| Abstract [eng] |
The research objective is to evaluate the dynamic stability properties of an electric moped using physical testing and a mathematical model. A literature analysis is performed, discussing which parameters influence the handling of small vehicles. The Whipple–Meijaard two-wheeled vehicle dynamic model is discussed, which will be used to calculate the stability values of the prototype. To compare how geometric parameters influence moped handling, the moped is modeled in a Solidworks environment, where geometric parameters can be adjusted. A prototype matching the 3D models is manufactured from steel tubes, an electric motor, a motor controller, a lithium-ion battery, and wheels. A sensor system is prepared to measure moped accelerations and gyroscopic moments at the center of mass, steering angle, and wheel speed, saving the measured data to a MicroSD card. The following experiments are conducted: constant radius turn test – riding at 10 km/h in a 5 m radius circle several times, observing if the moped remains easy to control during a constant turn; sudden avoidance maneuver test – while coasting at 15 km/h, the steering is turned suddenly, observing how the moped stabilizes after the disturbance; Capsize limit deceleration test – coasting from 15 km/h and observing when the moped begins to tip over on its own. After performing the physical tests, the results are compared with the mathematical model results. |
