Feat/sim tire

config/invictasim/config.yaml

@@ -1,4 +1,4 @@
 invictasim:
   # Simulator config
-  vehicle_model: "bicycle_model"  # Options: "bicycle_model"
+  vehicle_model: "bicycle_model"  # Options: "bicycle_model", "FSFEUP02_model"
   timestep: 0.001  # seconds (0.001s = 1000 Hz)

config/invictasim/vehicle_models/FSFEUP02_model.yaml

@@ -0,0 +1,31 @@
+vehicle_model:
+  FSFEUP02_model:  
+    # Mass and inertia
+    sm: 162.0 # sprung mass without driver (assuming driver of 70kg) -> conchinha
+    um: 38.0 # unsprung mass
+    Izz: 120.0  # Yaw moment of inertia (kg·m²)
+    cg:
+      # Sprung CG Y and Z axis in mm
+      sCGy: 722.0 
+      sCGz: 263.0
+      #Unsprung mass CG Y and Z axis in mm
+      uCGy: 744.0
+      uCGz: 206.0
+    # %Total mass CG
+    # CGy=(sCGy*sm+uCGy*um)/m;
+      CGz: 252.2
+    # Drivetrain
+    dimensions: # in mm
+      wheelbase: 1530
+      track_front: 1200
+      track_rear: 1200
+    tire:
+      model: "r2016x7.5r10x8" #Options: "r2016x7.5r10x8" 
+      #IMPORTANT: THESE PARAMETERS ARE WRONG BECAUSE THE CG IS NOT CORRECT WITHOUT THE DRIVER CHANGE WHEN THERE IS ACTUAL DATA
+      d_bright: 1.06
+      d_bleft: 1.06
+      d_fright: 0.99
+      d:fleft: 0.99
+      camber: 0
+    gearRatio: 3.7
+

config/invictasim/vehicle_models/tire_models/r2016x7.5r10x8.yaml

@@ -0,0 +1,292 @@
+dimension:
+  UNLOADED_RADIUS: 0.235
+  WIDTH: 0.2159
+  ASPECT_RATIO: 0.55
+  RIM_RADIUS: 0.1905
+  RIM_WIDTH: 0.152
+
+operating_conditions:
+  INFLPRES: 220000
+  NOMPRES: 220000
+
+inertia:
+  MASS: 17.451
+  IXX: 0.4
+  IYY: 0.7
+  BELT_MASS: 7
+  BELT_IXX: 0.34
+  BELT_IYY: 0.6
+  GRAVITY: -9.81
+
+vertical:
+  FNOMIN: 1113.5001
+  VERTICAL_STIFFNESS: 200000
+  VERTICAL_DAMPING: 50
+  MC_CONTOUR_A: 0.5
+  MC_CONTOUR_B: 0.5
+  BREFF: 8.4
+  DREFF: 0.27
+  FREFF: 0.07
+  Q_RE0: 1
+  Q_V1: 0
+  Q_V2: 0
+  Q_FZ2: 0.0001
+  Q_FCX: 0
+  Q_FCY: 0
+  Q_CAM: 0
+  PFZ1: 0.88241
+  Q_FCY2: -0.4751
+  Q_CAM1: 85.19
+  Q_CAM2: 257.4
+  Q_CAM3: 0.5119
+  Q_FYS1: -20496.4
+  Q_FYS2: -60000
+  Q_FYS3: 88211.7
+  BOTTOM_OFFST: 0.01
+  BOTTOM_STIFF: 2000000
+
+structural:
+  LONGITUDINAL_STIFFNESS: 300000
+  LATERAL_STIFFNESS: 100000
+  YAW_STIFFNESS: 5000
+  FREQ_LONG: 80
+  FREQ_LAT: 40
+  FREQ_YAW: 50
+  FREQ_WINDUP: 70
+  DAMP_LONG: 0.04
+  DAMP_LAT: 0.04
+  DAMP_YAW: 0.04
+  DAMP_WINDUP: 0.04
+  DAMP_RESIDUAL: 0.002
+  DAMP_VLOW: 0.001
+  Q_BVX: 0
+  Q_BVT: 0
+  PCFX1: 0
+  PCFX2: 0
+  PCFX3: 0
+  PCFY1: 0
+  PCFY2: 0
+  PCFY3: 0
+  PCMZ1: 0
+
+contact_patch:
+  Q_RA1: 0.5
+  Q_RA2: 1
+  Q_RB1: 1
+  Q_RB2: -1
+  ELLIPS_SHIFT: 0.8
+  ELLIPS_LENGTH: 1
+  ELLIPS_HEIGHT: 1
+  ELLIPS_ORDER: 1.8
+  ELLIPS_MAX_STEP: 0.025
+  ELLIPS_NWIDTH: 10
+  ELLIPS_NLENGTH: 10
+
+inflation_pressure_range:
+  PRESMIN: 10000
+  PRESMAX: 1000000
+
+vertical_force_range:
+  FZMIN: 228.6
+  FZMAX: 1600
+
+long_slip_range:
+  KPUMIN: -0.25
+  KPUMAX: 0.25
+
+slip_angle_range:
+  ALPMIN: -0.2094
+  ALPMAX: 0.2094
+
+inclination_angle_range:
+  CAMMIN: -0.1047
+  CAMMAX: 0.1047
+
+scaling_coefficients:
+  LFZO: 1
+  LCX: 1
+  LMUX: 1
+  LEX: 1
+  LKX: 1
+  LHX: 0
+  LVX: 0
+  LCY: 1
+  LMUY: 1
+  LEY: 1
+  LKY: 1
+  LHY: 0
+  LVY: 0
+  LTR: 1
+  LRES: 0
+  LXAL: 1
+  LYKA: 1
+  LVYKA: 1
+  LS: 1
+  LKYC: 1
+  LKZC: 1
+  LVMX: 0
+  LMX: 1
+  LMY: 1
+  LMP: 1
+
+longitudinal_coefficients:
+  PCX1: 1.786
+  PDX1: 2.933
+  PDX2: -0.44
+  PDX3: 20.8
+  PEX1: 0.871
+  PEX2: -0.038
+  PEX3: 0
+  PEX4: 0.071
+  PKX1: 85.31
+  PKX2: -20.25
+  PKX3: 0.5
+  PHX1: 0
+  PHX2: 0
+  PVX1: 0
+  PVX2: 0
+  PPX1: 0
+  PPX2: 0
+  PPX3: 0
+  PPX4: 0
+  RBX1: 23.72
+  RBX2: 25.97
+  RBX3: 0
+  RCX1: 0.7495
+  REX1: -0.4759
+  REX2: 0.8109
+  RHX1: 0
+
+overturning_coefficients:
+  QSX1: 0
+  QSX2: 0
+  QSX3: 0
+  QSX4: 5
+  QSX5: 1
+  QSX6: 10
+  QSX7: 0
+  QSX8: 0
+  QSX9: 0.4
+  QSX10: 0
+  QSX11: 5
+  QSX12: 0
+  QSX13: 0
+  QSX14: 0
+  PPMX1: 0
+
+lateral_coefficients:
+  PCY1: 1.6384
+  PDY1: 2.3749
+  PDY2: -0.1985
+  PDY3: 4.0072
+  PEY1: 0.53284
+  PEY2: -0.33312
+  PEY3: 0.27748
+  PEY4: -0.016493
+  PEY5: 0
+  PKY1: -38.9068
+  PKY2: 1.6336
+  PKY3: 0.62971
+  PKY4: 2
+  PKY5: 0
+  PKY6: -1
+  PKY7: 0
+  PHY1: -4.3588e-16
+  PHY2: -2.2117e-17
+  PVY1: 9.4249e-16
+  PVY2: 3.9982e-18
+  PVY3: -3.2711
+  PVY4: -1.1442
+  PPY1: 0
+  PPY2: 0
+  PPY3: 0
+  PPY4: 0
+  PPY5: 0
+  RBY1: 20.33
+  RBY2: 8.152
+  RBY3: -0.01243
+  RBY4: 0
+  RCY1: 0.9317
+  REY1: -0.0003982
+  REY2: 0.3077
+  RHY1: 1.3384e-17
+  RHY2: 1.352e-17
+  RVY1: 2.0035e-17
+  RVY2: -1.3167e-17
+  RVY3: 2.2302e-18
+  RVY4: -6.7562e-18
+  RVY5: 7.583e-18
+  RVY6: 2.0886e-17
+
+rolling_coefficients:
+  QSY1: -0.0309
+  QSY2: -0.0921
+  QSY3: 0
+  QSY4: 0
+  QSY5: 0
+  QSY6: 0
+  QSY7: 0.85
+  QSY8: -0.4
+
+aligning_coefficients:
+  QBZ1: 10
+  QBZ2: 0
+  QBZ3: 0
+  QBZ4: 0
+  QBZ5: 0
+  QBZ9: 10
+  QBZ10: 0
+  QCZ1: 1.1
+  QDZ1: 0.12
+  QDZ2: 0
+  QDZ3: 0
+  QDZ4: 0
+  QDZ6: 0
+  QDZ7: 0
+  QDZ8: -0.05
+  QDZ9: 0
+  QDZ10: 0
+  QDZ11: 0
+  QEZ1: 0
+  QEZ2: 0
+  QEZ3: 0
+  QEZ4: 0
+  QEZ5: 0
+  QHZ1: 0
+  QHZ2: 0
+  QHZ3: 0
+  QHZ4: 0
+  PPZ1: 0
+  PPZ2: 0
+  SSZ1: 0
+  SSZ2: 0
+  SSZ3: 0
+  SSZ4: 0
+
+  # POSTA DO CHAT ATE TER DADOS DE VD
+turnslip_coefficients:
+  PECP1: 0.8
+  PECP2: 0.1
+  PDXP1: 0.5
+  PDXP2: 0.0
+  PDXP3: 1.0
+  PDXP4: 0.0
+  PDYP1: 1.0
+  PDYP2: 0.1
+  PDYP3: 1.0
+  PDYP4: 0.0
+  PKYP1: 35
+  PHYP1: 0.2
+  PHYP2: 0.1
+  PHYP3: 0.3
+  PHYP4: 0.0
+
+ # Other configuration numbers
+configurations:
+  Amu: 1.0
+
+
+
+
+
+