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Aiming for 16.6m/s throughout the race. These calculations of torque requirement are done to maintain this given 16.6m/s speed. 16.6m/s = ~60km/h
Average torque is 15.7Nm
Average of all the positive torques is 17.2Nm (treating the distance between each 2 points as identical). I asked Emma for this assuming that there were negative torque showing regenerative braking but I don’t think there actually were.
^Note that the above torques are for each of the motors. The average calculation was done as “an unweighted average, where i just took the mean of all the torque required values between navigation points” (Slack message from Emma Wai)
This data is the map from ASC 2018 with waypoints along the route. We will look closer at the hills at the 1.3 and 2.5 markers.
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How long will these hills take?
120km @ 16m/s = 7500s = 125minutes, so we can assume this to be steady-state.
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So why is the torque on the hills at 1.5 and 2.5 lower than the average torque? - From Emma Wai: I think it's just that there are a lot of short portions where a lot of torque was required, which is raising the average.
Because of this, we should look in to getting better map data or using a weighted average for the torque depending on the distance between points.
Emergency services testing track hill:
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Average torque = 15.7Nm
Power(W) = 15.7Nm * 2 * pi * 10.1478 = 1kW
At worst-case bus voltage of 100V (worst-case according to the desmos graph on Robin’s page linked at the top), this gives 10A of current.
Vbus = 100V
Io = 10A
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