Computer Simulation of Three Wheeled ATV in Constant Radius Turns

This paper describes the modeling approach, control techniques, and results of a general purpose computer simulation program used to model an All Terrain Vehicle (ATV) in six different constant radius turns. The computer model allows complete nonlinear, large-displacement, rigid-body, dynamic analysis of the ATV. The results of the simulation include the position, velocity, and acceleration of all the rigid body centers of gravity, along with information about all forces acting on the ATV throughout the simulation. The normally difficult problem of maintaining a constant radius and speed during the turn was solved using three closed-loop feedback features in the computer model. Finally, variations of the computer model are descibed to demonstrate the broader range of problems that can be addressed.