2009:Traction control function: Difference between revisions
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= Traction control function = | = Traction control function = | ||
=== Requirements<br> === | === Requirements<br> === | ||
#When a wheel or wheels start slipping, stop the slipping and regain traction | #When a wheel or wheels start slipping, stop the slipping and regain traction | ||
#Allow for special cases such as when one or two wheels is on carpet. | #Allow for special cases such as when one or two wheels is on carpet. | ||
<br> | |||
=== Assumptions === | === Assumptions === | ||
| Line 13: | Line 14: | ||
#We do not know robot speed nor direction. | #We do not know robot speed nor direction. | ||
<br> | <br> | ||
=== Research === | |||
Research shows the options available to us include: | |||
#Applying brakes to wheel that is slipping (in our case, we'd simulate with reversing direction) | |||
#Reducing power to all wheels | |||
#Reducing power to the wheel (or wheels) that are slipping | |||
Option #3 is our currently preferred option. | |||
<br> | |||
Link: [http://en.wikipedia.org/wiki/Traction_control_system en.wikipedia.org/wiki/Traction_control_system]<br> | |||
Link: [http://auto.howstuffworks.com/28000-traction-control-explained.htm auto.howstuffworks.com/28000-traction-control-explained.htm] | |||
<br> | |||
=== Ideas === | === Ideas === | ||
| Line 19: | Line 38: | ||
#Compare left-front vs. left-rear wheels. If one wheel is significantly faster than the other, assume it is slipping. Reduce power to the slipping wheel for xxx milliseconds then restore restore full power. Perform same check for right-front vs. right-rear. | #Compare left-front vs. left-rear wheels. If one wheel is significantly faster than the other, assume it is slipping. Reduce power to the slipping wheel for xxx milliseconds then restore restore full power. Perform same check for right-front vs. right-rear. | ||
<br> | <br> | ||
=== Design | === Design === | ||
Latest revision as of 19:43, 30 December 2009
Traction control function
Requirements
- When a wheel or wheels start slipping, stop the slipping and regain traction
- Allow for special cases such as when one or two wheels is on carpet.
Assumptions
- We know the power values (L drive and R drive) we gave to the motors
- Our only sensor input is the actual motor speed of each of four motors.
- We do not know robot speed nor direction.
Research
Research shows the options available to us include:
- Applying brakes to wheel that is slipping (in our case, we'd simulate with reversing direction)
- Reducing power to all wheels
- Reducing power to the wheel (or wheels) that are slipping
Option #3 is our currently preferred option.
Link: en.wikipedia.org/wiki/Traction_control_system
Link: auto.howstuffworks.com/28000-traction-control-explained.htm
Ideas
- Compare left-front vs. left-rear wheels. If one wheel is significantly faster than the other, assume it is slipping. Reduce power to the slipping wheel for xxx milliseconds then restore restore full power. Perform same check for right-front vs. right-rear.
