scottf200
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Interesting and good points. That is great input for torque vectoring and "cornering", however, I think we were mainly talking about traction control in terms of a straight line (ala drag race track or off-road taking a "line").For true torque vectoring you need steering angle as an input - for example if you have the squircle cut to the left, the right/outside motor should be turning slightly faster than the left/inside motor.
So as you are implementing your torque vectoring, you might be able to do it right at the motor controllers, but you still need to know what the commanded steering wheel angle is. You can almost certainly poll the current steering angle off the ethernet ring at a much lower frequency than what you need from the the VSS' (Vehicle Speed Sensors) since you won't be turning the steering wheel that quickly, but you definitely need the steering angle as an input to the calculation of what speed to command at each wheel.
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