Hello, does anyone know what variables like "slipThreshold", "kP", "kI", "kD", "integralInCoef", and "integralOutCoef" means? They are located in the tc JBeam files and I'm currently working on improving the traction control of a Land Rover Defender mod: https://www.beamng.com/threads/2020-land-rover-defender-update-20-01.83690/ Any help would be greatly appreciated, thank you --- Post updated --- I can see improvements when I just increase the values, but I don't want to do this blindly
The "kP", "kI", "kD" refer to proportional gain, integral gain, and derivative gain values of the PID controller used for the traction control. Although I'm not sure what the "integralInCoef" and "integralOutCoef" mean. Here's a good video on what it is and it'll explain what those three terms are and how they affect the result (video shows controlling the steering angle to get the car to drive on the designated path): In this case, the PID controller controls the throttle input to maintain a specific slip ratio (slipThreshold). The slip ratio is the wheel's speed divided by the vehicle's speed all subtracted by 1. A certain amount of slippage gives the best acceleration, and as you can see below it peaks at around 0.2. That's why you see in the JBeam file that slipThreshold is that value. So basically you do have to tinker around with those "kP", "kI", "kD" values. Hope that was somewhat clear
I did't quite understand the optimal slip ratio. If you are moving at 100km/h(ground speed), 120km/h wheel speed will get you the best acceleration. However, if you are moving at 1km/h, does 1.2km/h wheelspeed still get you the best acceleration?
According to the slip ratio equation, 1.2 km/h wheel speed and 1 km/h vehicle speed would give you the best acceleration. But I'm no expert on why it is the case and why for example it isn't a specific difference in speed between the two that would give the best acceleration
Ok I'm back again; how do I limit the amount of wheelslip when they are in mid-air? Is it possible to do with traction control or something else? Any useful response will be appreciated
