How to set kinetic friction force to a wheel joint in a car
Hi, pros. I'm a newbie of Gazebo simulation. I'd like to ask for your advice on how to kinetic friction force to a wheel joint in a car. What i'm using to push a car run is two function:
this->joints[i]->SetVelocity(1,max(0,(gas-brake)*C);
this->joints[i]->SetMaxForce(1, (gas +brake) * this->rearPower);
(in which gas and brake are changed during test. Others are stable).
I suppose that while my car is running at a velocity V, if i gas and brake i Zero, then my car should run slower graduately due to dynamic friction force to stop. But i don't know how to set this condition.
Please help me to figure it out. Thanks.
Asked by TyNguyen on 2014-04-26 00:33:45 UTC
Answers
I've found out my answer. Here is my intuition: - Build equation of Forces applying on the car, including: kinetic friction force, F of engine (regarding velocity (v''), (F of the air and other) . - Transform the above equation into Laplace and solve it => F of engine(s)/V(s) => Design PID controller.
Asked by TyNguyen on 2014-05-07 07:58:17 UTC
Comments