Week 7 Challenge
Forces on the Vehicle
Total Tractive Force
1.Rolling Resistance Force(Frr)
2.Aerodynamic drag force(Faero)
3.Hill climbing Force(Fhc)
4.Acceleration Force(Fxi)
Rolling Resistance Force
µrr - Rolling Resistance Constant
m - Mass of the Vehicle
g - Gravitational acceleration constant
Aerodynamic Drag Force
ρ – Air Density kg/m3
A – Frontal Area m2
Cd – Drag Coefficient
v - Velocity of the Vehicle m/s
Hill Climbing Force
Linear Acceleration Force
Total Tractive Force = Frr + Fad + Fhc + Fla + Fwa
Frr - Rolling Resistance Force
Fad – Aerodynamic Drag Force
Fhc - Hill Climbing Force
Fla - Linear Acceleration Force
Fwa - Angular Acceleration Force
Vehicle Model
The above model is developed using newtons laws of motion fundamental, initially, the forces acting on the body are calculated and are subtracted with the force required. The final velocity obtained is given to the PID controller of the vehicle, thereby forming a closed-loop control system.
The model is attached below.