Thesis Release: Hardware-in-the-Loop Traction Control System
This release contains the compiled CODESYS V3.5 project environment required to run the closed-loop PI traction controller against the real-time Python vehicle plant.
Included in this binary:
- Modbus TCP Slave configuration (Port 5020).
- Un-scaling and Low-pass sensor filtering logic.
- 3.0 m/s open-loop launch override parameters.
- Slew-rate limiter to protect mechanical drivetrains.
- Anti-hunting deadband logic for steady-state slip lock.
Note: Requires the CODESYS Util library to be installed for PID_FIXCYCLE execution.