Thank you for your answer! I found it was because the rear wheel easily got stuck in SPH terrain that may be different from SCM terrain. I used the path-follower driver. When the rear wheel got a kind of large sinkage, the axles gave rear wheel a larger torque and gave front wheel a smaller torque, which makes the rear wheel sink more. I set the "Central Differential Locking Limit" as 2.0, but when the wheel got stuck, the difference of torque on the front and rear wheel can reach even 5.0. I want to give the front wheel more torque. Is there any problem or parameters that I can set to change the distribution of torques on the two axles? regards.
在2023年10月16日星期一 UTC+8 01:00:33<Radu Serban> 写道： > Alex, There’s no reason why a particular suspension subsystem will > influence the vehicle-terrain interaction. There must be something else > that you are missing in your program. > > Does demo_VEH_SPHTerrain_WheeledVehicle work fine for you? A couple of > days ago I modified that demo to include additional options for > initializing the SPH terrain. The original code generated a pretty large > terrain patch and so was taking quite a bit to run. The new version still > has that option, but the default now is to create a smaller and coarser SPH > terrain patch which runs quite a bit faster. Please make sure the demo > works as expected (with the Polaris vehicle moving forward) and then see > what it is that you are doing differently in your code. > > > > --Radu > > > > *From:* [email protected] <[email protected]> *On > Behalf Of *Alex Lan > *Sent:* Saturday, October 14, 2023 11:18 AM > *To:* ProjectChrono <[email protected]> > *Subject:* [chrono] No moving for vehicles on SPH terrain > > > > Hi, > > I defined a vehicle with two suspensions of simplified double wishbone > using JSON, very similar to HMMWV. But the parameters of suspensions, > steering and chassis were different from those of HMMWV. I tested the > vehicle to follow a straight line on SCM terrain, reference to > demo_VEH_HMMWV, and it worked well. Then I tested it with same > configuration on the SPH terrain, reference to > demo_VEH_SPHTerrain_WheeledVehicle. There were no moving of chassis, and > the wheel seemed to rotated in place. Is there any problem for the vehicle > with simplified double wishbone running on SPH terrain? > Regards. > > -- > You received this message because you are subscribed to the Google Groups > "ProjectChrono" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion on the web visit > https://groups.google.com/d/msgid/projectchrono/babc55fa-3213-4fea-866e-7fe4826ec69en%40googlegroups.com > > <https://groups.google.com/d/msgid/projectchrono/babc55fa-3213-4fea-866e-7fe4826ec69en%40googlegroups.com?utm_medium=email&utm_source=footer> > . > -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/f46cae3e-0659-4792-8f4f-e7dd213a3d53n%40googlegroups.com.
