대한민국 해병대 무인수륙양용차량(AAV-UGV) 갯벌·연약지반 극복 스크루-궤도 하이브리드 추진 및 1,000Hz 0-Alloc C# 슬립률 제어 엔진

3. 1,000Hz 0-Alloc C# 스크루-궤도 하이브리드 슬립률 제어 구현

갯벌 진입 순간 1ms 단위로 슬립을 즉각 감지하고 토크를 재분배하기 위해 힙 메모리 할당을 원천 차단한 고성능 C# 엔진 코드입니다.

using System;
using System.Runtime.CompilerServices;

public ref struct MudflatTractionController
{
    private readonly float _screwPitch;
    private readonly float _targetSlip;
    private readonly float _kp;
    private readonly float _kd;
    private float _prevSlip;

    [MethodImpl(MethodImplOptions.AggressiveInlining)]
    public MudflatTractionController(float screwPitch, float targetSlip, float kp, float kd)
    {
        _screwPitch = screwPitch;
        _targetSlip = targetSlip;
        _kp = kp;
        _kd = kd;
        _prevSlip = 0.0f;
    }

    [MethodImpl(MethodImplOptions.AggressiveInlining)]
    public void UpdateTorqueDistribution(
        float trueVehicleSpeed,
        float screwRps,
        float trackSpeed,
        float sinkageDepth,
        out float screwTorqueOut,
        out float trackTorqueOut)
    {
        float theoreticalScrewSpeed = screwRps * _screwPitch;
        float currentSlip = (theoreticalScrewSpeed > 0.01f)
            ? (theoreticalScrewSpeed - trueVehicleSpeed) / theoreticalScrewSpeed
            : 0.0f;

        currentSlip = Math.Clamp(currentSlip, 0.0f, 1.0f);
        float slipRate = (currentSlip - _prevSlip) * 1000.0f; // 1,000Hz 미분
        _prevSlip = currentSlip;

        // Bekker 침하 깊이에 따른 가중치 배분 (침하 깊을수록 스크루 추진 비중 확대)
        float screwWeight = Math.Clamp(sinkageDepth / 0.4f, 0.2f, 0.85f);
        float trackWeight = 1.0f - screwWeight;

        float slipCorrection = _kp * (_targetSlip - currentSlip) - _kd * slipRate;
        float baseTotalTorque = 1200.0f; // Nm
        float regulatedTorque = Math.Clamp(baseTotalTorque + slipCorrection, 200.0f, 2500.0f);

        screwTorqueOut = regulatedTorque * screwWeight;
        trackTorqueOut = regulatedTorque * trackWeight;
    }
}