[23MTRN08I]

Modelling & Simulation

Applications II

Dr. George Fam

TWO WHEELED VEHICLE
Practical assessment

Modelling and Simulation 3

 Two-Wheeled Vehicle
➢The shown two-wheeled
robot vehicle, the front y1

third wheel is simply a free-

swinging castor that is not
driven. Each of the two
rear wheels is driven by its
own motor and associated O1 x1
control system. L

Modelling and Simulation 4

➢ The robot motion will be simplified into 2 modes:
➢ Pure translation: in which both driving wheels
rotate in same direction with same speed.
➢ Pure rotation about the origin O1(x1,y1) : in which
both wheels rotate in opposite direction with same
speed.
➢ The translation mode starts with acceleration till the
robot reaches a speed of 0.5 m/s followed by steady
speed motion and ended by brakes to stop at the
end of its path.
➢ A similar attitude is adopted for rotation but with
maximum rotation speed of 1 rad/s.
Modelling and Simulation 5
➢ The distance between the wheels is L = 200mm,
whereas the wheel radius is 20mm. The total mass
of the robot is 20kg and its mass moment of inertia
is 0.2 kg.m2. Taking the axle midpoint as a reference
point for the coordinate system (x1, y1).
➢ Taking into consideration that the 0.2 N.m motor
torque is converted into a thrust force of Ft=T/r at
each wheel, and applying the dynamic force/torque
equilibrium equations from Newton’s second law (F
= m a, T = I α, assuming no slip occurs at the wheels)

Modelling and Simulation 6

 Equations of motion - Translation

Tmotor=Fthrust*rwheel

➢ For linear translation:

ΣF=m.a y1
Σ (Fthrust-Fresistance) = m.ay1
Tmotor/rwheel = m.ay1
Ft Ft
For steady speed a
→ No acceleration
Tmotor = 0 O1 x1
L
Modelling and Simulation 7
Block Diagram - Translation

Modelling and Simulation 8

 Translation

Modelling and Simulation 9

 Translation with speed limit

function Tm = fcn(v)

if v>=0.5
Tm=0
else
Tm=0.2
end
Modelling and Simulation 10
Translation with speed limit

Modelling and Simulation 11

 Equations of motion - Rotation

Tmotor=Fthrust*rwheel
➢ For pure rotation:
ΣT= I. α
y1
Σ (Fthrust*L/2) = I. αZ1
Tmotor L / rwheel = I. αZ1

Ft
For steady speed
→ No angular acceleration α
Tmotor = 0 x1
O1
L
Modelling and Simulation 12
Ft
Block Diagram - Rotation

Modelling and Simulation 13

Block Diagram - Rotation

Modelling and Simulation 14

 Rotation with speed limit

function Tm = fcn(w)
if w>=1
Tm=0
else
Tm=0.2
end
Modelling and Simulation 15
Translation with speed limit

Modelling and Simulation 16

Creation of Subsystem

Modelling and Simulation 17

 References
• For additional information and examples, please
check: William J. Palm, “MATLAB for Engineering
Applications”, 4th edition, McGraw Hill, ISBN:
9781260084719 (2019) – Chapter 10.

Dr. George Fam Modelling and Simulation 21