記一個 Longitudinal vehicle dynamics 的問題


今天學到這部分,看到這公式實在讓我滿頭問號:

img

我不知道怎麼直觀地理解 I_e * w_e' = T_engine - T_turbine,後來找到一個資料才理解

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img

概念上是,我們可以用另一個角度看這公式:

T_turbine = T_engine - I_e * w_e'

Ideally, we want T_turbine = T_engine, which means the torque generated by the engine can be 100% delivered to turbine.

However, T_engine is consumed a little bit because there are some mass in the engine, which consumed the torque generated.

#Self-Driving Car #Vehicle Dynamic Model







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