As a basic step toward the design of a remotely (wireless) guided robotic system, a dynamic model of an All-Terrain Vehicle (ATV) has been developed, and it is described in this paper. The modelling approach is based on the object-oriented modelling paradigm defined in Modelica, within the Dymola environment, allowing a fully modular approach to physical system modelling and featuring advanced symbolic manipulation techniques and numerical solvers for nonlinear differential-algebraic equations. The crucial steps of the model development were the description of the steering system and of the suspensions, and the modelling of the interaction among tires and terrain. A first virtual rider model has been also implemented, allowing to track both a steer angle and a target speed profile during different maneuvers. Moreover, as an essential feature of the rider model, the displacements of the rider have been also taken into account.

Object-oriented modelling and simulation of an ATV

DONIDA, FILIPPO;FERRETTI, GIANNI;MAGNANI, GIANANTONIO;ZAMPINI, MATTEO
2008

Abstract

As a basic step toward the design of a remotely (wireless) guided robotic system, a dynamic model of an All-Terrain Vehicle (ATV) has been developed, and it is described in this paper. The modelling approach is based on the object-oriented modelling paradigm defined in Modelica, within the Dymola environment, allowing a fully modular approach to physical system modelling and featuring advanced symbolic manipulation techniques and numerical solvers for nonlinear differential-algebraic equations. The crucial steps of the model development were the description of the steering system and of the suspensions, and the modelling of the interaction among tires and terrain. A first virtual rider model has been also implemented, allowing to track both a steer angle and a target speed profile during different maneuvers. Moreover, as an essential feature of the rider model, the displacements of the rider have been also taken into account.
Proceedings of the ISMA2008 International Conference on Noise and Vibration Engineering
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/545092
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