122 lines
56 KiB
Plaintext
122 lines
56 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 94,
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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\n",
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"from sympy.plotting import plot\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": 95,
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"metadata": {},
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"outputs": [],
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"source": [
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"def pacejka96(b, x, Fz, Sv, Sh):\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 = -(1 - (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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" Sv=0\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 + Sv\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": 96,
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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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"b = [\n",
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" 1.6,\n",
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" 0,\n",
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" 2500,\n",
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" 0,\n",
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" 229,\n",
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" 0.0,\n",
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" 0,\n",
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" 0,\n",
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" -12,\n",
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" 0,\n",
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" 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": 97,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"image/png": 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",
|
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"text/plain": [
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"<Figure size 640x480 with 1 Axes>"
|
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]
|
|
},
|
|
"metadata": {},
|
|
"output_type": "display_data"
|
|
},
|
|
{
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"data": {
|
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"image/png": 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",
|
|
"text/plain": [
|
|
"<Figure size 640x480 with 1 Axes>"
|
|
]
|
|
},
|
|
"metadata": {},
|
|
"output_type": "display_data"
|
|
},
|
|
{
|
|
"data": {
|
|
"text/plain": [
|
|
"<sympy.plotting.backends.matplotlibbackend.matplotlib.MatplotlibBackend at 0x7f38d7716d50>"
|
|
]
|
|
},
|
|
"execution_count": 97,
|
|
"metadata": {},
|
|
"output_type": "execute_result"
|
|
}
|
|
],
|
|
"source": [
|
|
"slip_ratio = Symbol('slip_ratio')\n",
|
|
"slip_angle = Symbol('slip_angle')\n",
|
|
"\n",
|
|
"plot(pacejka96(b, slip_ratio, 2, 0, 0) / 2000, (slip_ratio, -10, 20))\n",
|
|
"plot(pacejka96(b, slip_angle, 2, 0, 0) / 2000, (slip_angle, 0, 15))"
|
|
]
|
|
}
|
|
],
|
|
"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
|
|
}
|