RSDA seems not mirrored properly

[Alex Lan]

Hi, I performed a double wishbone suspension test with RSDA spring parallelled with the chassis, defined by Generic suspension template. The left and right wheel both moved upward as normal suspension test. However, the force of vertical actuator to motor the wheel are not equal, as attached. The forward and reverse stiffness are different in my RSDA. It means that the left wheel is compressing while the right wheel is stretching. My spring curve data is as follows:

 "Spring Curve Data":
      [
            [ -0.1, -1800],
            [ 0, 0 ],
            [ 0.1, 5400]
      ]

Also, the preload and rest angle of RSDA are not mirrored properly. This may be caused by the way to evalute the force of mirrored RSDA in GenericWheeledSuspension.
Best regards.

[Radu Serban]

Alex - Could you please provide the JSON file for the suspension subsystem?

Thanks,
Radu

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[Alex Lan]

Hi Dr. Radu,

This is my JSON for suspension test.

Regards,

Alex

[Radu Serban]

Alex – I pushed a fix for the mirroring of RSDA elements in a Generic suspension template.  I also took this opportunity to refactor some the suspension test rig, including the output and optional plotting with GnuPlot (if the tested suspension includes RSDAs, there are some plots for those as well). 

 

By the way, the JSON file you provided has some issues:

• A syntax error in the RSDA “Spring Curve Data”
• Missing key-value for "Antiroll Body" (as required for a suspension declared as “independent”)

and so, I’m not exactly sure how you even used this JSON file as is.

 

--Radu

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