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## Analysis of the motion of a platform with distributed drive consisting of n elements

### Krzysztof Krzysztoń

#### Abstract

This diploma dissertation concerned the study of a vehicle consisting of the number of elements defined as n. The construction of an existing facility was examined and based on it a model of the next platform segment was created, for which this platform would be enlarged. The current vehicle had to be started up and converted to be able to move with four-wheel drive. Work was also carried out to regenerate and rebuild the electrical system, along with the battery that supplied it. Also analyzed how the control and power system should be remodeled to add more platform elements. After the analysis of the control system, its application and the benefits of its use have been described. The theoretical part contains considerations on the optimal method of angle measurement, where three methods were proposed: indirect - by measuring the distance consisting in calculating the angle from geometric dependencies, taking into account the possibility of using two different sensors; angle measurement based on the compass and location of the vehicle, relative to the Earth's magnetic field and the angle measured directly by the Hall sensor. The characteristics and typical data frame of the CAN bus are also presented. The next part contains drawings and a description of the platform data on the basis of which the maximum turning angle of the platform was calculated so that there is no collision between the segments. The value of the obtained angle has been used to calculate the minimum turn radius at which the platform can move. The differences between the speeds on the wheels were also determined depending on the given angle, which platform should be turned and the speed at which it moves. Then, the angular position for each subsequent platform element was calculated relative to first member and its general equation was determined. The work proposed a method of steering the vehicle and made calculations necessary for it. On the basis of all these equations, a simulation model was created in the Matlab Simulink program. From the simulation, the rotational speed for each of the wheels in the platform consisting of 5 members was read. The path that each segment of the platform will defeat is also illustrated. The conclusions were derived from the results obtained.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Krzysztof Krzysztoń (FACME) Krzysztof Krzysztoń,, Faculty of Automotive and Construction Machinery Engineering (FACME)
Title in Polish
Analiza ruchu platformy z napędem rozproszonym składającej się z n elementów
Supervisor
Jędrzej Mączak (FACME/IV) Jędrzej Mączak,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Krzysztof Szczurowski (FACME/IV) Krzysztof Szczurowski,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Certifying unit
Faculty of Automotive and Construction Machinery Engineering (FACME)
Affiliation unit
Institute of Automotive Engineering (FACME/IV)
Study subject / specialization
, Inżynieria Pojazdów Elektrycznych i Hybrydowych
Language
(pl) Polish
Status
Finished
Defense Date
12-07-2019
Issue date (year)
2019
Internal identifier
SIMR; D-2210
Reviewers
Przemysław Szulim (FACME/IV) Przemysław Szulim,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME) Krzysztof Szczurowski (FACME/IV) Krzysztof Szczurowski,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Keywords in Polish
Pojazdy przegubowe, Napęd rozproszony, CAN, Napęd elektryczny
Keywords in English
Jointed vehicle, Distributed drive, CAN, Electric drive
Abstract in Polish
File
• File: 1
Krzysztof_Krzysztoń.pdf
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Local fields
Identyfikator pracy APD: 34323

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUTbaf1b98126bc47ee9a7202c340b41257/
URN
urn:pw-repo:WUTbaf1b98126bc47ee9a7202c340b41257

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