which kind of parameters can influence the slip velocity?
"彭兴文" <[email protected]> Fri, 23 Nov 2007 21:21:47 +0800
| Newsgroups | gmane.comp.lib.ode |
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These days, I want to set the contact.slip with reason in my car simulation.
So I want to find out which kind of parameters will influence the slip
velocity.
First, I just add one wheel in the ODE. The wheel mass is 5kg and the
gravity is 9.81, the torque is add on the rolling axis. Then I set the
contact parameters like this:
ontact[i].surface.mode = dContactFDir1 | dContactMu2 | dContactSlip2 |
dContactBounce | dContactSoftERP | dContactSoftCFM | dContactApprox1;
FDIR1 = wheel rolling axis (not the direction that the wheel
rolling in)
contact[i].surface.mu = 0.7;
contact[i].surface.mu2 = 0.7;
contact[i].surface.slip2 = 0.01;
contact[i].surface.bounce = 0.001;
contact[i].surface.soft_erp = 0.9;
contact[i].surface.soft_cfm = 0.01;
And the wheel's radius is 0.1m, the wheel width is 0.15m.
I get these data from ODE:
torque = 0.5 slip2 = 0.01 Angular velocity - linear velocity = 0.01667
torque = 1.0 slip2 = 0.01 Angular velocity - linear velocity = 0.03333
torque = 1.0 slip2 = 0.02 Angular velocity - linear velocity = 0.06667
there is no effectives when I changed the wheel width, the wheel mass, the
mu mu2, bounce soft_erp and soft_cfm. But when I changed the wheel radius
to 0.2,it will be:
torque = 0.5 slip2 = 0.01 Angular velocity - linear velocity = 0.00833
So it seems the torque , contact.slip2 and the wheel radius will influence
the slip velocity(Angular velocity - linear velocity). Is this true? And can
someone help me
to understand how these parameters influence the slip velocity?
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These days, I want to set the contact.slip with reason in my car simulation. So I want to find out which kind of parameters will influence the slip velocity.<br><br>First, I just add one wheel in the ODE. The wheel mass is 5kg and the gravity is
9.81, the torque is add on the rolling axis. Then I set the contact parameters like this:<br><br> ontact[i].surface.mode = dContactFDir1 | dContactMu2 | dContactSlip2 | dContactBounce | dContactSoftERP | dContactSoftCFM | dContactApprox1;
<br> <br> FDIR1 = wheel rolling axis (not the direction that the wheel rolling in)<br> <br> contact[i].surface.mu = 0.7;<br> contact[i].surface.mu2 = 0.7;<br> contact[i].surface.slip2 =
0.01;<br> contact[i].surface.bounce = 0.001;<br> contact[i].surface.soft_erp = 0.9;<br> contact[i].surface.soft_cfm = 0.01;<br><br>And the wheel's radius is 0.1m, the wheel width is 0.15m.<br><br>
I get these data from ODE:<br>torque = 0.5 slip2 = 0.01 Angular velocity - linear velocity = 0.01667<br>torque = 1.0 slip2 = 0.01 Angular velocity - linear velocity = 0.03333<br>torque = 1.0 slip2 = 0.02 Angular velocity - linear velocity =
0.06667<br><br>there is no effectives when I changed the wheel width, the wheel mass, the mu mu2, bounce soft_erp and soft_cfm. But when I changed the wheel radius to 0.2,it will be:<br>torque = 0.5 slip2 = 0.01 Angular velocity - linear velocity =
0.00833<br><br>So it seems the torque , contact.slip2 and the wheel radius will influence the slip velocity(Angular velocity - linear velocity). Is this true? And can someone help me <br>to understand how these parameters influence the slip velocity?
<br>
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