Simulation and analysis of three wheeled reverse trike vehicles with PID controller

摘要

This research aims to simulate and analyze the dynamics behavior of handling three-wheel reverse trike when it is turning using MATLAB. The 3-degree of freedom of vehicle model was used in this study. Equations of motion is derived based on Newton laws. The simulation of vehicle turningpath for some inputs with/without a controller is performed. The steering angle input of 10, 15, and 20 degrees and speed input of 10, 20, and 30 km/h is used. The controllerwas employed to optimize vehicle handling stability of the three-wheeled vehicle. The simulation showed that the trajectory of three-wheeled reverse trike vehicles produces a turning radius about2 meters, however the trajectory is more preserved when PID controller is used. Simulation also shown that if steering of angle 10, 15, and 20 degrees, the vehicle will corner with radius of.4, 2.6 and 4 meters respectively. Whereas with PID control, the vehicle will corner with radius maximum of 2, 4.5, and 7 meters respectively. It is concluded that the trajectory of three-wheeled vehicle increases when the speed increases. Whereas steering angle increases, the turning radius of vehiclesdecreases.