Modeling of the traction mechanical system and steering mechanical system of the whells of the RAM platform

• Grant number: 15/26353-2
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2016
• End date: May 31, 2017
• Field of knowledge: Engineering - Mechanical Engineering - Mechanical Engineering Design
• Principal Investigator: Mario Luiz Tronco
• Grantee: Victor Sammarco Dias
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

The RAM Platform, developed in NEPAS laboratories, has distributed control of their wheels based on PID controllers, controlled via CAN bus (Controller Area Network), allowing that its displacement based on the Ackermann geometry (Rajamani, 2006). To function in this context, the gains and the acquisition times of the PID controllers must be experimentally determined. This project includes the modeling of the mechanical system of traction and mechanical system of steering of the Platform RAM wheels, and the simulation of this model in Matlab, for empirical determination of acquisition gains and times of the PID controllers of each wheel.