Dynamic modelling and validation of tracked vehicle with in-track motor
This paper addresses dynamic modelling and validation of a tracked vehicle, as well as provides an in-depth examination of an in-track DC motor system. The characteristics of the DC motor will be rigorously assessed, providing a foundational understanding to enhance vehicle control and mobility. Fur...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Penerbit Universiti Kebangsaan Malaysia
2024
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| Online Access: | http://journalarticle.ukm.my/25744/ http://journalarticle.ukm.my/25744/1/24.pdf |
| _version_ | 1848816439051419648 |
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| author | Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Nurulhani Adlina Madzan, Khisbullah Hudhab, Zulkiffli Abd. Kadir, Syed Mohd Fairuz Syed Mohd Dardin, Saiddi Ali Firdaus Mohamed Ishak, |
| author_facet | Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Nurulhani Adlina Madzan, Khisbullah Hudhab, Zulkiffli Abd. Kadir, Syed Mohd Fairuz Syed Mohd Dardin, Saiddi Ali Firdaus Mohamed Ishak, |
| author_sort | Noor Amira Ilyanie Ruslan, |
| building | UKM Institutional Repository |
| collection | Online Access |
| description | This paper addresses dynamic modelling and validation of a tracked vehicle, as well as provides an in-depth examination of an in-track DC motor system. The characteristics of the DC motor will be rigorously assessed, providing a foundational understanding to enhance vehicle control and mobility. Furthermore, an independent DC motor controller will be developed through an inverse model database of its characteristics. The model validation process will involve various trajectory types, including right and left turns. The real vehicle was equipped with an Arduino Mega and MPU6050 accelerometer sensor, along with the DC motor controller unit. Data acquisition was developed by integrating Arduino and the MATLAB/Simulink simulation environment. The proposed model was validated by evaluating the Root Mean Square (RMS) of the percentage error between the values of the experiment and the model prediction. It was found that, for right and left turns of the vehicle, the percentage error produced is below 12.7% which shows the model is able to follow the path in real conditions, providing a foundation for future advancements in transportation and autonomous technology. |
| first_indexed | 2025-11-15T01:05:53Z |
| format | Article |
| id | oai:generic.eprints.org:25744 |
| institution | Universiti Kebangasaan Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:05:53Z |
| publishDate | 2024 |
| publisher | Penerbit Universiti Kebangsaan Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:generic.eprints.org:257442025-08-12T07:18:54Z http://journalarticle.ukm.my/25744/ Dynamic modelling and validation of tracked vehicle with in-track motor Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Nurulhani Adlina Madzan, Khisbullah Hudhab, Zulkiffli Abd. Kadir, Syed Mohd Fairuz Syed Mohd Dardin, Saiddi Ali Firdaus Mohamed Ishak, This paper addresses dynamic modelling and validation of a tracked vehicle, as well as provides an in-depth examination of an in-track DC motor system. The characteristics of the DC motor will be rigorously assessed, providing a foundational understanding to enhance vehicle control and mobility. Furthermore, an independent DC motor controller will be developed through an inverse model database of its characteristics. The model validation process will involve various trajectory types, including right and left turns. The real vehicle was equipped with an Arduino Mega and MPU6050 accelerometer sensor, along with the DC motor controller unit. Data acquisition was developed by integrating Arduino and the MATLAB/Simulink simulation environment. The proposed model was validated by evaluating the Root Mean Square (RMS) of the percentage error between the values of the experiment and the model prediction. It was found that, for right and left turns of the vehicle, the percentage error produced is below 12.7% which shows the model is able to follow the path in real conditions, providing a foundation for future advancements in transportation and autonomous technology. Penerbit Universiti Kebangsaan Malaysia 2024-09 Article PeerReviewed application/pdf en http://journalarticle.ukm.my/25744/1/24.pdf Noor Amira Ilyanie Ruslan, and Noor Hafizah Amer, and Nurulhani Adlina Madzan, and Khisbullah Hudhab, and Zulkiffli Abd. Kadir, and Syed Mohd Fairuz Syed Mohd Dardin, and Saiddi Ali Firdaus Mohamed Ishak, (2024) Dynamic modelling and validation of tracked vehicle with in-track motor. Jurnal Kejuruteraan, 36 (4). pp. 2063-2074. ISSN 0128-0198 https://www.ukm.my/jkukm/volume-3605-2024/ |
| spellingShingle | Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Nurulhani Adlina Madzan, Khisbullah Hudhab, Zulkiffli Abd. Kadir, Syed Mohd Fairuz Syed Mohd Dardin, Saiddi Ali Firdaus Mohamed Ishak, Dynamic modelling and validation of tracked vehicle with in-track motor |
| title | Dynamic modelling and validation of tracked vehicle with in-track motor |
| title_full | Dynamic modelling and validation of tracked vehicle with in-track motor |
| title_fullStr | Dynamic modelling and validation of tracked vehicle with in-track motor |
| title_full_unstemmed | Dynamic modelling and validation of tracked vehicle with in-track motor |
| title_short | Dynamic modelling and validation of tracked vehicle with in-track motor |
| title_sort | dynamic modelling and validation of tracked vehicle with in-track motor |
| url | http://journalarticle.ukm.my/25744/ http://journalarticle.ukm.my/25744/ http://journalarticle.ukm.my/25744/1/24.pdf |