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Fig. 14.6
Map relating the gear with the speed of the front wheels and the position of the throttle
pedal
Finally the differential is modelled as a gain
h
f
, so the torque delivered to the
wheels is:
T
w
=
h
g
h
f
T
t
(14.18)
and the angular speed of the turbine depends on that of the front wheels:
ω
t
=
h
g
h
f
ω
f
(14.19)
The values of the parameters depend on the vehicle being modelled. Some of
them can be obtained from the documentation, such as the mass of the car or the
gear ratios. The others can be experimentally measured, or analytically calculated in
approximate form.
14.3 Genetic Algorithm
Genetic Algorithms (Goldberg
1989
; Holland
1992
) are iterative global search algo-
rithms, based on genetics and on the evolution of species. An initial set of possible
solutions is evolved iteratively, generation after generation, through the genetic oper-
ators of selection, crossover and mutation, until a final condition is met. Then, the
best element in the set is taken as the final solution. The details of the generic genetic
algorithm can be consulted in the bibliography. In the following, the steps of the
algorithm developed in this work are detailed:
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