Simulation on Driving System Used for Differential Steering of Electric Scooter |
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| Authors: | SHU Hongyu XU Yongliang CHEN Qiping REN Kai |
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| Institution: | State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China |
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| Abstract: | To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric
scooter, a model of differential steering was developed. The function of electronic differential steering was realized by
controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with
MATLAB/SIMULINK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive
capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably
at yawing velocities of 10° and 90° per second. |
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| Keywords: | electric scooter driving system differential steering proportion-integration- differentiation |
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