Modelado De Piezas

Description speed gearmotors

Once obtained relationships of rotation, through equations Ackerman is part of the following model (Figure 1) to know the velocities of each of the rear wheels, when the vehicle is on a curve.

Figure 1. Model for traction speeds

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In this model the following variables are identified; W ( angular speed of the vehicle ), R ( radius of gyration of the vehicle) , d ( distance between each tire ), L ( wheelbase ) , V ( tangential velocity of the vehicle) , V1 ( speed of the inner wheel rotation) , V2 ( outer wheel speed of rotation ), and θsa ( angle given by Ackerman half wheel ) .

For speeds V1 and V2 the following procedure is followed.

Considering that:

tan⁡θ sa= L/R

R= L/tan⁡〖θsa 〗

V=WR

W= V/R

V1=W [R- d/2]

V2=W [R+ d/2]

Because you have done this prior analysis, programming was done in Excel procedure to obtain a speed ratio V1 and V2 to any angle you propose, thus facilitating analysis and continues with the next step. In Figure 2 the result of programming to an angle of 30 ° is.

Figure 2. V1 and V2 to an angle of 30 °

The next step is to schedule the same thing in the Arduino to check that the results are the same and define which variables and outputs to be proposed for assembling the car will be, and as a last step will gather programming with steering -wheel drive servomotors. In Figures 3 and 4 are shown as C programming language for this analysis was performed.

Figure 3. Determination of variables and outputs to use Arduino

Figure 4. Programming the analysis to define traction speed on a curve

Conclusión

Mario Alberto Muñoz López

Programming the vehicle to follow a path already established served to know the importance of mechatronics in the vehicle, identify the parameters that affect or influence the vehicle dynamics , work in other areas that were not taken into account until today in the race , as this is based much alone in the mechanical ; I also help to enhance our sense of analysis when meet with an engineering problem, because with the structure in sequential and orderly manner , reduces troubleshooting time and thereby optimize time .

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