138 lines
67 KiB
Plaintext
138 lines
67 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 276,
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"metadata": {},
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"outputs": [],
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"source": [
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"%matplotlib widget"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 277,
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"metadata": {},
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"outputs": [],
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"source": [
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"from sympy import Symbol, sin, atan, exp, solve, diff, simplify,Eq\n",
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"from sympy.plotting import plot, plot3d\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 278,
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"metadata": {},
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"outputs": [],
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"source": [
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"b = [Symbol(f'b_{i}', positive=True, real=True) for i in range(11)]\n",
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"Fz = Symbol('F_z', positive=True, real=True)\n",
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"x = Symbol('x', real=True)\n",
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"\n",
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"def pacejka96():\n",
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" C = b[0]\n",
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" D = (b[1] * Fz + b[2]) * Fz\n",
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" B=((b[3]*Fz**2+b[4]*Fz)*exp(-b[5]*Fz))/(C*D)\n",
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" E = b[6] * Fz**2 +b[7] * Fz + b[8]\n",
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" Sh=b[9]*Fz+b[10]\n",
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" \n",
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" X = x + Sh\n",
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" y = D * sin(C * atan(B * X - E * ( B * X - atan(B * X))))\n",
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" Y = y\n",
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" return Y"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"# Pacejka coefficients\n",
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"slip_angle_b = [\n",
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"1.6, -150, 1500, 0, 229, -0.4, 0, 0, 0, 0, 0\n",
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"]\n",
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"slip_angle_b2 = [\n",
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"1.45, -150, 1500, 0, 400, -0.4, 0, 0, 0, 0, 0\n",
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"]\n",
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"\n",
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"slip_ratio_b = [\n",
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"1.7, -150, 1500, 0, 700, -0.8, 0, 0, 0, 0, 0\n",
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"]"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 280,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"application/vnd.jupyter.widget-view+json": {
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"model_id": "245af2cc48ed4b118eabc0e2d03902a7",
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"version_major": 2,
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"version_minor": 0
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},
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"image/png": 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",
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"\n",
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" <div style=\"display: inline-block;\">\n",
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" <div class=\"jupyter-widgets widget-label\" style=\"text-align: center;\">\n",
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" Figure\n",
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" </div>\n",
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' width=640.0/>\n",
|
|
" </div>\n",
|
|
" "
|
|
],
|
|
"text/plain": [
|
|
"Canvas(toolbar=Toolbar(toolitems=[('Home', 'Reset original view', 'home', 'home'), ('Back', 'Back to previous …"
|
|
]
|
|
},
|
|
"metadata": {},
|
|
"output_type": "display_data"
|
|
},
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"<sympy.plotting.backends.matplotlibbackend.matplotlib.MatplotlibBackend at 0x7fe2f47f5d10>"
|
|
]
|
|
},
|
|
"execution_count": 280,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"%matplotlib widget\n",
|
|
"\n",
|
|
"slip_angle_formula = pacejka96().subs({sym: val for sym, val in zip(b, slip_angle_b)})\n",
|
|
"slip_angle_formula2 = pacejka96().subs({sym: val for sym, val in zip(b, slip_angle_b2)})\n",
|
|
"slip_ratio_formula = pacejka96().subs({sym: val for sym, val in zip(b, slip_ratio_b)})\n",
|
|
"\n",
|
|
"plot(abs((slip_angle_formula / (Fz * 1000)).subs({Fz: 2})), abs((slip_ratio_formula / (Fz * 1000)).subs({Fz: 2})), (x, 0, 30))"
|
|
]
|
|
}
|
|
],
|
|
"metadata": {
|
|
"kernelspec": {
|
|
"display_name": ".venv",
|
|
"language": "python",
|
|
"name": "python3"
|
|
},
|
|
"language_info": {
|
|
"codemirror_mode": {
|
|
"name": "ipython",
|
|
"version": 3
|
|
},
|
|
"file_extension": ".py",
|
|
"mimetype": "text/x-python",
|
|
"name": "python",
|
|
"nbconvert_exporter": "python",
|
|
"pygments_lexer": "ipython3",
|
|
"version": "3.13.2"
|
|
}
|
|
},
|
|
"nbformat": 4,
|
|
"nbformat_minor": 2
|
|
}
|