Online switched model identification platform for an electric tricycle

Abstract

In this article is presented an electronic experimental platform or kit; this platform consists of an electronic circuit board, a handlebar position-sensor and a capacitive sensor on the front wheel. The platform is intended to obtain a set of linear mathematical models of an electric tricycle for different driving situations. Such models have the throttle-position and the handlebar-angle as inputs and the yaw angle, positioning and speed as states. The models are calculated in realtime, at the same time acquisition data is preserved in a SD-memory if desired. Applications of this platform are dynamical modeling, educational purposes, safety systems and autonomous vehicles control design among others. This low-cost platform can be adapted to any electric tricycle and extended for its use on e-bicycles and electric 4-wheeled vehicles.