Motec Systems M GPS BL User Manual

Copyright MoTeC – 2010 Page 1

ItcanbeseenabovethatwhiletheErrorremainsconstantthereisnochangeinDutyCyclefrom“D”Gain.AssoonasthereisanychangeinErrorth

AllsystemswillhaveaDutyCyclethatwillapproximatelyproducetheoutputneeded.IfthePIDcontrolsystemhadabaseDutyCyclethatwouldalwa

Ifthereissomeloadonthecontrolledsystemthatdoesnotallowittoreachitsaimvaluethe“I”Dutywillcontinuetoincrease.Iftheloadiss

TheMaximumandMinimumDutyCycletablessettheworkingrangeofthecontroldevice,i.e.theMaximumandMinimumDutyCyclethatthePIDalgorithm

AnyPIDtuningshouldstartwithanAimvalue.TheAimvaluecanbe theIdleRPM,BoostLevel,DBWThrottlePosition,CamPosition,etc.SetAimTa

ChangingtheAimPositionwillgivea“Stepped”inputthatthePIDcontrolloopmustfollow.Addingasmallamountof“P”willgivesomeDutyCyclet

Withanacceptableamountofovershootandonlyaslighthunt,theresponseofthesystematthisstageshouldbequitefast.Addingsome“D”infigu

Addingasmallamountof“I”willremoveanyfinalerror.InFigure5thereisasmallhuntfollowedbyasmallremainingerror.TheErrorisremove

TheLaunchControlsectionoftheTractionControlfunctionsimplymonitorsnon‐drivenwheelspeed(GroundSpeed)andusesatabletodeterminealowe

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DescriptionofPIDcontrolwillmainlybebasedaroundDutyCyclecontrolvalvesbutthetheoryisstillcorrectforsteppermotorsandDBWthrottleb

TheSlipCalculationModeisneededevenifonlytheLaunchControlsectionistobeused.Ifonlythefrontwheelspeedsareavailable,mode1shoul

TherearetwopartstotheLaunchControlRPMlimiter:firstisthecutwhereignitioneventsarerandomlystopped,andthesecondistoreducetheig

EventhoughitisnotdirectlyusedfortheLaunchpartofthefunction,theControlMethodstillneedstobeset.Anythingotherthan0willworkth

SimilartothemainRPMlimit,thereareafewdetailsthatcanbechangedtosuitdifferentapplications.ControlRange: SetstherangeofRPMoverwh

ItisrecommendedthattheRPMLimittablebebasedonGroundSpeed.Itisa3Dtablesoanotherparametercanbeaddedaswell.TheLaunchControlw

WiththeLaunchControlfunctionbeingrelatedtoRPMandtheSlipControlfunctionbeingrelatedtoWheelSpeed,thechangeoverpointneedstobese

TheIgnitionRetardtableisusedtoreducethetimingadvanceduringLaunchControl.TheLaunchretardwillstopatthesamepointtheLaunchRPMLi

SlipControltakesoverattheendoftheLaunchControlphase.BothDrivenandNon‐Driven(Ground)wheelspeedsarecomparedtocalculateSlip.Ac

Thelongitudinalforceofatyreisrelatedtotheslip,relativetotheitsspeedalongtheground.Alltyreshaveamaximumamountoflongitudinal

SlipUnits:ThecalculatedSlipinadirectspeedmeasurementorinpercentageofGroundSpeedSlipFilter:FilterforthecalculatedSlipDrivenWhee

Anopenloopcontrolsystemsimplyhasasetoperatingstateforvariousconditions,e.g.50%at5000rpm.Ifthesystemwasforboostcontrol50%dut

ItispossibletoseparatelyfilterdifferentpartsoftheSlipControl.Theminimum valuesshouldalwaysbeusedandthesevaluesshouldnotbeuse

Whenthecariscornering,bothdrivenwheelsareturningatdifferentspeedssocanhavedifferentslip.TheDrivenWheelBalanceallowsthetunert

ThetwoAimSlipCompensationtablescanbesetsothatthenumberiseitherapercentageorstraightadditive.Copyright MoTeC – 2010 Page 32

ThegainsfortheSlipControlfunction.BeststartwithsmallvaluesofPanduseaGainCompensationtableandmultipositionswitchtofindanacc

TheAimSliptablesetshowmuchdifferenceisallowedbetweenDriveSpeedandGroundSpeed.Copyright MoTeC – 2010 Page 34

LoggingofSlipandLongitudinalGForcecanbeputonascatterplottogetanideaofwhatslipisbestatdifferentspeeds.IfLongitudinalGForc

TheAimSliptableis3D,givinggoodflexibility,butattimesanextraaxisorfourcouldbeneeded.Forexampletohavewetanddrysettings.Copyr

CompensatingforAimslipallowsthetunertoadjusttheamountofslipallowedfordifferentconditions.CompensatingtheGainallowsthetunertoa

TheMaxPowerReductiontablesetsthelimitfortheSlip(PID)calculation.Thistableisusedtoavoidexcessiveamountsofpowerreduction100%

TheRetardPowerReductiontablesetshowmuchignitionretardtousebasedonacalculatedPowerReduction.ThistableisonlyusediftheControlM

Aclosedloopcontrolmethodisusedwhenasetvalueisneededtobecloselymatchedbyanoutput.TheclosedloopsystemusesanAimpositionsetb

IftheControlMethodis“RetardthenCut”thefunctionwillcalculateadesiredPowerReduction.UsingthatcalculatedPowerReductiontheRetardPo

Anengine’storquecharacteristicsshouldbeunderstoodwhenusingDBWorRetardforpowerreduction,thisiseasilytestedonadyno.Theexamplefi

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WhentheECUisinstructedbythedrivertocuttheignitionsystemtoreducepowersothatthedriverdoesnotneedtoliftthethrottleorusethec

ThesimplestmethodtogivetheECUaGearCutinputiswithaswitchinthegearknob.Caremustbetakentoensurethespringtensioncanbechange

AstraingaugewillmeasuretheforcethedriverisputtingonthegearleverandtheECUreadsthisasananaloguesignal.Thetunercaneasilychan

Onmostmotorsportsequentialgearbox estherewillbeaprovisionforarotarypotentiometertomeasurethepositionoftheselectorbarrel.Thepos

ThecutmodeoffersthreedifferentmethodsoftimingtheamountofGearCut.ThesemodesarebasicallyindicationsfortheECUonwhentobothstart

ForDelayFromNextGearStablethedriverinputisusedtostartthecut.ThecutwillcontinueuntiltheECUhasdetectedthatthegearboxhasreac

DelayFromCutsignalusesthedriverinputtostartthecut.Thetuner‐defineddelaytimeisusedtodecidehowlongthecutlastswithoutregardfo

TheProportionalGainProducesaresponsethatisdirectlyproportionaltotheError.Iftheoutputofadevicewasdutycycle,theresponsefroman

ThecutisstartedbasedontheGearCutinputandonlylastsforthetimethesignalisactive.Oncethesignalgoesinactivetherecoverytimestar

Apartfromthenormalswitchorstraingaugeonthegearlever,theECUoffersafewoptionsforinitiatingtheGearCut.•ClutchInput: Useadigital

LikemostfunctionsinMoTeCECUs,therearelogicallimitsastowhenthefunctionneedstobeonoroff.Forexample,youprobablydon’twantthe G

1:Thedriverbeginstoputforceonthegearleverandthiscanalsobe seeninthevoltagetraceforthegearselectorbarrel(sequentialgearbox).

TheGearCutForcessetthelevelatwhichthefunctionistriggered.Copyright MoTeC – 2010 Page 54

WhentheforceisabovetheHighLevelorbelowtheLowLeveltheinputisactive.Copyright MoTeC – 2010 Page 55

Onceashifthasbeencompleted,thedrivemustreducetheforceonthegearleverbytheHysteresisamountbeforetheinputturnsoffandthedriver

1:Driverhasrequestedashiftandhasputenoughforceonthegearlevertotriggertheinput.2:Ashifthasbeencompletedbutthedriverleavesto

TheArmDelayistheminimumtimebetweensuccessiveshifts.Ifthedriverisnotcompletelylettinggoofthegearleverbetweenshiftstherecould

IfusingthethrottlepositionrateofchangetotriggertheGearCutthetunerwillneedtoworkoutwhatthedriverisabletodoconsistently.Thi

Itcanbeseeninthe diagramabovethattheDutyCycleproducedbytheProportionalGainfollowstheError.WithaProportionalGainof0.5theDuty

TheNextGearTermi nate isonlyusedfortheDelayFromCutSignalmode.Thiswillstopthecutifthenextgearisreachedbeforethedelaytimeh

Mode1:Delaytimeoncethenextgearhasbeenreached,e.g.forsecondgearitisthedelayoncethegearboxhasmovedtosecondgear.Mode2:Delayt

TheeasiestwaytogetanideaofwhattheGearCutDelayshouldbeisfromthedataloggingoftheRPMtrace.Loggingoftheselectorbarrelpositio

TheRecoverytimeallowstheenginepowertobeslowlyphasedbackintotheenginetoreducetheshockloadonthedrivetrainandtonotshockthety

WhenusingDelayFromNextGearStablemodeitispossibleforthedrivertohaveaproblemduringtheshift.Becausethemodeissupposedtofinish

TheGearCutcanbebywayofsimplycuttingthesparkeventstoacylinder,reducingtheamountofignitiontimingoracombinationofboth.Thelevel

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Therearetwodifferentwaystodolaptiming.UsingthestandardinfraredsystemwiththeBR2/BTX,whichworkswithallMoTeCDashLoggers,orusing

OperationTheBeaconTransmitteremitsanarrowinfraredbeam,whichisencodedwithanumberthatwillonlybedetectedbyareceiversystemwiththe

TheIntegralGain(“I”)isusedtoremoveanyfinalErrorwhenthe“P ” Dutygetstoolowtohaveanyeff ect.Whilethereisanyerror,the“I”Gai

TransmitterThecodenumberisselectedbysettingthemodeandID(tensandunits)switchesinsidethetransmittertothedesirednumberasmentioned

TheeasiestmethodtoconfigureandthemostpopularisconnectingtheBR2toyourdashviaCAN.OpenDashManager,SelectLapTimeandNumberandthe

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TosetupGPSbeaconsyouneedaGPSreceiverthattransmitsdataviaRS232(NMEARMC d GGA) t ii f 5 HmessagesRMCandGGA)ataminimumof5Hz.GPSr

TheGPSunithasanintegratedantennaandshouldbemountedonanexternalhorizontalsurfacethathasaclearviewofthesky.Theunitshouldbemou

EditDetailsMethod:1 O h Fil li k Edi Dil1.OntheFilemenu,clickEditDetails2.ClicktheVenuetabandthenclickSelect3.Choosetheracetrack

IfyouhavepreviousloggeddatawithaGPS,gototherelevantpointandwritedowntheLongitudeandLatitudenumbersateachpoint.Thetrackmaph

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The“I”DutyCycleiscontinuouslyaddedwhilethereisanyErrorremaining.WhentheErrorgoestozerothe“I”Gainwillstopaddingdutycycle.Cop

AtrackmapprovidesagraphicalrepresentationofthevenueatwhichtheloggeddataidF thi ftit b il bl it i f th fll i ittwasacquired.Forthisf

TheTrackEditorisusedtogenerate/regenerateatrackmap,create/modifysectionsandaddnewsectioncategories.Thesecanthenbeusedtogenerate

DistanceChannelis‘Corr Dist’bydefaultandlateralGis‘GForceLat’;otherchannelscanbeselectedusingthebuttonnexttothechannelname.T

Itisnottherighttypeoftrack:Whenthetrackmapisdisplayed,rightclickonthetrack.Select“TrackEditor”andthenclick“GenerateTrack”bu

OpenthelogginganddisplaytheLateralG,LongitudinalG(iffitted)andWheelSpeed.Ifeitherofthesewillnotdisplaythentheyareprobablynot

TheCAN(ControllerAreaNetwork)BusconsistsofmanydevicesallconnectedbytheCANHiandCANLowires.AlldevicesontheCANBusexchangedata

Copyright MoTeC – 2010 Page 86Copyright MoTeC – 2010 Page 86

IfProportionalGainisthoughtofasanaccelerator,theDerivative(“D”)Gaincanbethoughtofasthebrakes.Whenalargeamountof“P”isusedt