A study of the active steering control on the driven wheel of an autonomous three-wheeler for limited turnings at low speeds

• Main Authors: Chien-Hsing Hsu, 許健興
• Other Authors: Tse-Min Chen
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/96303077407878918554

碩士 === 國立中興大學 === 生物產業機電工程學系所 === 100 === To reduce toeing out and the radius of gyration of a front wheel drive vehicle maneuvering through tight corners at low speeds, this thesis evaluated the dimensions of traction machines and designed the prototype of an autonomous three-wheeler with a four-bar equal-crank linkage steering mechanism for the front wheels and an active controlled driven rear wheel for overturning avoidance. The model of the synchronous gyration center of the wheels was proposed. A PID controller was then installed on the rear driven wheel with which allows the rear wheels to turn in the opposite direction when the front wheels are turning and results in a quicker and more efficient turning. The Freudenstein''s equation was employed to determine the optimal dimensions for the four-bar linkage mechanism of the prototype, too. The final results indicate that the radius of gyration of a three-wheeler set up with the theoretical dimensions, can be reduced by 19% to 29% and the undercutting of the rear wheels can also be prevented. Established and simulated on Solidworks, the proposed model was validated.