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
2008-01-01
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.File | Dimensione | Formato | |
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