Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Kinematic Model Based on the Rear Speed and Steering Angle of Three-Wheeled Agriculture Electric Vehicle

농업용 삼륜구동 전기자동차의 후방 속도 및 조향각에 기반한 운동학적 모델

  • Choi, Wonsik (Department of Bio-industrial Machinery Engineering Pusan National University) ;
  • Pratama, Pandu Sandi (Life and Industry Convergence Research Institute Pusan National University) ;
  • Supeno, Destiani (Department of Bio-industrial Machinery Engineering Pusan National University) ;
  • Byun, Jaeyoung (Department of Bio-industrial Machinery Engineering Pusan National University) ;
  • Lee, Ensuk (Department of Bio-industrial Machinery Engineering Pusan National University) ;
  • Yang, Jiung (Department of Bio-industrial Machinery Engineering Pusan National University) ;
  • Keefe, Dimas Harris Sean (Department of Bio-industrial Machinery Engineering Pusan National University) ;
  • Jeon, Yeonho (Keunwoo Tech Co.Ltd) ;
  • Chung, Sungwon (Department of Bio-industrial Machinery Engineering Pusan National University)
  • Received : 2018.08.29
  • Accepted : 2018.09.12
  • Published : 2018.09.30
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Abstract

In this research, tricycle vehicle simulation based on multi-body environment has been introduced. Mathematical model of tricycle vehicle was developed. In this research the left and right wheel speed are calculated based on the rear steering angle and velocity. The kinematic model for the three - wheel drive system was completed and the results were analyzed using the actual vehicle drawings. Through simulink vehicle performance on linear and rotation movement were simulated. Using the mathematical model the control system can be applied directly to the tricycle vehicle. The simulation result shows that the proposed vehicle model is successfully represent the movement characteristics of the real vehicle. This model assists the vehicle developer to create the controller and understand the vehicle during the development process.

Keywords

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Fig. 1 Tricycle schematic

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Fig. 2 tricycle position

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Fig. 4 Dimension of total assembly

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Fig. 5 Simulink simulation of tricyle

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Fig. 6 Steering angle and rear wheel velocity as input

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Fig. 7 Wheels angular velocities as output

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Fig. 9 Steering angle and rear wheel velocity as input

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Fig. 8 Vehicle trajectory

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Fig. 11 Vehicle trajectory

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Fig. 3 Schematic model of tricycle

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Fig. 10 Wheels angular velocities as output

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