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KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2016 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Avancerad radiostyrd bil (Swedish)
Abstract [en]

This report contains improvements of the radio controlled car which is developing an electronic differential and a speed controller. The report contains theory of engine modelling, steering and testing of these theories. Ackerman steering is used to get different steering radius of the inner and outer wheel when cornering. In order to regulate the velocity of the rear wheels they are individually controlled by implementing two separate controllers one for each wheel. To control the system PD-controllers is used for a fast rise time, two types of PD-controllers are tested, feed-back and feed-forward.

A demonstrator was constructed to execute the two tests, one of the test was to determine the electronic differentials efficiency by measuring the cornering ability of the car with and without differential at different speeds. The second test was performed to determine which regulator gave the fastest controlling of the speed. This by exposing both controllers with different test scenarios.

Based on our tests the conclusion is drawn that the electronic differential had a very positive impact on the turning radius. While testing, the controllers showed only a small difference, where the feed-forward controller was slightly faster in some of the tests.

Abstract [sv]

Rapporten behandlar förbättringar av den radiostyrda bilen med fokus på utveckling av en elektronisk differential samt reglering av hastigheten. I rapporten kommer teori kring motormodellering och styrning, samt tester av dessa teorier. Ackerman-styrning användes för att få olika radie på inner och ytter hjulen vid kurvtagning. För att kunna reglera hasigheten på bakhjulen individuellt implementerades två separata regulatorer. För reglering av hastighet på bakhjulen användes PD-regulatorer för en snabb stigtid, två typer av PD-regulatorer testades en feed-back och en feed-forward.

En demonstratör konstruerades för att möjliggöra tester av forskningsfrågorna. Det första testet utfördes för att undersöka den elektroniska differentialaxelns inverkan på bilens förmåga att ta kurvor i olika hastigheter. Det andra testet genomfördes för att undersöka vilken regulator som gav den snabbade regleringen av hastigheten. Detta genom att utsätta regulatorerna för olika test senarior.

Utifrån testerna kunde slutsatsen dras att den elektroniska differentialen har en mycket stor positiv inverkan på bilens sväng radie. Medan testerna av regulatorerna endast gav en marginell skillnad men Feed-Forward regulator var något snabbare i en del av testerna.

Place, publisher, year, edition, pages
2016. , 36 p.
, MMKB 2016:31 MDAB092
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-191521OAI: diva2:957133
Available from: 2016-09-01 Created: 2016-09-01 Last updated: 2016-09-01Bibliographically approved

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