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traction control: wheel-slip based close ETB #5843

This commit is contained in:
rusefi 2023-12-31 18:04:39 -05:00
parent b5f29e4cb0
commit 59b766141c
2 changed files with 9 additions and 3 deletions
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10
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -79,7 +79,8 @@
#endif /* ETB_MAX_COUNT */ #endif /* ETB_MAX_COUNT */
static pedal2tps_t pedal2tpsMap; static pedal2tps_t pedal2tpsMap;
static Map3D<6, 6, int8_t, uint8_t, uint8_t> throttle2TrimTable; static Map3D<ETB2_TRIM_SIZE, ETB2_TRIM_SIZE, int8_t, uint8_t, uint8_t> throttle2TrimTable;
static Map3D<TRACTION_CONTROL_ETB_DROP_SIZE, TRACTION_CONTROL_ETB_DROP_SIZE, int8_t, uint16_t, uint8_t> tcEtbDropTable;
constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY; constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY;
@ -325,10 +326,14 @@ expected<percent_t> EtbController::getSetpointEtb() {
} }
#endif /* EFI_ANTILAG_SYSTEM */ #endif /* EFI_ANTILAG_SYSTEM */
float vehicleSpeed = Sensor::getOrZero(SensorType::VehicleSpeed);
float wheelSlip = Sensor::getOrZero(SensorType::WheelSlipRatio);
tcEtbDrop = tcEtbDropTable.getValue(vehicleSpeed, wheelSlip);
// Apply any adjustment that this throttle alone needs // Apply any adjustment that this throttle alone needs
// Clamped to +-10 to prevent anything too wild // Clamped to +-10 to prevent anything too wild
trim = clampF(-10, getThrottleTrim(rpm, targetPosition), 10); trim = clampF(-10, getThrottleTrim(rpm, targetPosition), 10);
targetPosition += trim; targetPosition += trim + tcEtbDrop;
// Clamp before rev limiter to avoid ineffective rev limit due to crazy out of range position target // Clamp before rev limiter to avoid ineffective rev limit due to crazy out of range position target
targetPosition = clampF(0, targetPosition, 100); targetPosition = clampF(0, targetPosition, 100);
@ -1032,6 +1037,7 @@ void initElectronicThrottle() {
pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins); pedal2tpsMap.init(config->pedalToTpsTable, config->pedalToTpsPedalBins, config->pedalToTpsRpmBins);
throttle2TrimTable.init(config->throttle2TrimTable, config->throttle2TrimTpsBins, config->throttle2TrimRpmBins); throttle2TrimTable.init(config->throttle2TrimTable, config->throttle2TrimTpsBins, config->throttle2TrimRpmBins);
tcEtbDropTable.init(engineConfiguration->tractionControlEtbDrop, engineConfiguration->tractionControlSpeedBins, engineConfiguration->tractionControlSlipBins);
doInitElectronicThrottle(); doInitElectronicThrottle();
} }

2
firmware/tunerstudio/rusefi.input
View File

@ -2028,7 +2028,7 @@ menuDialog = main
subMenu = hpfpCompensationTable, "HPFP Pump Compensation", {hpfpCamLobes != 0} subMenu = hpfpCompensationTable, "HPFP Pump Compensation", {hpfpCamLobes != 0}
subMenu = std_separator subMenu = std_separator
subMenu = fancyHardwareDialog, "Fancy Hardware" subMenu = fancyHardwareDialog, "Fancy Hardware"
subMenu = tractionEtbTableTbl subMenu = tractionEtbTableTbl, "Traction Control ETB Drop"
subMenu = std_separator subMenu = std_separator
subMenu = hipFunction, "HIP9011 settings (knock sensor) (alpha version)" @@if_ts_show_hip9011 subMenu = hipFunction, "HIP9011 settings (knock sensor) (alpha version)" @@if_ts_show_hip9011