Estudo de um Sistema de Diferencial Eletrônico para um Protótipo em Pequena Escala de Tração Individual nas Rodas Traseiras

Abstract

The article describes the development of a small-scale prototype with individual traction on the rear wheels, focusing on the implementation of an Electronic Differential System (EDS) to coordinate the motors and allow for independent speeds in curves. Utilizing an Arduino as the control unit and creating a scaled-down prototype with four wheels, where wheel speed management is done by the Ackermann algorithm, simulated in Matlab software. This study aims to compare the simulated trajectory with experimental results obtained by recording the prototype’s trajectory on a sheet with metric axes, using different colored pens to mark trajectories in three distinct stages, with specific steered directions. The study focuses on analyzing the relative error between simulated points and those obtained experimentally with the prototype. As a result of the tests, a maximum average error of 6 % was obtained, which confirms the predictability of the vehicle’s trajectory when using the Ackermann algorithm.