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Copy pathmain_tyre_data_analysis_last.m
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main_tyre_data_analysis_last.m
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%% INITIALISE: ------------------------------------------------------------
close all;
clear all;
clc;
%clearvars -except tyre_coeffs error
% Set LaTeX as default interpreter for axis labels, ticks and legends
set(0,'defaulttextinterpreter','latex')
set(groot, 'defaultAxesTickLabelInterpreter','latex');
set(groot, 'defaultLegendInterpreter','latex');
set(0,'DefaultFigureWindowStyle','docked');
set(0,'defaultAxesFontSize', 16)
set(0,'DefaultLegendFontSize',16)
addpath('tyre_lib/')
to_rad = pi/180;
to_deg = 180/pi;
diameter = 18*2.56; % Converting inches to cm
Fz0 = 220; % [N] nominal load is given
R0 = diameter/2/100; % [m] get from nominal load R0 (m)
% Initialise:
tyre_coeffs = initialise_tyre_data(R0, Fz0);
% Use to store R2 value:
error = {};
%% SELECT TYRE DATA -------------------------------------------------------
%dataset path
data_set_path = 'TTC_dataset/';
% dataset selection and loading
% Hoostier:----------------------------------------------------------------
data_set = 'Hoosier_B1464run23'; % pure lateral forces
%data_set = 'Hoosier_B1464run30'; % braking/traction (pure log. force) + combined
fprintf('Loading dataset ...')
switch data_set
case 'Hoosier_B1464run23'
load ([data_set_path, 'Hoosier_B1464run23.mat']); % pure lateral
cut_start = 27760;
cut_end = 54500;
case 'Hoosier_B1464run30'
load ([data_set_path, 'Hoosier_B1464run30.mat']); % pure longitudinal
cut_start = 19028;
cut_end = 37643;
otherwise
error('Not found dataset: `%s`\n', data_set) ;
end
% select dataset portion
smpl_range = cut_start:cut_end;
fprintf('completed!\n')
%% PLOT RAW DATA ----------------------------------------------------------
figure
tiledlayout(6,1)
ax_list(1) = nexttile; y_range = [min(min(-FZ),0) round(max(-FZ)*1.1)];
plot(-FZ)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Vertical force')
xlabel('Samples [-]')
ylabel('[N]')
ax_list(2) = nexttile; y_range = [min(min(IA),0) round(max(IA)*1.1)];
plot(IA)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Camber angle')
xlabel('Samples [-]')
ylabel('[deg]')
ax_list(3) = nexttile; y_range = [min(min(SA),0) round(max(SA)*1.1)];
plot(SA)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Side slip')
xlabel('Samples [-]')
ylabel('[deg]')
ax_list(4) = nexttile; y_range = [min(min(SL),0) round(max(SL)*1.1)];
plot(SL)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Longitudinal slip')
xlabel('Samples [-]')
ylabel('[-]')
ax_list(5) = nexttile; y_range = [min(min(P),0) round(max(P)*1.1)];
plot(P)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Tyre pressure')
xlabel('Samples [-]')
ylabel('[psi]')
ax_list(6) = nexttile; y_range = [min(min(TSTC),0) round(max(TSTC)*1.1)];
plot(TSTC,'DisplayName','Center')
hold on
plot(TSTI,'DisplayName','Internal')
plot(TSTO,'DisplayName','Outboard')
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Tyre temperatures')
xlabel('Samples [-]')
ylabel('[degC]')
linkaxes(ax_list,'x')
%figure()
%plot(SA,FY)
%% SELECT SPECIFIC DATA ---------------------------------------------------
% Cut crappy data and select only 80 psi data
vec_samples = 1:1:length(smpl_range);
tyre_data = table(); % create empty table
% store raw data in table
tyre_data.SL = SL(smpl_range); % Longitudinal slip
tyre_data.SA = SA(smpl_range)*to_rad; % Side slip
tyre_data.FZ = -FZ(smpl_range); % 0.453592 lb/kg % Vertical force
tyre_data.FX = FX(smpl_range); % Longitudinal force
tyre_data.FY = FY(smpl_range); % Lateral force
tyre_data.MZ = MZ(smpl_range); % Self aligning moment
tyre_data.IA = IA(smpl_range)*to_rad; % Camber angle
% Extract points at constant camber inclination angle
GAMMA_tol = 0.05*to_rad;
idx.GAMMA_0 = 0.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 0.0*to_rad+GAMMA_tol;
idx.GAMMA_1 = 1.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 1.0*to_rad+GAMMA_tol;
idx.GAMMA_2 = 2.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 2.0*to_rad+GAMMA_tol;
idx.GAMMA_3 = 3.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 3.0*to_rad+GAMMA_tol;
idx.GAMMA_4 = 4.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 4.0*to_rad+GAMMA_tol;
idx.GAMMA_5 = 5.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 5.0*to_rad+GAMMA_tol;
GAMMA_0 = tyre_data( idx.GAMMA_0, : );
GAMMA_1 = tyre_data( idx.GAMMA_1, : );
GAMMA_2 = tyre_data( idx.GAMMA_2, : );
GAMMA_3 = tyre_data( idx.GAMMA_3, : );
GAMMA_4 = tyre_data( idx.GAMMA_4, : );
GAMMA_5 = tyre_data( idx.GAMMA_5, : );
% Extract points at constant vertical load
% 200, 150, 50, 250, 100
FZ_tol = 100;
idx.FZ_220 = 220-FZ_tol < tyre_data.FZ & tyre_data.FZ < 220+FZ_tol;
idx.FZ_440 = 440-FZ_tol < tyre_data.FZ & tyre_data.FZ < 440+FZ_tol;
idx.FZ_700 = 700-FZ_tol < tyre_data.FZ & tyre_data.FZ < 700+FZ_tol;
idx.FZ_900 = 900-FZ_tol < tyre_data.FZ & tyre_data.FZ < 900+FZ_tol;
idx.FZ_1120 = 1120-FZ_tol < tyre_data.FZ & tyre_data.FZ < 1120+FZ_tol;
FZ_220 = tyre_data( idx.FZ_220, : );
FZ_440 = tyre_data( idx.FZ_440, : );
FZ_700 = tyre_data( idx.FZ_700, : );
FZ_900 = tyre_data( idx.FZ_900, : );
FZ_1120 = tyre_data( idx.FZ_1120, : );
% The slip angle is varied continuously between -4 and +12° and then
% between -12° and +4° for the pure slip case
% The slip angle is varied step wise for longitudinal slip tests
% 0° , - 3° , -6 °
SA_tol = 0.5*to_rad;
idx.SA_0 = 0-SA_tol < tyre_data.SA & tyre_data.SA < 0+SA_tol;
idx.SA_3neg = -(3*to_rad+SA_tol) < tyre_data.SA & tyre_data.SA < -3*to_rad+SA_tol;
idx.SA_6neg = -(6*to_rad+SA_tol) < tyre_data.SA & tyre_data.SA < -6*to_rad+SA_tol;
SA_0 = tyre_data( idx.SA_0, : );
SA_3neg = tyre_data( idx.SA_3neg, : );
SA_6neg = tyre_data( idx.SA_6neg, : );
figure()
tiledlayout(3,1)
ax_list(1) = nexttile;
plot(tyre_data.IA*to_deg)
hold on
plot(vec_samples(idx.GAMMA_0),GAMMA_0.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_1),GAMMA_1.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_2),GAMMA_2.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_3),GAMMA_3.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_4),GAMMA_4.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_5),GAMMA_5.IA*to_deg,'.');
title('Camber angle')
xlabel('Samples [-]')
ylabel('[deg]')
ax_list(2) = nexttile;
plot(tyre_data.FZ)
hold on
plot(vec_samples(idx.FZ_220),FZ_220.FZ,'.');
plot(vec_samples(idx.FZ_440),FZ_440.FZ,'.');
plot(vec_samples(idx.FZ_700),FZ_700.FZ,'.');
plot(vec_samples(idx.FZ_900),FZ_900.FZ,'.');
plot(vec_samples(idx.FZ_1120),FZ_1120.FZ,'.');
title('Vertical force')
xlabel('Samples [-]')
ylabel('[N]')
ax_list(3) = nexttile;
plot(tyre_data.SA*to_deg)
hold on
plot(vec_samples(idx.SA_0), SA_0.SA*to_deg,'.');
plot(vec_samples(idx.SA_3neg),SA_3neg.SA*to_deg,'.');
plot(vec_samples(idx.SA_6neg),SA_6neg.SA*to_deg,'.');
title('Slide slip')
xlabel('Samples [-]')
ylabel('[rad]')
%% PURE LATERAL SLIP FITTING with Fz=Fz_nom= 220N and camber=0 kappa = 0 VX= 10 ----------> DONE
% Extract the data:
[TData0, ~] = intersect_table_data( GAMMA_0, FZ_220 );
FZ0 = mean(TData0.FZ);
ALPHA_vec = TData0.SA;
FY_vec = TData0.FY;
% Guess values for parameters to be optimised
% [pCy1, pDy1, pEy1, pHy1, pKy1, pKy2, pVy1]
%P0 = [ 1.3, 1, 0, 1, 1, 2, 1]; % ---> from paper pCy1 = 1.3 , pEy1 = 0
%P0 = [ 0.7, 3.1, -0.4, 0, -110, 3.2, 0];
P0 = [ 1.3, 3.1, 0, 0, -110, 3.2, 0];
lb = [ 1, 0, -1, -1, -200, 1.5, 0]; % ---> from paper , pCy1>=1, pEy1<=1
ub = [ 5, 5, 1, 1, 100, 5, 1]; % ---> OK
% LSM_pure_Fy returns the residual, so minimize the residual varying Y. It
% is an unconstrained minimization problem
[P_fz_nom,~,~] = fmincon(@(P)resid_pure_Fy(P,FY_vec, ALPHA_vec,0,FZ0, tyre_coeffs),...
P0,[],[],[],[],lb,ub);
% Update tyre data with new optimal values
tyre_coeffs.pCy1 = P_fz_nom(1) ; % 1
tyre_coeffs.pDy1 = P_fz_nom(2) ;
tyre_coeffs.pEy1 = P_fz_nom(3) ;
tyre_coeffs.pHy1 = P_fz_nom(4) ;
tyre_coeffs.pKy1 = P_fz_nom(5) ;
tyre_coeffs.pKy2 = P_fz_nom(6) ;
tyre_coeffs.pVy1 = P_fz_nom(7) ;
SA_vec = min(ALPHA_vec):0.001:max(ALPHA_vec);
zeros_vec = zeros(size(SA_vec));
ones_vec = ones(size(SA_vec));
FY0_fz_nom_vec = MF96_FY0_vec(zeros_vec, SA_vec, zeros_vec, FZ0.*ones_vec,tyre_coeffs);
figure('Name','Fy0(Fz0)')
plot(TData0.SA,TData0.FY,'.')
hold on
%plot(TDataSub.KAPPA,FX0_fz_nom_vec,'-')
plot(SA_vec,FY0_fz_nom_vec,'-','LineWidth',2)
xlabel('$\alpha$ [rad]')
ylabel('$F_{y0}$ [N]')
legend('Raw data','Fitting',Location='best')
%title('Fit pure lateral force $F_{y0}$')
% Calculate residual:
res_FY0 = resid_pure_Fy(P_fz_nom,FY_vec,ALPHA_vec,0,FZ0,tyre_coeffs);
R2 = 1 - res_FY0;
RMSE = sqrt(res_FY0*sum(FY_vec.^2)/length(ALPHA_vec));
error(1,1) = {'Pure lateral slip R2:'};
error(1,2) = {R2};
error(1,3) = {'Pure lateral slip RMSE:'};
error(1,4) = {RMSE};
%% SELF ALLIGNING MOMENT k = 0 , Fz = 220 [ashkan] --> Done
[TData , ~] = intersect_table_data( GAMMA_0, FZ_220 );
% idx.ALPHA = -0.2 < TData.SA & TData.SA < 0.2;
% TData0 = TData(idx.ALPHA , :);
% TData0 = smoothdata(TData0);
cut = 104:839;
TData0 = TData(cut , :);
% plot_selected_data(TData0);
% Guess values for parameters to be optimised
% [qBz1 , qBz9 , qBz10 , qCz1 , qDz1 , qDz6 , qEz1 , qEz4 , qHz1]
% P0_mz = [ 0.1, 0.8, 0.5, 0.2, 0.1, 0.1, 0.1, -0.1, -0.1, 0.1, 0.1, 0.3];
P0_mz = [ 1,1,1,1,1,1,1,1,1];
lb_mz = [];
ub_mz = [];
zeros_vec = zeros(size(TData0));
ones_vec = ones(size(TData0));
KAPPA_vec = TData0.SL;
ALPHA_vec = TData0.SA;
FZ_vec = TData0.FZ;
FZ0 = mean(FZ_vec);
MZ_vec = TData0.MZ;
FY_vec = TData0.FY;
zeros_vec = zeros(size(ALPHA_vec));
ones_vec = ones(size(ALPHA_vec));
FY_pred_vec = MF96_FY0_vec(KAPPA_vec , ALPHA_vec , zeros_vec , FZ0*ones_vec , tyre_coeffs);
SA_vec = linspace(max(ALPHA_vec),min(ALPHA_vec),length(ALPHA_vec));
figure()
plot(ALPHA_vec , MZ_vec , '.');
[P_fz_nom_mz , ~ , ~] = fmincon(@(P)resid_pure_Mz(P , MZ_vec , 0 , ALPHA_vec , 0 , FZ0 ,FY_pred_vec , tyre_coeffs ), ...
P0_mz , [],[],[],[],lb_mz , ub_mz);
tyre_coeffs.qBz1 = P_fz_nom_mz(1);
tyre_coeffs.qBz9 = P_fz_nom_mz(2);
tyre_coeffs.qBz10 = P_fz_nom_mz(3);
tyre_coeffs.qCz1 = P_fz_nom_mz(4);
tyre_coeffs.qDz1 = P_fz_nom_mz(5);
% tyre_coeffs.qDz2 = P_fz_nom_mz(6);
% tyre_coeffs.qDz3 = P_fz_nom_mz(7);
% tyre_coeffs.qDz4 = P_fz_nom_mz(8);
tyre_coeffs.qDz6 = P_fz_nom_mz(6);
tyre_coeffs.qEz1 = P_fz_nom_mz(7);
tyre_coeffs.qEz4 = P_fz_nom_mz(8);
tyre_coeffs.qHz1 = P_fz_nom_mz(9);
% tmp_fy = MF96_FY0_vec(zeros_vec , SA_vec , zeros_vec , FZ_vec , tyre_coeffs);
MZr_vec = MF96_MZr_vec(zeros_vec , SA_vec , zeros_vec , FZ0*ones_vec , tyre_coeffs);
t_vec = MF96_t_vec(zeros_vec , SA_vec , zeros_vec , FZ0*ones_vec , tyre_coeffs );
MZ0_nom = MF96_MZ0_vec(t_vec , FY_pred_vec , MZr_vec);
figure('Name','MZ0(Fz0)')
plot(TData0.SA,TData0.MZ,'o')
hold on
%plot(TDataSub.KAPPA,FX0_fz_nom_vec,'-')
plot(SA_vec,MZ0_nom,'-','LineWidth',2)
xlabel('$\alpha$ [deg]')
ylabel('$M_{z0}$ [Nm/s]')
title(' Aligning moment $M_{z}$ , $F_{z}$ = 220 [N] , $kappa$ = 0 [-] , $gamma$ = 0 [deg]')
res_Mz0 = resid_pure_Mz(P_fz_nom_mz , MZ_vec , 0 , ALPHA_vec , 0 , FZ0 ,FY_vec , tyre_coeffs );
R2 = 1 - res_Mz0;
RMSE = sqrt(res_Mz0*sum(MZ_vec.^2)/length(ALPHA_vec));
fprintf('R^2 = %6.3f \nRMSE = %6.3f \n', R2, RMSE );
%% VARIABLE LOAD LATERAL FY ---------------------------------------------------------------> DONE
% extract data with variable load
TDataDFz = GAMMA_0;
% Initialise:
ALPHA_vec = TDataDFz.SA;
FY_vec = TDataDFz.FY;
FZ_vec = TDataDFz.FZ;
% Guess for parameters to be optimised:
% [ pDy2, pEy2, pHy2, pVy2]
%P0_pure_varFZ = [ -0.07, 0, 0, 0]; % --> from paper
%lb_pure_varFZ = [ -0.1, -10, -10, -1]; % --> from paper
%ub_pure_varFZ = [ 0, 1, 5, 100]; % --> from paper
%P0_pure_varFZ = [ 1, 0, 0, 0];
%lb_pure_varFZ = [ -100, -100, -100, -1];
%ub_pure_varFZ = [ 100, 1, 5, 100];
% [ pDy2, pEy2, pHy2, pVy2]
P0_pure_varFZ = [-0.07, 0, 0, 0];
lb_pure_varFZ = [ -0.1, -10, -10, -1]; % --> from paper
ub_pure_varFZ = [ 1, 1, 5, 100]; % --> from paper
% Optimisation:
[P_dfz,~,~] = fmincon(@(P)resid_pure_Fy_varFz(P,FY_vec, ALPHA_vec,0,FZ_vec, tyre_coeffs),...
P0_pure_varFZ,[],[],[],[],lb_pure_varFZ,ub_pure_varFZ);
% Update tyre data with new optimal values
tyre_coeffs.pDy2 = P_dfz(1) ;
tyre_coeffs.pEy2 = P_dfz(2) ;
tyre_coeffs.pHy2 = P_dfz(3) ;
tyre_coeffs.pVy2 = P_dfz(4) ;
SA_vec = min(ALPHA_vec):1e-4:max(ALPHA_vec);
tmp_zeros = zeros(size(SA_vec));
tmp_ones = ones(size(SA_vec));
% Visulisation--- use mean(Fz to avoid oscilltion)
FY0_fz_var_vec1 = MF96_FY0_vec(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_220.FZ)*tmp_ones,tyre_coeffs);
FY0_fz_var_vec2 = MF96_FY0_vec(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_440.FZ)*tmp_ones,tyre_coeffs);
FY0_fz_var_vec3 = MF96_FY0_vec(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_700.FZ)*tmp_ones,tyre_coeffs);
FY0_fz_var_vec4 = MF96_FY0_vec(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_900.FZ)*tmp_ones,tyre_coeffs);
FY0_fz_var_vec5 = MF96_FY0_vec(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_1120.FZ)*tmp_ones,tyre_coeffs);
figure('Name','Fy0(Fz0)')
plot(TDataDFz.SA,TDataDFz.FY,'.')
hold on
plot(SA_vec,FY0_fz_var_vec1,'-','LineWidth',2,Color = [0.8500 0.3250 0.0980])
plot(SA_vec,FY0_fz_var_vec2,'-','LineWidth',2,Color = [0.9290 0.6940 0.1250])
plot(SA_vec,FY0_fz_var_vec3,'-','LineWidth',2,Color = [0.4940 0.1840 0.5560])
plot(SA_vec,FY0_fz_var_vec4,'-','LineWidth',2,Color = [0.4660 0.6740 0.1880])
plot(SA_vec,FY0_fz_var_vec5,'-','LineWidth',2,Color = [0.6350 0.0780 0.1840])
legend('','Fit $F_z = 220$ N', 'Fit $F_z = 440$ N', 'Fit $F_z = 700$ N', 'Fit $F_z = 900$ N', 'Fit $F_z = 1120$ N' , Location='best');
xlabel('$\alpha$ [rad]');
ylabel('$F_{y0}$ [N]');
%title('Pure lateral slip at different vertical loads')
% Calculate residual:
res_FY0 = resid_pure_Fy_varFz(P_dfz,FY_vec, ALPHA_vec,0,FZ_vec, tyre_coeffs);
R2 = 1 - res_FY0;
RMSE = sqrt(res_FY0*sum(FY_vec.^2)/length(ALPHA_vec));
error(2,1) = {'Variable load lateral slip R2:'};
error(2,2) = {R2};
error(2,3) = {'Variable load lateral slip RMSE:'};
error(2,4) = {RMSE};
%% CORNERING STIFFNESS --------------------------------------------------------------------> DONE
[alpha__y, By, Cy, Dy, Ey, SVy, ~, ~, ~] =MF96_FY0_coeffs(0, 0, 0, mean(FZ_220.FZ), tyre_coeffs);
Calfa_vec1_0 = magic_formula_stiffness(alpha__y, By, Cy, Dy, Ey, SVy);
[alpha__y, By, Cy, Dy, Ey, SVy, ~, ~, ~] =MF96_FY0_coeffs(0, 0, 0, mean(FZ_440.FZ), tyre_coeffs);
Calfa_vec2_0 = magic_formula_stiffness(alpha__y, By, Cy, Dy, Ey, SVy);
[alpha__y, By, Cy, Dy, Ey, SVy, ~, ~, ~] =MF96_FY0_coeffs(0, 0, 0, mean(FZ_700.FZ), tyre_coeffs);
Calfa_vec3_0 = magic_formula_stiffness(alpha__y, By, Cy, Dy, Ey, SVy);
[alpha__y, By, Cy, Dy, Ey, SVy, ~, ~, ~] =MF96_FY0_coeffs(0, 0, 0, mean(FZ_900.FZ), tyre_coeffs);
Calfa_vec4_0 = magic_formula_stiffness(alpha__y, By, Cy, Dy, Ey, SVy);
[alpha__y, By, Cy, Dy, Ey, SVy, ~, ~, ~] =MF96_FY0_coeffs(0, 0, 0, mean(FZ_1120.FZ), tyre_coeffs);
Calfa_vec5_0 = magic_formula_stiffness(alpha__y, By, Cy, Dy, Ey, SVy);
Calfa_vec1 = MF96_CorneringStiffnessFY(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_220.FZ)*tmp_ones,tyre_coeffs);
Calfa_vec2 = MF96_CorneringStiffnessFY(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_440.FZ)*tmp_ones,tyre_coeffs);
Calfa_vec3 = MF96_CorneringStiffnessFY(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_700.FZ)*tmp_ones,tyre_coeffs);
Calfa_vec4 = MF96_CorneringStiffnessFY(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_900.FZ)*tmp_ones,tyre_coeffs);
Calfa_vec5 = MF96_CorneringStiffnessFY(tmp_zeros, SA_vec, tmp_zeros, mean(FZ_1120.FZ)*tmp_ones,tyre_coeffs);
figure('Name','C_alpha')
subplot(2,1,1)
hold on
%plot(TDataSub.KAPPA,FX0_fz_nom_vec,'-')
plot(mean(FZ_220.FZ) ,Calfa_vec1_0,'+','LineWidth',2)
plot(mean(FZ_440.FZ) ,Calfa_vec2_0,'+','LineWidth',2)
plot(mean(FZ_700.FZ) ,Calfa_vec3_0,'+','LineWidth',2)
plot(mean(FZ_900.FZ) ,Calfa_vec4_0,'+','LineWidth',2)
plot(mean(FZ_1120.FZ),Calfa_vec5_0,'+','LineWidth',2)
legend({'Fz$_{220}$','Fz$_{440}$','Fz$_{700}$','Fz$_{900}$','Fz$_{1120}$'})
subplot(2,1,2)
hold on
%plot(TDataSub.KAPPA,FX0_fz_nom_vec,'-')
plot(SA_vec,Calfa_vec1,'-','LineWidth',2)
plot(SA_vec,Calfa_vec2,'-','LineWidth',2)
plot(SA_vec,Calfa_vec3,'-','LineWidth',2)
plot(SA_vec,Calfa_vec4,'-','LineWidth',2)
plot(SA_vec,Calfa_vec5,'-','LineWidth',2)
legend({'Fz$_{220}$','Fz$_{440}$','Fz$_{700}$','Fz$_{900}$','Fz$_{1120}$'})
%% SELF ALLIGNING MOMENT k = 0 , variable Load --> Done (eeehhhh)
TDatadfz = GAMMA_0;
% idx.ALPHA = -0.20 < TDatadfz.SA & TDatadfz.SA < 0.20;
% TData0dfz = TDatadfz(idx.ALPHA , :);
% TData0 = smoothdata(TData0);
% figure()
% plot(TData0dfz.FZ)
cut = [3644:9000];
TData0dfz = TDatadfz(cut , :);
idx.ALPHA = -0.20 < TData0dfz.SA & TData0dfz.SA < 0.20;
TData0dfz = TData0dfz(idx.ALPHA , :);
% plot_selected_data(TData0dfz);
KAPPA_VEC = TData0dfz.SL; % zero
ALPHA_vec = TData0dfz.SA;
FZ_vec = TData0dfz.FZ;
% FZ0 = mean(FZ_vec);
MZ_vec = TData0dfz.MZ;
FY_vec = TData0dfz.FY;
SA_vec_mz = linspace(max(ALPHA_vec),min(ALPHA_vec),length(ALPHA_vec));
tmp_zeros = zeros(size(SA_vec_mz));
tmp_ones = ones(size(SA_vec_mz));
FY_vec_pred_general = MF96_FY0_vec(tmp_zeros , ALPHA_vec , tmp_zeros , FZ_vec , tyre_coeffs);
% SA_vec_mz = linspace(0.3 , -0.3 , length(TData0dfz.SA));
% SA_vec_mz = linspace(0.3 , -0.3 , 4023);
% figure()
% plot(ALPHA_vec , MZ_vec , '.');
% Guess values for parameters to be optimised
% [qBz2 , qBz3 , qDz2 , qDz7 , qEz2 , qEz3 , qHz2]
P0_mz_fz = [ 0 , 0 , 1 , 1 , 0 , 0 , 0 ];
% EZ2,EZ3
% P0_mz_fz = [ -3, 2, 10, -4, 0, 3, -3 , 5 ];
ub = [ 1,1,1,1,1,1,1];
lb = [ -1,-1,-1,-1,-1,-1,-1];
[P_dfz,~,exitflag] = fmincon(@(P)resid_pure_MZ_varFz(P,MZ_vec, 0, ALPHA_vec, 0 , FZ_vec, FY_vec_pred_general , tyre_coeffs),...
P0_mz_fz,[],[],[],[],lb,ub);
tyre_coeffs.qBz2 = P_dfz(1);
tyre_coeffs.qBz3 = P_dfz(2);
tyre_coeffs.qDz2 = P_dfz(3);
tyre_coeffs.qDz7 = P_dfz(4);
tyre_coeffs.qEz2 = P_dfz(5);
tyre_coeffs.qEz3 = P_dfz(6);
tyre_coeffs.qHz2 = P_dfz(7);
% res_MZ0_fz_vec = resid_pure_MZ_varFz(P_dfz , MZ_vec , 0 , SA_vec_mz , 0 , FZ_vec , FY_vec , tyre_coeffs);
% FZ_220
MZr_fz_1 = MF96_MZr_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_220.FZ)*tmp_ones , tyre_coeffs);
t_fz_1 = MF96_t_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_220.FZ)*tmp_ones , tyre_coeffs);
FY_vec_pred_1 = MF96_FY0_vec(tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_220.FZ)*tmp_ones , tyre_coeffs);
MZ0_fz_1 = MF96_MZ0_vec(t_fz_1 , FY_vec_pred_1 , MZr_fz_1);
% FZ_440
MZr_fz_2 = MF96_MZr_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_440.FZ)*tmp_ones , tyre_coeffs);
t_fz_2 = MF96_t_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_440.FZ)*tmp_ones , tyre_coeffs);
FY_vec_pred_2 = MF96_FY0_vec(tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_440.FZ)*tmp_ones , tyre_coeffs);
MZ0_fz_2 = MF96_MZ0_vec(t_fz_2 , FY_vec_pred_2 , MZr_fz_2);
% FZ_700
MZr_fz_3 = MF96_MZr_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_700.FZ)*tmp_ones , tyre_coeffs);
t_fz_3 = MF96_t_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_700.FZ)*tmp_ones , tyre_coeffs);
FY_vec_pred_3 = MF96_FY0_vec(tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_700.FZ)*tmp_ones , tyre_coeffs);
MZ0_fz_3 = MF96_MZ0_vec(t_fz_3 , FY_vec_pred_3 , MZr_fz_3);
% FZ_900
MZr_fz_4 = MF96_MZr_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_900.FZ)*tmp_ones , tyre_coeffs);
t_fz_4 = MF96_t_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_900.FZ)*tmp_ones , tyre_coeffs);
FY_vec_pred_4 = MF96_FY0_vec(tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_900.FZ)*tmp_ones , tyre_coeffs);
MZ0_fz_4 = MF96_MZ0_vec(t_fz_4 , FY_vec_pred_4 , MZr_fz_4);
% FZ_1120
MZr_fz_5 = MF96_MZr_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_1120.FZ)*tmp_ones , tyre_coeffs);
t_fz_5 = MF96_t_vec( tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_1120.FZ)*tmp_ones , tyre_coeffs);
FY_vec_pred_5 = MF96_FY0_vec(tmp_zeros , SA_vec_mz , tmp_zeros , mean(FZ_1120.FZ)*tmp_ones , tyre_coeffs);
MZ0_fz_5 = MF96_MZ0_vec(t_fz_5 , FY_vec_pred_5 , MZr_fz_5);
% figure
figure('Name','MZ0(Fz)')
plot(TData0dfz.SA , TData0dfz.MZ , '.')
hold on
plot(SA_vec_mz , MZ0_fz_1 , '-' , 'LineWidth',2 , DisplayName='$F_{Z220}$')
plot(SA_vec_mz , MZ0_fz_2 , '-' , 'LineWidth',1 , DisplayName='$F_{Z440}$')
plot(SA_vec_mz , MZ0_fz_3 , '-' , 'LineWidth',1 , DisplayName='$F_{Z700}$')
plot(SA_vec_mz , MZ0_fz_4 , '-' , 'LineWidth',1 , DisplayName='$F_{Z900}$')
plot(SA_vec_mz , MZ0_fz_5 , '-' , 'LineWidth',1 , DisplayName='$F_{Z1120}$')
xlabel('$\alpha$ [-]')
ylabel('$M_{Z0}$ [N]')
legend
res_dfz_Mz0 = resid_pure_MZ_varFz(P_dfz , MZ_vec , 0 , SA_vec_mz , 0 , FZ_vec , FY_vec , tyre_coeffs);
R2 = 1 - res_dfz_Mz0;
RMSE = sqrt(res_dfz_Mz0*sum(MZ_vec.^2)/length(ALPHA_vec));
fprintf('R^2 = %6.3f \nRMSE = %6.3f \n', R2, RMSE );
%% VARIABLE CAMBER LATERAL FY -------------------------------------------------------------> CHECK
% extract data with variable load
TDataGamma = FZ_220;
% Guess values for parameters to be optimised
% [pDy3, pEy3, pEy4, pHy3, pKy3, pVy3, pVy4]
%P0 = [ 5.16349361588200, 0.883205306970767, -4.20062483943437, -0.0313517996563904, 1.34159743861844, -2.92370451981899, -2.81666715709586];
P0 = [ 1, 1, 1, 1, 1, 1, 1 ];
lb = [-1e4, 0, 0, -1e4, -1e4, -1e4, -1e4];
ub = [1e4, 1, 1, 1e4, 1e4, 1e4, 1e4];
KAPPA_vec = TDataGamma.SL;
ALPHA_vec = TDataGamma.SA;
GAMMA_vec = TDataGamma.IA;
FY_vec = TDataGamma.FY;
FZ_vec = TDataGamma.FZ;
SA_vec = min(ALPHA_vec):0.001:max(ALPHA_vec);
zeros_vec = zeros(size(SA_vec));
ones_vec = ones(size(SA_vec));
FZ0 = mean(TDataGamma.FZ);
[P_varGamma,~,~] = fmincon(@(P)resid_pure_Fy_varGamma(P,FY_vec, ALPHA_vec,GAMMA_vec,FZ0, tyre_coeffs),...
P0,[],[],[],[],lb,ub);
% Change tyre data with new optimal values
tyre_coeffs.pDy3 = P_varGamma(1);
tyre_coeffs.pEy3 = P_varGamma(2);
tyre_coeffs.pEy4 = P_varGamma(3);
tyre_coeffs.pHy3 = P_varGamma(4);
tyre_coeffs.pKy3 = P_varGamma(5);
tyre_coeffs.pVy3 = P_varGamma(6);
tyre_coeffs.pVy4 = P_varGamma(7);
FY0_varGamma_vec1 = MF96_FY0_vec(zeros_vec, SA_vec, mean(GAMMA_0.IA).*ones_vec, FZ0*ones_vec,tyre_coeffs);
FY0_varGamma_vec2 = MF96_FY0_vec(zeros_vec, SA_vec, mean(GAMMA_1.IA).*ones_vec, FZ0*ones_vec,tyre_coeffs);
FY0_varGamma_vec3 = MF96_FY0_vec(zeros_vec, SA_vec, mean(GAMMA_2.IA).*ones_vec, FZ0*ones_vec,tyre_coeffs);
FY0_varGamma_vec4 = MF96_FY0_vec(zeros_vec, SA_vec, mean(GAMMA_3.IA).*ones_vec, FZ0*ones_vec,tyre_coeffs);
FY0_varGamma_vec5 = MF96_FY0_vec(zeros_vec, SA_vec, mean(GAMMA_4.IA).*ones_vec, FZ0*ones_vec,tyre_coeffs);
figure('Name','Fy0 vs Gamma')
plot(ALPHA_vec,TDataGamma.FY,'.')
hold on
plot(SA_vec,FY0_varGamma_vec1,'-', LineWidth=1.5)
plot(SA_vec,FY0_varGamma_vec2,'-', LineWidth=1.5)
plot(SA_vec,FY0_varGamma_vec3,'-', LineWidth=1.5)
plot(SA_vec,FY0_varGamma_vec4,'-', LineWidth=1.5)
plot(SA_vec,FY0_varGamma_vec5,'-', LineWidth=1.5)
xlabel('$\alpha$ [rad]')
ylabel('$F_{y0}$ [N]')
legend('','$F_y$ with $\gamma=0$ deg', ...
'$F_y$ with $\gamma=1$ deg', ...
'$F_y$ with $\gamma=2$ deg', ...
'$F_y$ with $\gamma=3$ deg', ...
'$F_y$ with $\gamma=4$ deg', ...
'$F_y$ with $\gamma=5$ deg', ...
Location='best');
title('Pure lateral slip at different camber angles')
% Calculate the residuals with the optimal solution found above
res_Fy0_varGamma = resid_pure_Fy_varGamma(P_varGamma,FY_vec, ALPHA_vec,GAMMA_vec,tyre_coeffs.FZ0, tyre_coeffs);
% R-squared is
% 1-SSE/SST
% SSE/SST = res_Fx0_nom
% SSE is the sum of squared error, SST is the sum of squared total
fprintf('R-squared = %6.3f\n',1-res_Fy0_varGamma);
[alpha__y, By, Cy, Dy, Ey, SVy, ~, ~, ~] = MF96_FY0_coeffs(0, 0, GAMMA_vec(3), tyre_coeffs.FZ0, tyre_coeffs);
%
fprintf('By = %6.3f\n',By);
fprintf('Cy = %6.3f\n',Cy);
fprintf('mu_y = %6.3f\n',Dy/tyre_coeffs.FZ0);
fprintf('Ey = %6.3f\n',Ey);
fprintf('SVy = %6.3f\n',SVy);
fprintf('alpha_y = %6.3f\n',alpha__y);
fprintf('Ky = %6.3f\n',By*Cy*Dy/tyre_coeffs.FZ0);
%% SELF ALLIGNING MOMENT k = 0 , FZ = 220 , variable camber
TData0_gamma = FZ_220;
cut = [103:837 , 990:1718 , 1880:2600 , 2765:3487 , 3653:4376];
TData0_gamma = TData0_gamma(cut , :);
% idx.ALPHA = -0.20 < TData_gamma.SA & TData_gamma.SA < 0.20;
% TData0_gamma = TData_gamma(idx.ALPHA , :);
% plot_selected_data(TData0_gamma);
KAPPA_vec = TData0_gamma.SL;
ALPHA_vec = TData0_gamma.SA;
FY_vec = TData0_gamma.FY;
FZ_vec = TData0_gamma.FZ;
MZ_vec = TData0_gamma.MZ;
GAMMA_vec = TData0_gamma.IA;
FZ0 = mean(TData0_gamma.FZ);
SA_vec_gamma = linspace(min(ALPHA_vec),max(ALPHA_vec),length(ALPHA_vec));
zeros_vec = zeros(size(ALPHA_vec));
ones_vec = ones(size(ALPHA_vec));
FY_pred = MF96_FY0_vec(zeros_vec , ALPHA_vec , GAMMA_vec , FZ0*ones_vec , tyre_coeffs);
% Guess values for parameters to be optimised
% [qBz4 , qBz5 , qDz3 , qDz4 , qDz8 , qDz9 , qEz5 , qHz3 , qHz4]
P0_mz_gamma = [ 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 , 1 ];
% P0_mz_fz = [ -3, 2, 10, -4, 0, 3, -3 , 5 ];
lb = [];
ub = [];
[P_cam,~,exitflag] = fmincon(@(P)resid_pure_MZ_vargamma(P,MZ_vec, 0, ALPHA_vec, GAMMA_vec , FZ0, FY_pred , tyre_coeffs),...
P0_mz_gamma,[],[],[],[],lb,ub);
tyre_coeffs.qBz4 = P_cam(1);
tyre_coeffs.qBz5 = P_cam(2);
tyre_coeffs.qDz3 = P_cam(3);
tyre_coeffs.qDz4 = P_cam(4);
tyre_coeffs.qDz8 = P_cam(5);
tyre_coeffs.qDz9 = P_cam(6);
tyre_coeffs.qEz5 = P_cam(7);
tyre_coeffs.qHz3 = P_cam(8);
tyre_coeffs.qHz4 = P_cam(9);
% GAMMA_0
MZr_vec_1 = MF96_MZr_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_0.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
t_vec_1 = MF96_t_vec( KAPPA_vec , SA_vec_gamma , mean(GAMMA_0.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
FY_pred_1 = MF96_FY0_vec(zeros_vec , SA_vec_gamma , mean(GAMMA_0.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
MZ0_vargamma_vec_1 = MF96_MZ0_vec(t_vec_1 , FY_pred_1 , MZr_vec_1);
% GAMMA_1
MZr_vec_2 = MF96_MZr_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_1.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
t_vec_2 = MF96_t_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_1.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
FY_pred_2 = MF96_FY0_vec(zeros_vec , SA_vec_gamma , mean(GAMMA_1.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
MZ0_vargamma_vec_2 = MF96_MZ0_vec(t_vec_2 , FY_pred_2 , MZr_vec_2);
% GAMMA_2
MZr_vec_3 = MF96_MZr_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_2.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
t_vec_3 = MF96_t_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_2.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
FY_pred_3 = MF96_FY0_vec(zeros_vec , SA_vec_gamma , mean(GAMMA_2.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
MZ0_vargamma_vec_3 = MF96_MZ0_vec(t_vec_3 , FY_pred_3 , MZr_vec_3);
% GAMMA_3
MZr_vec_4 = MF96_MZr_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_3.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
t_vec_4 = MF96_t_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_3.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
FY_pred_4 = MF96_FY0_vec(zeros_vec , SA_vec_gamma , mean(GAMMA_3.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
MZ0_vargamma_vec_4 = MF96_MZ0_vec(t_vec_4 , FY_pred_4 , MZr_vec_4);
% GAMMA_4
MZr_vec_5 = MF96_MZr_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_4.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
t_vec_5 = MF96_t_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_4.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
FY_pred_5 = MF96_FY0_vec(zeros_vec , SA_vec_gamma , mean(GAMMA_4.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
MZ0_vargamma_vec_5 = MF96_MZ0_vec(t_vec_5 , FY_pred_5 , MZr_vec_5);
% GAMMA_6
MZr_vec_6 = MF96_MZr_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_5.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
t_vec_6 = MF96_t_vec(KAPPA_vec , SA_vec_gamma , mean(GAMMA_5.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
FY_pred_6 = MF96_FY0_vec(zeros_vec , SA_vec_gamma , mean(GAMMA_5.IA)*ones_vec , FZ0*ones_vec , tyre_coeffs);
MZ0_vargamma_vec_6 = MF96_MZ0_vec(t_vec_6 , FY_pred_6 , MZr_vec_6);
% figure
figure('Name','MZ0 vs Gamma')
plot(ALPHA_vec,TData0_gamma.MZ,'.')
hold on
plot(SA_vec_gamma,MZ0_vargamma_vec_1,'-' , 'LineWidth',2 ,'DisplayName','$\gamma_0$')
plot(SA_vec_gamma,MZ0_vargamma_vec_2,'-' , 'LineWidth',2 ,'DisplayName','$\gamma_1$')
plot(SA_vec_gamma,MZ0_vargamma_vec_3,'-' , 'LineWidth',2 ,'DisplayName','$\gamma_2$')
plot(SA_vec_gamma,MZ0_vargamma_vec_4,'-' , 'LineWidth',2 ,'DisplayName','$\gamma_3$')
plot(SA_vec_gamma,MZ0_vargamma_vec_5,'-' , 'LineWidth',2 ,'DisplayName','$\gamma_4$')
plot(SA_vec_gamma,MZ0_vargamma_vec_6,'-' , 'LineWidth',2 ,'DisplayName','$\gamma_5$')
xlabel('$\alpha$ [-]')
ylabel('$M_{z0}$ [Nm/S]')
title('Different camber , $F_{z}$ = 220 [N] , $kappa$ = 0')
legend
resid_pure_MZ_vargamma = resid_pure_MZ_vargamma(P_cam,MZ_vec, 0, ALPHA_vec, GAMMA_vec , FZ0, FY_pred , tyre_coeffs)
R2 = 1 - resid_pure_MZ_vargamma;
RMSE = sqrt(resid_pure_MZ_vargamma*sum(MZ_vec.^2)/length(ALPHA_vec));
fprintf('R^2 = %6.3f \nRMSE = %6.3f \n', R2, RMSE );
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% FX & FY COMB %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% INITIALISATION ---------------------------------------------------------
clc
clearvars -except tyre_coeffs error
%% SELECT TYRE DATA -------------------------------------------------------
%dataset path
data_set_path = 'TTC_dataset/';
% dataset selection and loading
% Hoostier:----------------------------------------------------------------
data_set = 'Hoosier_B1464run30'; % braking/traction (pure log. force) + combined
diameter = 18*2.56; % Converting inches to cm
Fz0 = 220; % [N] nominal load is given
R0 = diameter/2/100; % [m] get from nominal load R0 (m)
to_rad = pi/180;
to_deg = 180/pi;
fprintf('Loading dataset ...')
switch data_set
case 'Hoosier_B1464run23'
load ([data_set_path, 'Hoosier_B1464run23.mat']); % pure lateral
cut_start = 27760;
cut_end = 54500;
case 'Hoosier_B1464run30'
load ([data_set_path, 'Hoosier_B1464run30.mat']); % pure longitudinal
cut_start = 19028;
cut_end = 37643;
otherwise
error('Not found dataset: `%s`\n', data_set) ;
end
% select dataset portion
smpl_range = cut_start:cut_end;
fprintf('completed!\n')
%% PLOT RAW DATA ----------------------------------------------------------
figure
tiledlayout(6,1)
ax_list(1) = nexttile; y_range = [min(min(-FZ),0) round(max(-FZ)*1.1)];
plot(-FZ)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Vertical force')
xlabel('Samples [-]')
ylabel('[N]')
ax_list(2) = nexttile; y_range = [min(min(IA),0) round(max(IA)*1.1)];
plot(IA)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Camber angle')
xlabel('Samples [-]')
ylabel('[deg]')
ax_list(3) = nexttile; y_range = [min(min(SA),0) round(max(SA)*1.1)];
plot(SA)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Side slip')
xlabel('Samples [-]')
ylabel('[deg]')
ax_list(4) = nexttile; y_range = [min(min(SL),0) round(max(SL)*1.1)];
plot(SL)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Longitudinal slip')
xlabel('Samples [-]')
ylabel('[-]')
ax_list(5) = nexttile; y_range = [min(min(P),0) round(max(P)*1.1)];
plot(P)
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Tyre pressure')
xlabel('Samples [-]')
ylabel('[psi]')
ax_list(6) = nexttile; y_range = [min(min(TSTC),0) round(max(TSTC)*1.1)];
plot(TSTC,'DisplayName','Center')
hold on
plot(TSTI,'DisplayName','Internal')
plot(TSTO,'DisplayName','Outboard')
hold on
plot([cut_start cut_start],y_range,'--r')
plot([cut_end cut_end],y_range,'--r')
title('Tyre temperatures')
xlabel('Samples [-]')
ylabel('[degC]')
linkaxes(ax_list,'x')
%figure()
%plot(SA,FY)
%% SELECT SPECIFIC DATA ---------------------------------------------------
% Cut crappy data and select only 80 psi data
vec_samples = 1:1:length(smpl_range);
tyre_data = table(); % create empty table
% store raw data in table
tyre_data.SL = SL(smpl_range); % Longitudinal slip
tyre_data.SA = SA(smpl_range)*to_rad; % Side slip
tyre_data.FZ = -FZ(smpl_range); % 0.453592 lb/kg % Vertical force
tyre_data.FX = FX(smpl_range); % Longitudinal force
tyre_data.FY = FY(smpl_range); % Lateral force
tyre_data.MZ = MZ(smpl_range); % Self aligning moment
tyre_data.IA = IA(smpl_range)*to_rad; % Camber angle
% Extract points at constant camber inclination angle
GAMMA_tol = 0.05*to_rad;
idx.GAMMA_0 = 0.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 0.0*to_rad+GAMMA_tol;
idx.GAMMA_1 = 1.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 1.0*to_rad+GAMMA_tol;
idx.GAMMA_2 = 2.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 2.0*to_rad+GAMMA_tol;
idx.GAMMA_3 = 3.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 3.0*to_rad+GAMMA_tol;
idx.GAMMA_4 = 4.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 4.0*to_rad+GAMMA_tol;
idx.GAMMA_5 = 5.0*to_rad-GAMMA_tol < tyre_data.IA & tyre_data.IA < 5.0*to_rad+GAMMA_tol;
GAMMA_0 = tyre_data( idx.GAMMA_0, : );
GAMMA_1 = tyre_data( idx.GAMMA_1, : );
GAMMA_2 = tyre_data( idx.GAMMA_2, : );
GAMMA_3 = tyre_data( idx.GAMMA_3, : );
GAMMA_4 = tyre_data( idx.GAMMA_4, : );
GAMMA_5 = tyre_data( idx.GAMMA_5, : );
% Extract points at constant vertical load
% 200, 150, 50, 250, 100
FZ_tol = 100;
idx.FZ_220 = 220-FZ_tol < tyre_data.FZ & tyre_data.FZ < 220+FZ_tol;
idx.FZ_440 = 440-FZ_tol < tyre_data.FZ & tyre_data.FZ < 440+FZ_tol;
idx.FZ_700 = 700-FZ_tol < tyre_data.FZ & tyre_data.FZ < 700+FZ_tol;
idx.FZ_900 = 900-FZ_tol < tyre_data.FZ & tyre_data.FZ < 900+FZ_tol;
idx.FZ_1120 = 1120-FZ_tol < tyre_data.FZ & tyre_data.FZ < 1120+FZ_tol;
FZ_220 = tyre_data( idx.FZ_220, : );
FZ_440 = tyre_data( idx.FZ_440, : );
FZ_700 = tyre_data( idx.FZ_700, : );
FZ_900 = tyre_data( idx.FZ_900, : );
FZ_1120 = tyre_data( idx.FZ_1120, : );
% The slip angle is varied continuously between -4 and +12° and then
% between -12° and +4° for the pure slip case
% The slip angle is varied step wise for longitudinal slip tests
% 0° , - 3° , -6 °
SA_tol = 0.5*to_rad;
idx.SA_0 = 0-SA_tol < tyre_data.SA & tyre_data.SA < 0+SA_tol;
idx.SA_3neg = -(3*to_rad+SA_tol) < tyre_data.SA & tyre_data.SA < -3*to_rad+SA_tol;
idx.SA_6neg = -(6*to_rad+SA_tol) < tyre_data.SA & tyre_data.SA < -6*to_rad+SA_tol;
SA_0 = tyre_data( idx.SA_0, : );
SA_3neg = tyre_data( idx.SA_3neg, : );
SA_6neg = tyre_data( idx.SA_6neg, : );
figure()
tiledlayout(3,1)
ax_list(1) = nexttile;
plot(tyre_data.IA*to_deg)
hold on
plot(vec_samples(idx.GAMMA_0),GAMMA_0.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_1),GAMMA_1.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_2),GAMMA_2.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_3),GAMMA_3.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_4),GAMMA_4.IA*to_deg,'.');
plot(vec_samples(idx.GAMMA_5),GAMMA_5.IA*to_deg,'.');
title('Camber angle')
xlabel('Samples [-]')
ylabel('[deg]')
ax_list(2) = nexttile;
plot(tyre_data.FZ)
hold on
plot(vec_samples(idx.FZ_220),FZ_220.FZ,'.');
plot(vec_samples(idx.FZ_440),FZ_440.FZ,'.');
plot(vec_samples(idx.FZ_700),FZ_700.FZ,'.');
plot(vec_samples(idx.FZ_900),FZ_900.FZ,'.');
plot(vec_samples(idx.FZ_1120),FZ_1120.FZ,'.');
title('Vertical force')
xlabel('Samples [-]')
ylabel('[N]')
ax_list(3) = nexttile;
plot(tyre_data.SA*to_deg)
hold on
plot(vec_samples(idx.SA_0), SA_0.SA*to_deg,'.');
plot(vec_samples(idx.SA_3neg),SA_3neg.SA*to_deg,'.');
plot(vec_samples(idx.SA_6neg),SA_6neg.SA*to_deg,'.');
title('Slide slip')
xlabel('Samples [-]')
ylabel('[rad]')
%% PLOT SELECTED DATA -----------------------------------------------------
[TData0, ~] = intersect_table_data( SA_0, GAMMA_0, FZ_220 );
figure('Name','Selected-data')
plot_selected_data(TData0);
%% PURE LONGITUDINAL SLIP FX, Fz=Fz_nom= 220N and camber=0 alpha = 0 VX= 10 --------------> DONE
[TData0, ~] = intersect_table_data( SA_0, GAMMA_0, FZ_220 );
% Fit the coeffs {pCx1, pDx1, pEx1, pEx4, pKx1, pHx1, pVx1}
FZ0 = mean(TData0.FZ);
zeros_vec = zeros(size(TData0.SL));
ones_vec = ones(size(TData0.SL));
FX0_guess = MF96_FX0_vec(TData0.SL,zeros_vec , zeros_vec, FZ0*ones_vec, tyre_coeffs);
% check guess
%figure()
%plot(TData0.SL,TData0.FX,'.')