TAILIEUCHUNG - Radio Controlled Car Model as a Vehicle Dynamics Test Bed

Over the past several years, the automobile industry has been in a period of dramatic turbu- lence. There have been large movements in gasoline prices, taking retail prices to their highest real values ever (Energy Information Administration, Short Term Energy Outlook, January 2007). The Ford F150 pickup fell from its longstanding position as the highest selling car in the . in favor of the Honda Civic (Automotive News, June 5, 2008), while GM lost its position to Toyota as the worldwide leader in new car sales (Barron's, January 21, 2009). Fi- nally, the deteriorating nancial situation of the major . car manufacturers led to special hearings before. | Radio Controlled Car Model as a Vehicle Dynamics Test Bed Paul Yih Dynamic Design Lab Mechanical Engineering Department Stanford University September 2000 1 Table of Contents I. Overview 3 II. Background 3 III. Mechanical Hardware 4 IV. Electrical Hardware 5 V. Software 6 VI. Applications 9 VII. Work in Progress 12 VIII. Acknowledgments 13 Appendix A Single board computer setup procedure 14 Appendix B Code generation with Real-Time Workshop 15 Appendix C RC car operating procedure 16 Appendix D Sample data test data 19 Appendix E Circuit diagram 21 Appendix F Radio interface circuit board 22 Appendix G I O pinouts for radio interface board 23 Appendix H Sensor interface circuit board 24 Appendix I I O pinouts for sensor interface board 25 Appendix J Measuring pulse width with a PIC 26 Appendix K Counting pulses with a PIC 27 Appendix L Simulink m-file 28 Appendix M Device drivers 29 31 33 36 Appendix N PIC code 39 42 Appendix O List of suppliers 45 Appendix P Data sheets 47 2 I. Overview The Dynamic Design Lab has developed a vehicle dynamics test bed using a one quarterscale radio-controlled car. The car has been equipped with an onboard computer and various sensors. The purpose of this report is to describe the major features of the car document operational procedures and demonstrate several research applications. II. Background There are several advantages to using a reduced-scale model instead of a full-scale car for experimental investigation of vehicle dynamics The cost of a full-scale vehicle is prohibitive in terms of initial purchase and replacement parts. It is easier to make modifications to a reduced-scale model. A reduced-scale model requires less space and is much safer to operate. Reduced-scale radio-controlled models of various sizes and types are commercially available typically for recreational use. Initially we purchased and tested a one tenthscale model powered by a DC motor. Limited

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