driving_physics 0.0.2.1 → 0.0.3.1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
-  metadata.gz: 89628c4f71193088741435eb426419edf7c9ac78cad2169c4718f2a365db0881
-  data.tar.gz: a229fa52ed29f6dcb8eab0513e845732e0735dd272e516e4f26603aeabe7f312
+  metadata.gz: 9b9159b499a0082d5af3ef926fceab925572552978b50d020b71bc51df7506fb
+  data.tar.gz: 183eaae3e07e24f38bb1417d96a6310eebfd288a1300d4e8bab96f008abbf3e5
 SHA512:
-  metadata.gz: 42a6061d1ef6e2c989e5fb88141e8a84daaafc3c9a2f31e057d2fb7a384fbaa1c195d05deab18b2703fd5e79b539557543ec8eaf8632cd2a5f776359c7c3e340
-  data.tar.gz: 2860d2b6c17c5d4e9d73868de36bdcf48341d74712666c109d422c97975899b0fde2248b58c060d02e02561ba3dff471d7b66c694a44e5d143108a20f828e477
+  metadata.gz: 9a19ba4646abe21f30ca12c88f43e9ddc7083028e96504260f0277b167af5374364967b1617ab83744f824d6d2aa513ef38627d23ad5e9ccc8ff7e017b8a2ac8
+  data.tar.gz: 5357970cd547b12727bfc20c408df27a07d3aaac5d5b9042cbb10fc98c85484eb7bf054e140158f7e8695ef6c30eb18961fdd6979b4d0e3ab6c343f7767fc296

data/README.md

@@ -10,14 +10,28 @@ using `Vector` class from `matrix.rb` in stdlib.
 
 This is very much a **Work In Progress**.  Implemented so far:
 
+### Library Features
+
+* Spinning: rotational inertia and friction / hysteresis
+* Tires: traction force via friction (static and kinetic) and the normal force
+* Vectors: 2D Vector forces and 3D Vector torques
+* Motor: torque curves, rotating mass with friction
+* Gearbox: gear ratios, final drive, rotating mass with friction
+* Powertrain: combines motor and gearbox
+* Car: 4 tires, powertrain, extra mass presents a load to the powertrain
+* Acceleration: via drive traction from "first principles"
+* Variable clutch and throttle
+* Engine braking
+* Power and Energy
+
 ### mruby Support
 
-This is big.  This library is primarily a Ruby library, intended for use with
-CRuby (MRI), JRuby, etc.  **mruby** is the redheaded stepchild, with severe
+This library is primarily a Ruby library, intended for use with CRuby (MRI),
+JRuby, etc.  **mruby** is the redheaded stepchild, with significant
 implications for a codebase that wants to support both sides.  Supporting
 mruby here meant:
 
-1. Editing the codebase (minimally) to remove *mruby-deadends*.
+1. Editing the codebase (minimally) to avoid and remove *mruby-deadends*.
 2. Creating `rake` tasks to process normal .rb files into *mruby-compatible*
    .rb files
 3. Assembling all needed library .rb files into a master .rb file
@@ -27,17 +41,6 @@ mruby here meant:
 
 See the main Rakefile near the top for mruby stuff.
 
-### Library Features
-
-* Spinning: rotational inertia and friction / hysteresis
-* Tires: traction force via friction (static and kinetic) and the normal force
-* Vectors: 2D Vector forces and 3D Vector torques
-* Motor: torque curves, rotating mass with friction
-* Gearbox: gear ratios, final drive, rotating mass with friction
-* Powertrain: combines motor and gearbox
-* Car: 4 tires, powertrain, extra mass presents a load to the powertrain
-* Acceleration: via drive traction from "first principles"
-
 ## Rationale
 
 This is a toy project intended to scratch a personal itch: I want to create

data/Rakefile

@@ -40,8 +40,8 @@ end
 
 file MRBLIB_FILE do
   line_count = write_mruby(File.join(%w[lib driving_physics.rb]), MRBLIB_FILE)
-  %w[mruby environment imperial power
-     disk tire motor gearbox powertrain car].each { |name|
+  %w[cli environment imperial power timer
+     disk tire motor gearbox powertrain car pid_controller].each { |name|
     file = File.join('lib', 'driving_physics', "#{name}.rb")
     line_count += write_mruby(file, MRBLIB_FILE, append: true)
     puts "wrote #{file} to #{MRBLIB_FILE}"
@@ -67,7 +67,7 @@ task mrblib: MRBLIB_FILE
 desc "Compile mruby/mrblib/driving_physics.rb to .mrb bytecode"
 task mrbc: MRBLIB_MRB
 
-%w[disk tire motor gearbox powertrain car].each { |name|
+%w[disk tire motor gearbox powertrain car pid_controller].each { |name|
   demo_file = File.join(MRUBY_DEMO_DIR, "#{name}.rb")
   demo_mrb = File.join(MRUBY_DEMO_DIR, "#{name}.mrb")
 

data/VERSION

@@ -1 +1 @@
-0.0.2.1
+0.0.3.1

data/demo/car.rb

@@ -1,4 +1,5 @@
 require 'driving_physics/car'
+require 'driving_physics/cockpit'
 require 'driving_physics/imperial'
 require 'driving_physics/cli'
 
@@ -10,13 +11,16 @@ puts env
 tire = Tire.new(env)
 motor = Motor.new(env)
 gearbox = Gearbox.new(env)
-powertrain = Powertrain.new(motor, gearbox)
+powertrain = Powertrain.new(motor: motor, gearbox: gearbox)
 car = Car.new(tire: tire, powertrain: powertrain) { |c|
   c.body_mass = 850.0
   c.frontal_area = 2.5
   c.cd = 0.5
 }
 puts car
+
+cockpit = Cockpit.new(car)
+puts cockpit
 CLI.pause
 
 duration = 120
@@ -31,18 +35,19 @@ tire_theta = 0.0
 
 crank_alpha = 0.0
 crank_omega = 0.0
-crank_theta = 0.0
 
 start = Timer.now
 paused = 0.0
 num_ticks = duration * env.hz + 1
 
-clutch = :ok
+rev_match = :ok
 phase = :ignition
+gearbox.clutch = 0.0 # clutch in to fire up motor
 flag = false
-rpm = 0
-
 
+rpm, crank_torque = 0, 0
+axle_torque, drive_force, net_force = 0, 0, 0
+ar, rr, rf, ir = 0, 0, 0, 0
 
 puts <<EOF
 
@@ -54,24 +59,15 @@ EOF
 
 num_ticks.times { |i|
   if phase == :ignition
-    # ignition phase
     crank_alpha = motor.alpha(motor.starter_torque, omega: crank_omega)
     crank_omega += crank_alpha * env.tick
-    crank_theta += crank_omega * env.tick
 
     rpm = DrivingPhysics.rpm(crank_omega)
 
-    if i % 100 == 0 or rpm > motor.idle_rpm
-      puts Timer.display(ms: i)
-      puts format("%d rad  %d rad/s  %d rad/s/s",
-                  crank_theta, crank_omega, crank_alpha)
-      puts format("%d RPM  %d Nm starter torque", rpm, motor.starter_torque)
-      puts
-    end
-
-    if rpm > motor.idle_rpm
-      car.gear = 1
-      car.throttle = 1.0
+    if rpm > motor.idle
+      flag = true
+      cockpit.gear = 1
+      cockpit.throttle_pedal = 1.0
       phase = :running
 
       puts <<EOF
@@ -82,23 +78,19 @@ num_ticks.times { |i|
 
 EOF
     end
-  elsif phase == :running
-    # track crank_alpha/omega/theta
-
-    # cut throttle after 60 s
-    car.throttle = 0 if i > 60 * env.hz and car.throttle == 1.0
-
+  elsif phase == :running or phase == :off_throttle
     ar = car.air_force(speed)
     rr = car.tire_rolling_force(tire_omega)
     rf = car.tire_rotational_force(tire_omega)
 
     # note, this fails if we're in neutral
-    force = car.drive_force(rpm) + ar + rr + rf
+    drive_force = car.drive_force(rpm, axle_omega: tire_omega)
+    net_force = drive_force + ar + rr + rf
 
-    ir = car.tire_inertial_force(force)
-    force += ir
+    ir = car.tire_inertial_force(net_force)
+    net_force += ir
 
-    acc = DrivingPhysics.acc(force, car.total_mass)
+    acc = DrivingPhysics.acc(net_force, car.total_mass)
     speed += acc * env.tick
     dist += speed * env.tick
 
@@ -108,71 +100,89 @@ EOF
 
     crank_alpha = tire_alpha / car.powertrain.gearbox.ratio
     crank_omega += crank_alpha * env.tick
-    crank_theta += crank_omega * env.tick
-
-    axle_torque = car.powertrain.axle_torque(rpm)
-    crank_torque = car.powertrain.motor.torque(rpm)
-
-    if flag or (i < 5000 and i % 100 == 0) or (i % 1000 == 0)
-      puts Timer.display(ms: i)
-      puts format("  Tire: %.1f r/s/s  %.2f r/s  %.3f r",
-                  tire_alpha, tire_omega, tire_theta)
-      puts format("   Car: %.1f m/s/s  %.2f m/s  %.3f m  (%.1f MPH)",
-                  acc, speed, dist, Imperial.mph(speed))
-      puts format(" Motor: %d RPM  %.1f Nm", rpm, crank_torque)
-      puts format("  Axle: %.1f Nm (%d N)  Net Force: %.1f N",
-                  axle_torque, car.drive_force(rpm), force)
-      puts        "Resist: " + format(%w[Air Roll Spin Inertial].map { |s|
-                                        "#{s}: %.1f N"
-                                      }.join('  '), ar, rr, rf, ir)
-      puts
-      flag = false
-    end
 
     # tire_omega determines new rpm
-    new_rpm = car.powertrain.crank_rpm(tire_omega)
-    new_clutch, proportion = car.powertrain.gearbox.match_rpms(rpm, new_rpm)
+    new_rpm = gearbox.crank_rpm(tire_omega, crank_rpm: rpm)
+    new_rev_match, clutch, proportion = Cockpit.rev_match(rpm, new_rpm)
 
-    if new_clutch != clutch
+    if new_rev_match != rev_match
       flag = true
-      puts format("Clutch: [%s] %d RPM is %.1f%% from %d RPM",
-                  new_clutch, new_rpm, proportion * 100, rpm)
-      clutch = new_clutch
-      paused += CLI.pause
+      puts format("Rev Match: [%s] %d RPM is %.1f%% from %d RPM",
+                  new_rev_match, new_rpm, proportion * 100, rpm)
+      # puts format("Recommend clutch to %.1f%%", clutch * 100)
+      rev_match = new_rev_match
     end
 
-    case new_clutch
-    when :ok
-      rpm = new_rpm
-    when :mismatch
+    clutch_diff = clutch - gearbox.clutch
+    if clutch_diff.abs > 0.1
       flag = true
-      puts '#'
-      puts '# LURCH!'
-      puts '#'
-      puts
-      rpm = new_rpm
+      puts format("Clutch: %.1f%%  Recommended Clutch: %.1f%%",
+                  gearbox.clutch * 100, clutch * 100)
     end
-    next_gear = car.powertrain.gearbox.next_gear(rpm)
-    if next_gear != gearbox.gear
+    # the clutch pedal will reflect this change
+    gearbox.clutch += clutch_diff * 0.5
+
+    # update the motor RPM based on new clutch
+    new_rpm = gearbox.crank_rpm(tire_omega, crank_rpm: rpm)
+    rpm = new_rpm if new_rpm > motor.idle
+
+    new_gear = cockpit.choose_gear(rpm)
+    if new_gear != cockpit.gear
+      flag = true
+      puts "Gear Change: #{new_gear}"
+      cockpit.gear = new_gear
+    end
+
+    # cut throttle after 60 s
+    if i > 60 * env.hz and car.throttle == 1.0
       flag = true
-      puts "Gear Change: #{next_gear}"
-      car.gear = next_gear
-      paused += CLI.pause
+      phase = :off_throttle
+      cockpit.throttle_pedal = 0
     end
 
     # maintain idle when revs drop
-    if car.throttle == 0 and rpm < motor.idle_rpm
+    if cockpit.throttle_pedal == 0 and rpm < motor.idle
       phase = :idling
       car.gear = 0
-      paused += CLI.pause
     end
 
+    print "===\n\n" if flag
 
   elsif phase == :idling
-    # fake
-    rpm = motor.idle_rpm
+    # fake; exit
+    rpm = motor.idle
     break
   end
+
+  if flag or (i < 5000 and i % 100 == 0) or (i % 1000 == 0)
+    puts Timer.display(ms: i)
+    puts format("  Phase: %s", phase)
+    puts format("   Tire: %.3f r/s/s  %.2f r/s  %.1f r",
+                tire_alpha, tire_omega, tire_theta)
+    puts format("    Car: %.3f m/s/s  %.2f m/s  %.1f m  (%.1f MPH)",
+                acc, speed, dist, Imperial.mph(speed))
+    if phase == :ignition
+      puts format("  Motor: %d RPM  Starter: %d Nm  Friction: %.1f Nm",
+                  rpm, motor.starter_torque, motor.friction(crank_omega))
+    else
+      crank_torque = car.powertrain.motor.torque(rpm)
+      puts format("  Motor: %d RPM  %.1f Nm  Friction: %.1f Nm",
+                  rpm, crank_torque, motor.friction(crank_omega))
+    end
+    puts format("Gearbox: %s", gearbox.inputs)
+    if phase != :ignition
+      axle_torque = car.powertrain.axle_torque(rpm, axle_omega: tire_omega)
+      puts format("   Axle: %.1f Nm (%d N)  Net Force: %.1f N",
+                  axle_torque, drive_force, net_force)
+    end
+    puts        " Resist: " + format(%w[Air Roll Spin Inertial].map { |s|
+                                       "#{s}: %.1f N"
+                                     }.join('  '), ar, rr, rf, ir)
+    puts        cockpit
+    puts
+    paused += CLI.pause if flag
+    flag = false
+  end
 }
 
 puts Timer.summary(start, num_ticks, paused)

data/demo/motor.rb

@@ -48,7 +48,7 @@ motor.throttle = 1.0
 puts
 puts "Now, the simulation begins..."
 puts "---"
-puts "* Spin the motor up to #{motor.idle_rpm} RPM with the starter motor."
+puts "* Spin the motor up to #{motor.idle} RPM with the starter motor."
 puts "* Rev it up with the throttle."
 puts "* Let it die."
 CLI.pause
@@ -89,7 +89,7 @@ num_ticks.times { |i|
   rpm = DrivingPhysics.rpm(omega)
   power = DrivingPhysics.power(net_torque, omega)
 
-  if rpm > motor.idle_rpm and status == :ignition
+  if rpm > motor.idle and status == :ignition
     status = :running
     flag = true
   end
@@ -106,10 +106,13 @@ num_ticks.times { |i|
     flag = true
   end
 
+  # we don't need no PID control
   if status == :idling
-    if rpm < 999
+    if rpm.round <= 999
       motor.throttle += (1.0 - motor.throttle) * 0.005
-    elsif rpm > 1001
+    elsif rpm.round == 1000
+      motor.throttle += (rand - 0.5) * 0.0005
+    else
       motor.throttle -= motor.throttle * 0.005
     end
   end

data/demo/mruby/car.rb

@@ -0,0 +1,184 @@
+
+include DrivingPhysics
+
+env = Environment.new
+puts env
+
+tire = Tire.new(env)
+motor = Motor.new(env)
+gearbox = Gearbox.new(env)
+powertrain = Powertrain.new(motor: motor, gearbox: gearbox)
+car = Car.new(tire: tire, powertrain: powertrain) { |c|
+  c.body_mass = 850.0
+  c.frontal_area = 2.5
+  c.cd = 0.5
+}
+puts car
+
+cockpit = Cockpit.new(car)
+puts cockpit
+CLI.pause
+
+duration = 120
+
+acc = 0.0
+speed = 0.0
+dist = 0.0
+
+tire_alpha = 0.0
+tire_omega = 0.0
+tire_theta = 0.0
+
+crank_alpha = 0.0
+crank_omega = 0.0
+
+start = Timer.now
+paused = 0.0
+num_ticks = duration * env.hz + 1
+
+rev_match = :ok
+phase = :ignition
+gearbox.clutch = 0.0 # clutch in to fire up motor
+flag = false
+
+rpm, crank_torque = 0, 0
+axle_torque, drive_force, net_force = 0, 0, 0
+ar, rr, rf, ir = 0, 0, 0, 0
+
+puts <<EOF
+
+#
+# IGNITION
+#
+
+EOF
+
+num_ticks.times { |i|
+  if phase == :ignition
+    crank_alpha = motor.alpha(motor.starter_torque, omega: crank_omega)
+    crank_omega += crank_alpha * env.tick
+
+    rpm = DrivingPhysics.rpm(crank_omega)
+
+    if rpm > motor.idle
+      flag = true
+      cockpit.gear = 1
+      cockpit.throttle_pedal = 1.0
+      phase = :running
+
+      puts <<EOF
+
+#
+# RUNNING
+#
+
+EOF
+    end
+  elsif phase == :running or phase == :off_throttle
+    ar = car.air_force(speed)
+    rr = car.tire_rolling_force(tire_omega)
+    rf = car.tire_rotational_force(tire_omega)
+
+    # note, this fails if we're in neutral
+    drive_force = car.drive_force(rpm, axle_omega: tire_omega)
+    net_force = drive_force + ar + rr + rf
+
+    ir = car.tire_inertial_force(net_force)
+    net_force += ir
+
+    acc = DrivingPhysics.acc(net_force, car.total_mass)
+    speed += acc * env.tick
+    dist += speed * env.tick
+
+    tire_alpha = acc / car.tire.radius
+    tire_omega += tire_alpha * env.tick
+    tire_theta += tire_omega * env.tick
+
+    crank_alpha = tire_alpha / car.powertrain.gearbox.ratio
+    crank_omega += crank_alpha * env.tick
+
+    # tire_omega determines new rpm
+    new_rpm = gearbox.crank_rpm(tire_omega, crank_rpm: rpm)
+    new_rev_match, clutch, proportion = Cockpit.rev_match(rpm, new_rpm)
+
+    if new_rev_match != rev_match
+      flag = true
+      puts format("Rev Match: [%s] %d RPM is %.1f%% from %d RPM",
+                  new_rev_match, new_rpm, proportion * 100, rpm)
+      # puts format("Recommend clutch to %.1f%%", clutch * 100)
+      rev_match = new_rev_match
+    end
+
+    clutch_diff = clutch - gearbox.clutch
+    if clutch_diff.abs > 0.1
+      flag = true
+      puts format("Clutch: %.1f%%  Recommended Clutch: %.1f%%",
+                  gearbox.clutch * 100, clutch * 100)
+    end
+    # the clutch pedal will reflect this change
+    gearbox.clutch += clutch_diff * 0.5
+
+    # update the motor RPM based on new clutch
+    new_rpm = gearbox.crank_rpm(tire_omega, crank_rpm: rpm)
+    rpm = new_rpm if new_rpm > motor.idle
+
+    new_gear = cockpit.choose_gear(rpm)
+    if new_gear != cockpit.gear
+      flag = true
+      puts "Gear Change: #{new_gear}"
+      cockpit.gear = new_gear
+    end
+
+    # cut throttle after 60 s
+    if i > 60 * env.hz and car.throttle == 1.0
+      flag = true
+      phase = :off_throttle
+      cockpit.throttle_pedal = 0
+    end
+
+    # maintain idle when revs drop
+    if cockpit.throttle_pedal == 0 and rpm < motor.idle
+      phase = :idling
+      car.gear = 0
+    end
+
+    print "===\n\n" if flag
+
+  elsif phase == :idling
+    # fake; exit
+    rpm = motor.idle
+    break
+  end
+
+  if flag or (i < 5000 and i % 100 == 0) or (i % 1000 == 0)
+    puts Timer.display(ms: i)
+    puts format("  Phase: %s", phase)
+    puts format("   Tire: %.3f r/s/s  %.2f r/s  %.1f r",
+                tire_alpha, tire_omega, tire_theta)
+    puts format("    Car: %.3f m/s/s  %.2f m/s  %.1f m  (%.1f MPH)",
+                acc, speed, dist, Imperial.mph(speed))
+    if phase == :ignition
+      puts format("  Motor: %d RPM  Starter: %d Nm  Friction: %.1f Nm",
+                  rpm, motor.starter_torque, motor.friction(crank_omega))
+    else
+      crank_torque = car.powertrain.motor.torque(rpm)
+      puts format("  Motor: %d RPM  %.1f Nm  Friction: %.1f Nm",
+                  rpm, crank_torque, motor.friction(crank_omega))
+    end
+    puts format("Gearbox: %s", gearbox.inputs)
+    if phase != :ignition
+      axle_torque = car.powertrain.axle_torque(rpm, axle_omega: tire_omega)
+      puts format("   Axle: %.1f Nm (%d N)  Net Force: %.1f N",
+                  axle_torque, drive_force, net_force)
+    end
+    puts        " Resist: " + format(%w[Air Roll Spin Inertial].map { |s|
+                                       "#{s}: %.1f N"
+                                     }.join('  '), ar, rr, rf, ir)
+    puts        cockpit
+    puts
+    paused += CLI.pause if flag
+    flag = false
+  end
+}
+
+puts Timer.summary(start, num_ticks, paused)

data/demo/mruby/motor.rb

@@ -45,7 +45,7 @@ motor.throttle = 1.0
 puts
 puts "Now, the simulation begins..."
 puts "---"
-puts "* Spin the motor up to #{motor.idle_rpm} RPM with the starter motor."
+puts "* Spin the motor up to #{motor.idle} RPM with the starter motor."
 puts "* Rev it up with the throttle."
 puts "* Let it die."
 CLI.pause
@@ -86,7 +86,7 @@ num_ticks.times { |i|
   rpm = DrivingPhysics.rpm(omega)
   power = DrivingPhysics.power(net_torque, omega)
 
-  if rpm > motor.idle_rpm and status == :ignition
+  if rpm > motor.idle and status == :ignition
     status = :running
     flag = true
   end
@@ -103,10 +103,13 @@ num_ticks.times { |i|
     flag = true
   end
 
+  # we don't need no PID control
   if status == :idling
-    if rpm < 999
+    if rpm.round <= 999
       motor.throttle += (1.0 - motor.throttle) * 0.005
-    elsif rpm > 1001
+    elsif rpm.round == 1000
+      motor.throttle += (rand - 0.5) * 0.0005
+    else
       motor.throttle -= motor.throttle * 0.005
     end
   end