Thank you very much. With your help, I have a solution in mind for problem 1 and 3. However, problem 2 still has no solution. I am using the Eigen library version 3.4.0, which is newer than 3.3.6. CMake successfully found CUDA, and the GPU module was not disabled, but ChronoEngine_gpu.dll was not generated. I am eagerly awaiting further solutions.
==== Chrono GPU module ==== NVCC Flags: -gencode;arch=compute_89,code=sm_89 --ptxas-options=-v Searching for CUDA... CUDA version: 12.1 CUDA toolkit root dir: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.1 CUDA binary dir: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v12.1/bin [image: 1728825871765.jpg] 在2024年10月13日星期日 UTC+8 17:17:04<Radu Serban> 写道： > > 1. No, the driveline templates currently available for tracked > vehicles are connected to both sprockets. > One possible way to actuate them independently is to disconnect the > driveline (see ChTrackedVehicle ::DisconnectDriveline > > <https://api.projectchrono.org/classchrono_1_1vehicle_1_1_ch_tracked_vehicle.html#a869a72af82f2786e38b5ec2dcaeb864e>) > > and then add your own actuators connected to the sprocket bodies (e.g., > using ChLinkMotorRotation). > 2. You are probably missing a dependency or use an incorrect version > of a dependency. Check carefully the CMake output as it is most likely > that > the Chrono::GPU module is automatically disabled (that happens if CUDA > cannot be found or if you are using an Eigen version older than 3.3.6). > 3. The vehicle model is asymmetrical (rotational dampers are in > different locations left/right, there are 63 track shoes in the left track > and 64 on the right, etc.). Furthermore, numerical errors can be > significant (depending on solver and integrator settings) and accumulate. > All of this makes it that the vehicle will not go in a straight line with > an open-loop controller (which is what you use when you prescribe driver > inputs from a file). You may want to look in the provided examples and > attach a lateral controller (path follower). > > > > --Radu > > > > *From:* [email protected] <[email protected]> *On > Behalf Of *wonderful Boston > *Sent:* Sunday, October 13, 2024 10:12 AM > *To:* ProjectChrono <[email protected]> > *Subject:* [chrono] cannot find ChronoEngine_gpu.dll;independent speed > control of the left and right drive sprockets; > > > > Dear project manager, I have asked the following questions before, but I > did not get a reply. I am worried that it is because of the network, so I > ask for help again. > > 1. Can the tracked vehicle be configured for independent speed control > of the left and right drive sprockets? How should I implement this (using > the M113 as an example)? I’m feeling a bit confused at the moment. > 2. When I open the executable with the GPU module, it shows an error > saying it cannot find ChronoEngine_gpu.dll. I have checked, and indeed, > this DLL is missing on my computer, but I believe I have configured the > GPU > module correctly. How can I resolve this issue? > 3. Why does the M113 tracked vehicle gradually drift during long > simulations? I am using the default model without modifications, and my > control input is from a custom .txt file where I have only set the > throttle, while both steering and braking are set to 0. I find this issue > rather strange. > > I would greatly appreciate your assistance. > > -- > You received this message because you are subscribed to the Google Groups > "ProjectChrono" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion on the web visit > https://groups.google.com/d/msgid/projectchrono/b98044a0-321b-4f14-845f-ad17e4586d97n%40googlegroups.com > > <https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/b98044a0-321b-4f14-845f-ad17e4586d97n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!IkKa14V8G8Bv8b-gJZmXco0TANV2VDU7GovtycqC6-mW1kpwHmvzxXceU8yiCgl8gaBM3Ks1G6I5YEbNI0A$> > . > -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/848d81e9-aba0-4185-85f7-4720f4bdb7d4n%40googlegroups.com.
