The fourth part of the R&D involved using a design analysis tool to evaluate the AEV’s performance. A scenario was coded and put into the AEV, and while the AEV was completing its task, the analysis tool was recording data. The sample scenario was as follows:
1. Accelerate all motors from start to 25% in 3 seconds.
2. Run all motors at a constant speed (25% power) for 1 second.
3. Run all motors at 20% power for 2 seconds.
4. Reverse all motors.
5. Run all motors at a constant speed (25% power) for 2 second.
6. Brake all motors.
Using this scenario as a guide, a code was created but the powers levels were increased slightly at the beginning to allow for a powerful start. The code was as follows:
This code produced the following graphs in the analysis program:
In this first graph of Power vs Time, it can be seen how the code affected the power over time. The positive 45 degree angle part of the graph is the acceleration, the two following horizontal lines are the AEV running at 25% and 20% power, the power spike and following horizontal line is the motors switching into reverse, and the long vertical line that leads to 0 Watts is the brake.
Figure 1: Power Consumption vs Time
In this second graph of Power vs Distance, it can be seen how the code affected the power over a distance. The first horizontal line shows the constant power usage during the 25% power section, the second horizontal line shows the 20% power section, the spike and short horizontal line show the reverse sections, and the vertical line that leads to 0 Watts shows the brake.
Figure 2: Power Consumption vs Distance