Dynamic model and analysis of distributed control system algorithms of three wheel vehicle

The article presents a synthesis of tricycle model with a unique concept of electric power. Conventional, mechanical coupling of a drive wheel with pedals has been replaced by the use of generator and independent motor drives. The essence of the model includes a distributed form of control system. The paper shows the genesis of the project and the motivation that results from the need to verify the condition of the vehicle in operation for a given control structure and parametres before target implementation. For the components of the model: mechanics (kinematics and dynamics), motor drives and central control system relevant mathematical equations and the corresponding signal flow block diagrams were presented. Changes effect in the control structure and in parameters on the dynamic processes occurring in the model were presented for the testing extortion that emulates human driver behavior. The analysis of simulation results were supplemented by quality indicators of the system performance important from a practical point of view. Conclusions and proposes of further research directions were presented.