wheel velocity

[yabande]

Assume a vehicle with four independently driven in-wheel motors on slope.


How can I calculate each wheel velocity? By knowing, the vehicle velocity, slope angle and each wheel torque.

thanks,

 

[GregLocock]

You need to know at least one more dimension for each wheel, and might well need to know far more than that.

Cheers

Greg Locock


New here? Try reading these, they might help FAQ731-376

http://eng-tips.com/market.cfm?

 

[IRstuff]

Why don't you get the data from the motor controllers directly?

TTFN

FAQ731-376

 

[rmw]

Since you have give slope angle and torque as a condition, is there any slippage?

rmw

 

[yabande]

I have the vehicle and wheels dimensions and I calculated the normal force acting on each wheel.
There is a slippage for each wheel on the slope.


(Wheel Traction force – wheel resistance force – wheel mass * g* sine (slope angle))/ Wheel mass= wheel acceleration

So I can find wheel velocity by integration of acceleration.

Is there more to consider?

 

[IRstuff]

And, what did you do with the torque and the wheel inertia?

Is this for school?

TTFN

FAQ731-376

 

[yabande]

I am wondering , why sensors have a difficulty to measure linear velocity online?

traction force is the result of motor torque.

if you think the question is too easy and don't want to answer it, plz dont write spam.

 

[zekeman]

"There is a slippage for each wheel on the slope.


(Wheel Traction force – wheel resistance force – wheel mass * g* sine (slope angle))/ Wheel mass= wheel acceleration

So I can find wheel velocity by integration of acceleration."

Really?

I get infinity for the speed of the slippig wheels and you can't get vehicle speed from slipping wheel speed.

This sounds like a ridiculous homework problem. Ask your professor what he thinks the answer should be.

 

[yabande]

I want to measure the wheel slippage on the soil.and I knew the vehicle velocity!, I need the each wheel linear velocity.

 

[IRstuff]

So, what's wrong with multiplying the rotation rate by the radius?

TTFN

FAQ731-376

 

[yabande]

I have tried that, haven't got right number! looks very easy but I am struggling with this.

 

[IRstuff]

How do you know it's not the right answer?

TTFN

FAQ731-376

 

[yabande]

it is not match with tractive force V.s slip ratio for this particular soil type.

 

[vpl]

I have tried that, haven't got right number! looks very easy but I am struggling with this.

How do you know you don't have the right number? What have you tried? What resources have you used to arrive at your answer?

When I check calculations, I frequently ask for the source of any equations used -- so that I can verify that they're being used correctly. I'd have a hard time with "someone on this free internet site told me that this was the way to calculate wheel velocity." (I'd also question anyone using wikipedia as their source, even if it was correct ...)

Patricia Lougheed

******

Please see FAQ731-376: Eng-Tips.com Forum Policies for tips on how to make the best use of the Eng-Tips Forums.

 

[IRstuff]

Too high, too low, what? How do you know that the "slip ratio" is the correct value for whatever you're comparing against?

TTFN

FAQ731-376