Performance Analysis Tool
Exercise 3 was our introduction to the performance analysis tool. During this lab, the data extraction tool was downloaded, the straight track scenario was programmed, and data was gathered using the extraction tool. The data was then imported into MATLAB to produce the following plots.
The code that was used for this scenario is shown below.
reverse(4);
celerate(4,0,25,3);
goFor(1);
motorSpeed(4,20);
goFor(2);
reverse(4);
motorSpeed(4,25);
goFor(2);
brake(4);
In regard to the Power vs Time and Incremental Energy vs Time plots, the initial incline is representative of the “celerate” function. The AEV was programmed to accelerate from a standstill to 25% speed. The AEV then held 25% speed for one second. The sudden decrease of power and energy at the four second mark was due to motor speed being set at 20% and to go for two seconds. At the six second mark, there is a drastic increase then decrease in power and energy. Here, the AEV was programmed to reverse both motors and attain a 25% speed. This speed was then held for two seconds until the brake command was followed.
The Power vs Distance and Incremental Energy vs Distance plots show that the AEV traveled a total distance of 7.5 cm. The initial steady power and energy that was maintained for a distance of just over 1 cm is due to the acceleration to 25% speed. The drop to 20% speed for two seconds covered close to the same distance as the three second acceleration. The reversal of the motors and increase to 25% speed for two seconds resulted in the greatest distance traveled of 5cm.