%?This?script?loads?the?parameters?required?by?the?QuarterCar.mdl
%
%?Author:?Phil?Goddard?（phil@goddardconsulting.ca）
%?Date:?Q2?2011

%?Do?some?housekeeping
clear?all
close?all
clc
disp（‘Loading?parameters?for?QuarterCar.mdl‘）;

%?Physical?parameters
g?=?9.81;?%?gravity

%?Controller?parameters
Ts?=?0.005;??%?Sample?rate?of?discrete?controller
Kp?=?1200;
Ki?=?100000;
Kd?=?0;
dPole?=?1000;??%?Pole?of?non-idealized?derivative

%?Vehicle?parameters
Wr?=?0.32;??%?wheel?radius?
J?=?1;??%?wheel?moment?
v0?=?30;?%?initial?velocity
m?=?450;?%?1/4?car?mass
m0?=?m;?%?Initial?mass?（used?in?the?EKF?mass?estimation）

%?Road?surface?parameters
%?Pacejka?model?for?dry?asphelt
roadCoeffs?=?[1.28?23.99?0.52];

%?Actuator?parameters
actuatorPole?=?70;
actuatorSat?=?4000;
actuatorDelay?=?0.005;

%?Reference?signal
lambda_ref?=?0.1;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????91679??2011-07-31?21:37??QuarterCarEKF.mdl
?????文件?????????869??2011-07-29?08:21??QuarterCarParams.m