Team Lead @Patrick Grate

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Sources of information:

  1. Linear potentiometers across dampers. 5K. Measure suspension travel, allowing you to know the downforce being produced by the car, the weight on each wheel, etc.

  2. The ride height sensor is pointed at the ground. Allows you to correlate with the springs, and know if the wheels are off the ground. The difference between the two also tells you how much the tire is deforming. Mounted on top of the tube, which allows for the car to be up to 3in of ground clearance before the sensor may start giving unreliable readings. Note that 100mm is a minimum, and in good lighting conditions may provide much more. Also, the 25-degree field of view requires that it be offset from the tube to avoid issues.

    1. VL6180x 5-100mm

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    2. for h=1.125in, r=1in ⇒ 1.27in So for margin we put the inside edge at 1.375 and say it’s good enough. That way we have about an eighth of an inch tolerance in both height and length

  3. Front-wheel encoders. Used to measure undriven wheel speeds. Our method is to use an incremental (quadrature) encoder to connect to the front wheel splines (located on the calipers). The idea is fairly simple, using the encoder to count the number of rotations the wheels go through and thereby measuring the undriven wheel speeds.

    1. Current plan: Use an off-the-shelf wheel encoder and a 3D-printed adapter piece that will attach the encoder to the spline
    2. Amazon wheel encoder
    3. Alternate: AMT102-V
    4. Alternate: Hall effect sensor with magnet glued on

  4. Throttle input. This one’s fairly straightforward. The input is 0.5-4.5V so that a short in either direction is easily detectable.

  5. Steering angle sensor. Absolute encoder

    1. https://www.mouser.com/ProductDetail/CUI-Devices/AMT203S-V?qs=byeeYqUIh0N0ZbJptgSOpA%3D%3D

  6. GPS + accelerometer. No RTK augmentation (IW Project for someone)

    1. https://www.metisengineering.com/store/p5/UDR_CAN_Sensor.html

    2. For positioning, Untethered Dead Reckoning works with internal inertial sensors (a small IMU) in the GPS module:

      1. https://www.mathworks.com/videos/sensor-fusion-part-3-fusing-a-gps-and-an-imu-to-estimate-pose-1569911082630.html

    3. For the GPS Antenna, I found this GNSS Antenna: https://www.digikey.com/en/products/detail/u-blox/ANN-MB-00/9817928

      1. GNSS is a general name for any Global Navigation Satellite System. GPS corresponds to the American GNSS constellation, which is visible globally. However, being able to receive more satellites means that a more accurate position can be determined. So this antenna receiving Beidou (China), GLONASS (Russia), and Galileo (EU) as well will help us.
      2. Note for Order: The different models of this antenna have different connectors, MB-00 has an SMA plug connector, MB-01 has an SMB plug connector and MB-02 has an MCX plug connector, so choose to your best judgment
        1. GPS part above has SMA connector so SMA-SMA seems smart

  7. Brake pressure Transducer, Need to use brake info to find the maximum pressure we can expect for the pressure transducer

    1. 0-5V, 0-5000psi, temp and pressure, 1/8 NPT 500PSI https://www.dataq.com/products/accessories/pressure-sensor/2000361-hs.html

  8. Wheel Inside/Outside Temperature Sensors - Research some cost-effective ways to make this happen - it is expensive to implement and will be a PRE discussion

    1. We got a quote from Izze-Racing TTPS https://www.izzeracing.com/products/infrared-temperature-sensors.html

The capabilities for measuring 1-3 are in the corner box PCBs

4 and 5 are a different design. and placed basically where the throttle and steering rack go.

6 is placed as close to the C.O.G. as possible

VCU Notes from 20-21: