Modeling and analysis of dynamic behavior of tilting vehicle

This work presents a mathematical model for a three-wheeled narrow vehicle that will serve as a platform for mobility engineering experiments, conducted by the Mechanical and Automation curses of the Federal University of Santa Catarina. This document presents a cinematic and dynamic model of the vehicle, whose main feature is the leaning movement of its body and wheels. In spite of the enhanced mechanical and control projects complexity, the capacity to lean on curves offers better directional stability, which is a limitation for narrow vehicles. The ability to lean the entire vehicle allows the reduction of transversal loads on the wheels, which reduces their mechanical solicitations. Some simplifications were made in the mathematical model to facilitate the analysis of physical aspects inherent to this type of vehicle. The leaning control is achieved by a micro-controlled electro-electronic system that is under development, which is considered here for simulation and model analysis only. Prototypes of actuators and sensors are still under development. Future works will present increased detailing of the dynamic models, enhanced controllers, projects for the mechanical parts and eventually tests of the prototype under development.