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Wheel-Loader-Simscape

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Wheel-Loader-Simscape / data /Scripts_Data /sm_wheel_loader_params_cvt.m
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introvoyz041
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function HMPST = sm_wheel_loader_params_cvt
% Function to load parameters for the wheel loader and CVT
%% 1. Define parameters necessary for CVT design
HMPST.Tire.Rad = 393.7/1000; % m
% Output Transfer Gear Pair (External gear pair between CVT to differential)
HMPST.OutputTransferGearPair.N_Pinion = 34;
HMPST.OutputTransferGearPair.N_Gear = 60;
HMPST.OutputTransferGearPair.Ratio = ...
HMPST.OutputTransferGearPair.N_Gear/...
HMPST.OutputTransferGearPair.N_Pinion;
% Driveshafts
HMPST.DriveshaftF.K = 1e5; % N*m/rad
HMPST.DriveshaftF.D = 1e3; % N*m/rad
HMPST.DriveshaftR.J = 1; % kg*m^2
HMPST.DriveshaftFL.J = 1; % kg*m^2
HMPST.DriveshaftFR.J = 1; % kg*m^2
HMPST.DriveshaftRL.J = 1; % kg*m^2
HMPST.DriveshaftRR.J = 1; % kg*m^2
% Differential
HMPST.Differential.N_Pinion = 10;
HMPST.Differential.N_Ring = 28;
HMPST.Differential.N_SpiderGear = 10;
HMPST.Differential.N_SideGear = 16;
HMPST.Differential.Ratio = ...
HMPST.Differential.N_Ring/...
HMPST.Differential.N_Pinion;
% Final Drive
HMPST.FinalDrive.N_Sun = 24;
HMPST.FinalDrive.N_Ring = 87;
HMPST.FinalDrive.N_Planet = 30;
HMPST.FinalDrive.Ratio = ...
(HMPST.FinalDrive.N_Sun + HMPST.FinalDrive.N_Ring)/...
HMPST.FinalDrive.N_Sun;
%% 2. Calculate final drive ratio (kmph/rpm)
vWhl2CVTOut = 1/(3.6*...
HMPST.Tire.Rad...
*pi/30)*...
HMPST.OutputTransferGearPair.Ratio* ...
HMPST.Differential.Ratio* ...
HMPST.FinalDrive.Ratio;
%% 3. Set engine speed
wEng = 2200;
HMPST.Eng.wTarget = wEng;
%% Select Hydrostatic Component Sizes
HMPST.HydroUnit.Pump.Disp = 110; % cc/rev
HMPST.HydroUnit.Pump.SpeedLimit = 3350; % RPM
HMPST.HydroUnit.Motor.Disp = 85; % cc/rev
% -- additional hydrostat parameters
HMPST.HydroUnit.Motor.wNominal = 2200; % RPM
HMPST.HydroUnit.Pump.volEffNominal = 0.97; % (0-1)
HMPST.HydroUnit.Motor.volEffNominal = 0.97; % (0-1)
HMPST.HydroUnit.Pump.mechEffNominal = 0.88; % (0-1)
HMPST.HydroUnit.Motor.mechEffNominal = 0.88; % (0-1)
HMPST.HydroUnit.Pump.prGainNominal = 50; % MPa
HMPST.HydroUnit.Motor.prDropNominal = 50; % MPa
HMPST.HydroUnit.ChkV.pDiffCrack = 0.03; % MPa
HMPST.HydroUnit.ChkV.pDiffMax = 2; % MPa
HMPST.HydroUnit.ChkV.aMax = 5e-5; % m^2
HMPST.HydroUnit.ChkV.aLeak = 1e-10; % m^2
HMPST.HydroUnit.PrV.pDiffSet = 55; % MPa
HMPST.HydroUnit.PrV.pRange = 3.5; % MPa
HMPST.HydroUnit.PrV.aMax = 5e-5; % m^2
HMPST.HydroUnit.PrV.aLeak = 1e-10; % m^2
HMPST.HydroUnit.Pipes.len = 6; % m
HMPST.HydroUnit.Pipes.aGeom = pi*0.02^2/4; % m
HMPST.HydroUnit.Pipes.aHydr = 0.02; % m^2
HMPST.HydroUnit.ChargePump.Disp = 15; % cm^3/rev
HMPST.HydroUnit.ChargePump.wNominal = 3350; % RPM
HMPST.HydroUnit.ChargePump.volEffNominal = 0.92; % (0-1)
HMPST.HydroUnit.ChargePump.mechEffNominal = 0.86; % (0-1)
HMPST.HydroUnit.ChargePump.prGainNominal = 2; % MPa
HMPST.HydroUnit.ChargePumpPrV.pDiffSet = 5; % MPa
HMPST.HydroUnit.ChargePumpPrV.pRange = 0.15; % MPa
HMPST.HydroUnit.ChargePumpPrV.aMax = 5e-5; % m^2
HMPST.HydroUnit.ChargePumpPrV.aLeak = 1e-10; % m^2
%% 1. Choose speed ranges, including max speed
tgtVSpdRanges = [0 3 6.4 14.2 30]; % km/h
%% 4. Calculate speed range of hydrostatic output (motor shaft)
%eta_v = 0.97; % Assume nominal value, but varies with pressure
tgtMaxSwash = 0.7317; % Assume less than max swash plate angle
%% 5. Initial guess for planetary gears
nGearHSOut = 1.425; % Gear HS Output
nTRing = 99; % All Ring Teeth
nTSuns = [39,49,25,25]; % Each Sun Teeth
% Vector of gear parameters to tune
xInit = [nGearHSOut nTSuns];
%% 6. Obtain planetary gear parameters using optimization
% Uncomment this section if you have Optimization Toolbox and
% Global Optimization Toolbox. See CVT_Calculate_Swash_Control_app.mlapp
% for more details on this workflow.
%{
lb = [0.1,4,4,4,4]; % lower bound
ub = [5,28,28,28,28]; % upper bound
objFcnHdl = @(x)cvtObjFunGearRatios4SpdsSwash(x, tgtVSpdRanges, ...
HMPST.HydroUnit.Pump.Disp/HMPST.HydroUnit.Motor.Disp,...
wEng,HMPST.HydroUnit.Pump.SpeedLimit, vWhl2CVTOut, nTRing, tgtMaxSwash);
%xOpt = fmincon(objFcnHdl,xInit,[],[],[],[],lb,ub);
%xOpt = patternsearch(objFcnHdl,xInit,[],[],[],[],lb,ub);
intcon = [2,3,4,5];
if(exist('gaOptStreamState.mat','file'))
% Reset seed to get consistent results
load('gaOptStreamState.mat','streamState');
stream = RandStream.getGlobalStream;
stream.State = streamState;
end
[xOpt,~,~,~] = ga(objFcnHdl,size(lb,2),[],[],[],[],lb,ub,[],intcon);
clear streamState
%options = optimoptions('surrogateopt','PlotFcn','surrogateoptplot',...
% 'MaxFunctionEvaluations',500);
%[xOpt,fval,exitflag,output] = surrogateopt(objFcnHdl,lb,ub,intcon,options);
% Take optimized value and ensure integer number of teeth
% that mate with 3 planetary gears
%xFinal = [xOpt(1) 3*xOpt(2:5)];
%assignin('base',"xFinal",xFinal)
%}
% Answer from optimization code above using ga()
xFinal = [1.461405405205455 39 51 27 27];
% Plot with current results and calculate swash control table
[swashCtrlIdeal, swashCtrlTable] = cvtCalcSwashControl(...
tgtVSpdRanges,... % tgtVSpdRanges...
HMPST.Tire.Rad,... % rWhl
HMPST.OutputTransferGearPair.Ratio,... % nGearCVTOut
HMPST.Differential.Ratio,... % nDiff
HMPST.FinalDrive.Ratio,... % nFinalDrive
wEng,... % wEng
HMPST.HydroUnit.Pump.SpeedLimit,... % wPumpNom
HMPST.HydroUnit.Pump.Disp /...
HMPST.HydroUnit.Motor.Disp,... % nHSPumpMotor
tgtMaxSwash,... % tgtMaxSwash
nTRing,... % nTRing
xFinal(2:5),... % nTSuns
xFinal(1),... % nGearHSOut
HMPST.HydroUnit.Pump.volEffNominal,...
'noplot'); %pumpVolEff
HMPST.Ctrl.Swash.XY_I = swashCtrlIdeal; % Ideal Intersection Points
HMPST.Ctrl.Swash.XY_A = swashCtrlTable; % All points
%% Remaining parameters
HMPST.Simu.TimeStep = -1;
%% Design Requirement
HMPST.DesignReq.MaxPwr = 484*1000; % Maximum ground power
HMPST.DesignReq.CutSpd = 8; % kph
HMPST.DesignReq.MaxForce = HMPST.DesignReq.MaxPwr/(HMPST.DesignReq.CutSpd/3.6); % N
% Maximum desired output speed at CVT (planetary 4 carrier shaft speed)
% This is calculated based on desired max vehicle speed and the
% optimization value achieved. Look in the optimization script for max
% speed factor (engine speed x max factor).
% In the present case, it is engspeed x 2.1 (2200*2.1)
HMPST.DesignReq.MaxCVTOutputSpeed = 4620; % RPM
HMPST.Veh.TopSpeed = 3.6*HMPST.Tire.Rad*(HMPST.DesignReq.MaxCVTOutputSpeed/...
HMPST.OutputTransferGearPair.Ratio/HMPST.Differential.Ratio/HMPST.FinalDrive.Ratio)...
*(pi/30);
HMPST.Veh.Mass = 3.638e3; % kg
HMPST.Veh.Track = 1.0414; % m
HMPST.Veh.Wheelbase = 1.7408; % m
HMPST.Veh.CG.FA2CGx = 1.0380; % m
HMPST.Veh.CG.RA2CGx = 1.7408-HMPST.Veh.CG.FA2CGx; % m
HMPST.Veh.CG.FA2CGz = 1.0380; % m
%% Engine Parameters
HMPST.Eng.MaxTorq.SpdVec = [0 800 1000 1200 1400 1600 1800 2000 2200 2350 2500]; %RPM
HMPST.Eng.MaxTorq.TrqVec = [100 560 700 780 800 750 700 640 550 0 0]*4.6; % Nm
HMPST.Eng.MaxTorq.PwrVec = HMPST.Eng.MaxTorq.SpdVec.*HMPST.Eng.MaxTorq.TrqVec/30*pi/1000;
HMPST.Eng.MinTorq.SpdVec = [0 800 1000 1200 1400 1600 1800 2000 2200 2350 2500]; %RPM
HMPST.Eng.MinTorq.TrqVec = -[0 0 40 50 60 70 80 90 100 110 120]*4.6; % Nm
HMPST.Eng.MinTorq.PwrVec = HMPST.Eng.MaxTorq.SpdVec.*HMPST.Eng.MaxTorq.TrqVec/30*pi/1000;
%% Geartrain Parameters
HMPST.GearTrain.Mod = 0.004;
% Calculate possible number of gear teeth for Gear 1 and 3 so that
% hydrostatic pump is driven at nominal speed
gcdPumpEngine = gcd(HMPST.HydroUnit.Pump.SpeedLimit,wEng);
HMPST.GearTrain.Gear1.TeethNum = HMPST.HydroUnit.Pump.SpeedLimit/gcdPumpEngine;
HMPST.GearTrain.Gear1.PitchDiam = HMPST.GearTrain.Gear1.TeethNum* HMPST.GearTrain.Mod;
HMPST.GearTrain.Gear1.InnerDiam = HMPST.GearTrain.Gear1.PitchDiam*0.4;
HMPST.GearTrain.Gear2.TeethNum = round(gcdPumpEngine/2); % Not important for ratio
HMPST.GearTrain.Gear2.PitchDiam = HMPST.GearTrain.Gear2.TeethNum* HMPST.GearTrain.Mod;
HMPST.GearTrain.Gear2.InnerDiam = HMPST.GearTrain.Gear2.PitchDiam*0.4;
HMPST.GearTrain.Gear3.TeethNum = wEng/gcdPumpEngine;
HMPST.GearTrain.Gear3.PitchDiam = HMPST.GearTrain.Gear3.TeethNum* HMPST.GearTrain.Mod;
HMPST.GearTrain.Gear3.InnerDiam = HMPST.GearTrain.Gear3.PitchDiam*0.4;
% Ensure gear at hydrostatic output has ratio from optimization above
HMPST.GearTrain.Gear4.TeethNum = 10*4;
HMPST.GearTrain.Gear4.PitchDiam = HMPST.GearTrain.Gear4.TeethNum* HMPST.GearTrain.Mod;
HMPST.GearTrain.Gear4.InnerDiam = HMPST.GearTrain.Gear4.PitchDiam*0.4;
HMPST.GearTrain.Gear5.TeethNum = xFinal(1)*HMPST.GearTrain.Gear4.TeethNum;
HMPST.GearTrain.Gear5.PitchDiam = HMPST.GearTrain.Gear5.TeethNum* HMPST.GearTrain.Mod;
HMPST.GearTrain.Gear5.InnerDiam = HMPST.GearTrain.Gear5.PitchDiam*0.4;
%HMPST.GearTrain.Gear6.TeethNum = 67;
%HMPST.GearTrain.Gear6.PitchDiam = HMPST.GearTrain.Gear6.TeethNum* HMPST.GearTrain.Mod;
%HMPST.GearTrain.Gear6.InnerDiam = HMPST.GearTrain.Gear6.PitchDiam*0.4;
%% Planetary Gear 1
HMPST.GearTrain.PG1.Sun.TeethNum = xFinal(2);
HMPST.GearTrain.PG1.Sun.PitchDiam = HMPST.GearTrain.PG1.Sun.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG1.Sun.InnerDiam = HMPST.GearTrain.PG1.Sun.PitchDiam*0.4;
HMPST.GearTrain.PG1.Planet.TeethNum = (nTRing-xFinal(2))/2;
HMPST.GearTrain.PG1.Planet.PitchDiam = HMPST.GearTrain.PG1.Planet.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG1.Planet.InnerDiam = HMPST.GearTrain.PG1.Planet.PitchDiam*0.4;
HMPST.GearTrain.PG1.Ring.TeethNum = HMPST.GearTrain.PG1.Sun.TeethNum+2*HMPST.GearTrain.PG1.Planet.TeethNum;
HMPST.GearTrain.PG1.Ring.PitchDiam = HMPST.GearTrain.PG1.Ring.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG1.Ring.OutDiam = HMPST.GearTrain.PG1.Ring.PitchDiam*1.25;
%% Planetary Gear 2
HMPST.GearTrain.PG2.Sun.TeethNum = xFinal(3);
HMPST.GearTrain.PG2.Sun.PitchDiam = HMPST.GearTrain.PG2.Sun.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG2.Sun.InnerDiam = HMPST.GearTrain.PG2.Sun.PitchDiam*0.4;
HMPST.GearTrain.PG2.Planet.TeethNum = (nTRing-xFinal(3))/2;
HMPST.GearTrain.PG2.Planet.PitchDiam = HMPST.GearTrain.PG2.Planet.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG2.Planet.InnerDiam = HMPST.GearTrain.PG2.Planet.PitchDiam*0.4;
HMPST.GearTrain.PG2.Ring.TeethNum = HMPST.GearTrain.PG2.Sun.TeethNum+2*HMPST.GearTrain.PG2.Planet.TeethNum;
HMPST.GearTrain.PG2.Ring.PitchDiam = HMPST.GearTrain.PG2.Ring.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG2.Ring.OutDiam = HMPST.GearTrain.PG2.Ring.PitchDiam*1.25;
%% Planetary Gear 3
HMPST.GearTrain.PG3.Sun.TeethNum = xFinal(4);
HMPST.GearTrain.PG3.Sun.PitchDiam = HMPST.GearTrain.PG3.Sun.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG3.Sun.InnerDiam = HMPST.GearTrain.PG3.Sun.PitchDiam*0.4;
HMPST.GearTrain.PG3.Planet.TeethNum = (nTRing-xFinal(4))/2;
HMPST.GearTrain.PG3.Planet.PitchDiam = HMPST.GearTrain.PG3.Planet.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG3.Planet.InnerDiam = HMPST.GearTrain.PG3.Planet.PitchDiam*0.4;
HMPST.GearTrain.PG3.Ring.TeethNum = HMPST.GearTrain.PG3.Sun.TeethNum+2*HMPST.GearTrain.PG3.Planet.TeethNum;
HMPST.GearTrain.PG3.Ring.PitchDiam = HMPST.GearTrain.PG3.Ring.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG3.Ring.OutDiam = HMPST.GearTrain.PG3.Ring.PitchDiam*1.25;
%% Planetary Gear 4
HMPST.GearTrain.PG4.Sun.TeethNum = xFinal(5);
HMPST.GearTrain.PG4.Sun.PitchDiam = HMPST.GearTrain.PG4.Sun.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG4.Sun.InnerDiam = HMPST.GearTrain.PG4.Sun.PitchDiam*0.4;
HMPST.GearTrain.PG4.Planet.TeethNum = (nTRing-xFinal(5))/2;
HMPST.GearTrain.PG4.Planet.PitchDiam = HMPST.GearTrain.PG4.Planet.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG4.Planet.InnerDiam = HMPST.GearTrain.PG4.Planet.PitchDiam*0.4;
HMPST.GearTrain.PG4.Ring.TeethNum = HMPST.GearTrain.PG4.Sun.TeethNum+2*HMPST.GearTrain.PG4.Planet.TeethNum;
HMPST.GearTrain.PG4.Ring.PitchDiam = HMPST.GearTrain.PG4.Ring.TeethNum*HMPST.GearTrain.Mod;
HMPST.GearTrain.PG4.Ring.OutDiam = HMPST.GearTrain.PG4.Ring.PitchDiam*1.25;
%% Abstract CVT
HMPST.AbstractCVT.dInput = 0.3/(3+0.6); % N*m/(rad/s)
HMPST.AbstractCVT.dOutput = 0.4/(4.2+0.5); % N*m/(rad/s)
HMPST.AbstractCVT.kCompliance = 10000; % N*m/rad
HMPST.AbstractCVT.dCompliance = 100*10; % N*m/(rad/s)
%% Electrical CVT
HMPST.eCVT.Battery.Vnom = 200; % V
HMPST.eCVT.Battery.Rint = 2e-5; % Ohm
HMPST.eCVT.Battery.AH = 50; % A*hr
HMPST.eCVT.Battery.V1 = 191; % V
HMPST.eCVT.Battery.AH1 = 25; % A*hr
HMPST.eCVT.Generator.trqSpd.t = [.09, .08, .07, 0]*1000*2; % N*m
HMPST.eCVT.Generator.trqSpd.w = [0, 3750, 7500, 8000]; % rpm
HMPST.eCVT.Generator.Tc = 0.02; % sec
HMPST.eCVT.Generator.J = 5e-6; % kg*m^2
HMPST.eCVT.Generator.lam = HMPST.AbstractCVT.dInput; % kg*m^2
HMPST.eCVT.Generator.w0 = HMPST.Eng.wTarget; % rpm
HMPST.eCVT.Motor.trqSpd.t = [.09, .08, .07, 0]*1000*2; % N*m
HMPST.eCVT.Motor.trqSpd.w = [0, 3750, 7500, 8000]; % rpm
HMPST.eCVT.Motor.Tc = 0.02; % sec
HMPST.eCVT.Motor.J = 5e-6; % kg*m^2
HMPST.eCVT.Motor.lam = HMPST.AbstractCVT.dOutput; % kg*m^2
HMPST.eCVT.Motor.w0 = 0; % rpm
HMPST.Control.Kp = 10; % -
HMPST.Control.Ki = 0.5; % -
HMPST.Control.tFilt = 0.01; % sec
%% Clutch Parameters
HMPST.Clutch.SpdRange.trqRad = 200; % mm
HMPST.Clutch.SpdRange.nSurf = 8; % count
HMPST.Clutch.SpdRange.aPiston = 0.0083; % m^2
HMPST.Clutch.SpdRange.muSta = 0.6; % (0-1)
HMPST.Clutch.SpdRange.muKin = 0.4; % (0-1)
HMPST.Clutch.SpdRange.vTol = 1e-3; % rad/s
HMPST.Clutch.SpdRange.pr2Engage = 100; % Pa
HMPST.Clutch.SpdRange.logic2Press = 10^6; % Pa
HMPST.Clutch.SpdRange.tsFilt = 0.05; % sec
HMPST.Clutch.SpdRangeBrk.trqRad = 200; % mm
HMPST.Clutch.SpdRangeBrk.nSurf = 22; % count
HMPST.Clutch.SpdRangeBrk.aPiston = 0.0083; % m^2
HMPST.Clutch.SpdRangeBrk.muSta = 0.6; % (0-1)
HMPST.Clutch.SpdRangeBrk.muKin = 0.4; % (0-1)
HMPST.Clutch.SpdRangeBrk.vTol = 1e-4; % rad/s
HMPST.Clutch.SpdRangeBrk.pr2Engage = 100; % Pa
HMPST.Clutch.SpdRangeBrk.logic2Press = 10^6; % Pa
HMPST.Clutch.SpdRangeBrk.tsFilt = 0.05; % sec
HMPST.Clutch.FwdRev.trqRad = 500; % mm
HMPST.Clutch.FwdRev.nSurf = 12; % count
HMPST.Clutch.FwdRev.aPiston = 0.012;% m^2
HMPST.Clutch.FwdRev.muSta = 0.35; % (0-1)
HMPST.Clutch.FwdRev.muKin = 0.3; % (0-1)
HMPST.Clutch.FwdRev.vTol = 1e-3; % rad/s
HMPST.Clutch.FwdRev.pr2Engage = 100; % Pa
HMPST.Clutch.FwdRev.logic2Press = 10^6; % Pa
HMPST.Clutch.FwdRev.tsFilt = 0.05; % sec
HMPST.Brake.rPad = 50; % mm
HMPST.Brake.cylBore = 4; % mm
HMPST.Brake.numPads = 2; % mm
HMPST.Brake.muSta = 0.6; % (0-1)
HMPST.Brake.muKin = 0.4; % (0-1)
HMPST.Brake.vBrk = 0.01; % rad/s
HMPST.Brake.dVisc = 0.0; % N*m/(rad/s)
%%
HMPST.Brake.logic2Press = 5e5; % Pa
HMPST.Brake.tsFilt = 0.05; % sec
%% Bearing Friction Lumped
%HMPST.Bearing.dVisc = 0.001; % N*m/(rad/s)
HMPST.Bearing.dVisc = 0.001; % N*m/(rad/s)
%% Actuator
HMPST.Linkage.Actuator.damping = 10; % N*m/(rad/s)
%% Hydraulic Regenerative Brake
% Pump/Motor
HMPST.HRB.Pump.stroke2disp = (280*(0.01)^3/2/pi)/(0.01); % m^2/rad
HMPST.HRB.Pump.dispMax = 280*(0.01)^3/2/pi; % m^3/rad
HMPST.HRB.Pump.dispMin = -(280*(0.01)^3/2/pi); % m^3/rad
HMPST.HRB.Pump.effMech = 0.9; % 0-1
HMPST.HRB.Pump.effVol = 0.97; % 0-1
% Pressure relief valve
HMPST.HRB.PRV.pDiffOpen = 445; % bar
HMPST.HRB.PRV.pRange = 2; % bar
HMPST.HRB.PRV.aMax = 1e-4; % m^2
HMPST.HRB.PRV.aLeak = 1e-12; % m^2
HMPST.HRB.PRV.tsOpen = 0.01; % sec
% Accumulator
HMPST.HRB.Accumulator.volTotal = 0.06; % m^3
HMPST.HRB.Accumulator.volGasMin = 0.001; % m^3
HMPST.HRB.Accumulator.pPrecharge = 11 + 0.101325; % MPa
HMPST.HRB.Accumulator.volLiquidInit = 5e-3; % m^3
HMPST.HRB.Accumulator.pLiquidInit = 1.01325e5 + 101325; % Pa
%% Clutch Control
HMPST.Ctrl.HRB.Num = [0 1];
HMPST.Ctrl.HRB.Den = [0.005*2*5 1];
%% Tires, 1D and 3D
% Tires, 3D
HMPST.Tire.Contact = simscape.multibody.tirread('KT_MF_Tool_375_50_R16.tir');
% Tires, 1D
HMPST.TireMF1D.FA.fZrated = 3000; % N
HMPST.TireMF1D.FA.fXrated = 3500; % N
HMPST.TireMF1D.FA.slipRated = 10; % Percent 0-100
HMPST.TireMF1D.FA.rollingR.coeff = 0.015; % Percent 0-100
HMPST.TireMF1D.FA.rollingR.vth = 0.001; % m/s
HMPST.TireMF1D.RA.fZrated = 3000; % N
HMPST.TireMF1D.RA.fXrated = 3500; % N
HMPST.TireMF1D.RA.slipRated = 10; % Percent 0-100
HMPST.TireMF1D.RA.rollingR.coeff = 0.015; % Percent 0-100
HMPST.TireMF1D.RA.rollingR.vth = 0.001; % m/s
%% Visuals
HMPST.Vis.RAxleHou.opc = 1;%0.1;
HMPST.Vis.FAxleHou.opc = 1;%0.1;
HMPST.Vis.RDiffHou.opc = 1;%0.1;
HMPST.Vis.FDiffHou.opc = 1;%0.1;
HMPST.Vis.TfrGearHou.opc = 1;%0.1;
HMPST.Vis.FDriveHou.opc = 1;%0.1;
HMPST.Vis.WhlPlaHou.opc = 1;%0.5;
HMPST.Vis.SteerWheel.opc = 1;
HMPST.Vis.SeatTrim.opc = 1;
HMPST.Vis.Bucket.opc = 1;
HMPST.Vis.Cap.opc = 1;
HMPST.Vis.Light.opc = 1;
HMPST.Vis.Lens.opc = 0.7;