber_angle =
# self.cad = None
# def set_cad(self):
# wheel = pv.Cylinder(center=(self.x, self.y, self.z), direction=(0, 1, 0), height=0.5*self.nominal_radius, radius = self.nominal_radius)
# wheel = wheel.rotate_x(np.rad2deg(self.camber))
# wheel = wheel.rotate_y(np.rad2deg(self.toe))
# wheel = wheel .rotate_z(np.rad2deg(self.side_view))
# self.cad = pv.MultiBlock([wheel])
# def view_cad(self):
# if self.cad == None:
# self.set_cad()
# plotter = pv.Plotter()
# plotter.add_mesh(self.cad, color='black', show_edges=True)
# plotter.show()
