Wheel Rotation Research Articles

Theoretical analysis and experiment of seed-picking mechanism of belt high-speed seed-guiding device for corn

Under the condition of high-speed sowing (12-16 km/h), due to the high rotational speeds of the seed disk, the seeds leave the disk at an excessively high speed, which challenges the seed-picking capacity of the belt-type high-speed seed guide device. In this paper, the theory of seed-picking mech-anism is analyzed, and performance optimization tests are completed to further improve the operation effect of the seeder. The mechanical model of seed picking was established through the force analysis of seeds. The influence of vacuum degree, feeder wheel rotation speed, and seed picking angle on seed picking quality and the parameter range of each factor were obtained by single factor test. A three-factor five-level quadratic orthogonal rotation combination test was performed, and the test re-sults were refined and evaluated. The test factors used were vacuum degree, feeder wheel rotation speed, and seed picking angle. The test indexes used were the seed picking rate, re- picking rate, and miss- picking rate. According to the results, the seed picking rate was 99.89%, the re-picking rate was 0, and the miss-picking rate was 0.11% when the vacuum degree was 6.89KPa, the feeder wheel rota-tion speed was 568.95rpm, and the seed picking angle was 7.6°.

Risks that induce bicycle accidents: Measurement and analysis of bicyclist behavior while going straight and turning right using a bicycle simulator

In 2021, 69 % of those who died in Japan while riding a bicycle were of an older age. Preventing such accidents is an important issue because older bicyclists are more likely to be fatally injured in an accident. We developed a bicycle simulator that can safely simulate dangerous traffic environments by combining VR technology, motion capture technology, and various sensors to investigate the driving behavior of bicyclists who are involved in accidents. The simulator measures operating data such as floor reaction force, wheel rotation angle, brake lever displacement, position and posture of motion capture devices, and position and posture of the bicycle and vehicles at 60 Hz. We projected images of the virtual traffic environment to reflect the driving behavior in real-time onto three screens installed at the front, right side, and rear of the bicycle using three projectors. The constructed simulator was implemented for a “crossing inspection” where a rider checks for safety in front and behind while riding down a straight road with one lane and crossing this roadway and compared this to a “tracing inspection” where a model route is traced using a previously measured safe route taken by a younger rider. We measured and analyzed the bicyclist behaviors of nine younger and six older participants during two types of inspections as a usability study. In the crossing inspection, the crash rate for the older riders in the near lane was 5.3 times higher than that for the young. Riders collided with vehicles exhibited minimal rearward checking angles before entering a roadway, extended durations from the end of the last rearward check to roadway entry, and considerable standard deviations during road crossings. Moreover, in the tracing inspection, younger participants demonstrated superior trajectory passage rates and maintained closer proximity to the model, whereas older participants manifested diminished trajectory passage rates and remained at more extended distances from the model. Notably, a declining trajectory passage rate corresponded to an increase in the standard deviation of the crossing route and the time taken to enter the roadway.

The Effectiveness of Using Continuous Variable Transmission (CVT) in 2WD Buggy Vehicles

Continuous Variable Transmission (CVT) is a transmission system that does not have gears like in manual transmission cars or conventional automatic transmission cars. CVT has the advantage of being able to maintain the proper rotational speed at any time in terms of engine efficiency by changing the speed ratio flexibly and continuously. A continuously variable transmission (CVT) is a transmission that can change steplessly through an infinite effective gear ratio between maximum and minimum. This is in contrast to other mechanical transmissions which only allow a few different gear ratios to choose. The flexibility of the CVT allows the drive shaft to maintain a constant angular speed over the output speed range. Torque is transmitted from the drive to the pulley which is driven by friction acting between the belt and pulley surfaces. Tests were carried out using a dynotest to obtain wheel rotation data and the resulting torque. The loading is given from 3 kg, 5 kg, 7 kg and 8 kg, the engine rpm used is 5500 rpm, 6000 rpm, 6500 rpm, 7000 rpm and 8000 rpm. Rear wheel rotation is inversely proportional to the load, the greater the load the rotation will decrease. Load is directly proportional to torque, the greater the load given the torque will increase. The CVT system is still effective for use as a power successor. The power that can be transmitted is still greater than 50%, namely 68%.

Innovative design: Flexible conductive natural rubber electrode sheets with triboelectric generator activated by wheel rotation

Efficient consumption and clean energy management play a vital role in green energy. To be a part of this effort. Among the materials explored, flexible conductive electrodes utilizing triboelectric phenomena and unique properties of natural rubber composites have demonstrated a great potential for mechanical-to-electrical energy conversion. Fabrication process involves modifying natural rubber latex by incorporating conductive fillers such as carbon black, Ketjen black, and multiwall carbon nanotubes. The modified flexible conductive natural rubber sheets (CNRs) are then characterized for their structural and electrical properties. This structural arrangement significantly reduces the electrical resistance of the NR sheets. The incorporation of the MWCNT fillers leads to an increase in dielectric constant of CNRs. These properties are optimized via a proper design of the conductive natural rubber sheet triboelectric nanogenerator (CNRS-TENG). To enhance charge accumulation, polytetrafluoroethylene (PTFE) film is applied to the bottom surface of the CNRs. The CNRS-TENG are integrated into a wheel rotation generator setup. The output performance of the wheel rotation generator is influenced by the rotational speed as well as the arrangement of phases and segments. This work demonstrates that CNRs can be integrated with flexible electronic and other energy harvesting devices, opening possibilities for multifunctional clean energy solutions.

Ways to increase the stability of the movement of cars at small and large angles of rotation of the controlled wheels

The controllability and stability of the car are the most important operational properties and components of the active safety of its movement. Currently, the issues of creating active security systems are actively engaged all over the world. The purpose of the work is to analyze ways to increase the stability of the movement of a two—axle wheeled vehicle at small and large angles of rotation of the controlled wheels. A new method is proposed for analyzing ways to increase the stability of a two-axle wheeled vehicle, characterized in that it allows, based on the application of the second Lyapunov method, to identify methods to increase the stability of movement at small and large angles of rotation of controlled wheels. The analysis of the stability of the movement of two-axle wheeled vehicles at large rotation angles of controlled wheels with various traction and steering drive schemes is carried out. It is proved that for a two-axle wheeled vehicle with all driving and steerable wheels at small angles, the corrective steering angle on the rear axle should be directed towards reducing the angle of rotation of the front wheels of the rear axle modulo and, in addition, the rotation of the rear steerable wheels should begin later than the rotation of the front, i.e. with a delay. Keywords: сontrollability and stability of wheeled vehicles; large rotation angles of the driven wheels; redistribution of torques

Разработка ветрового устройства специальной конструкции для отдаленных сельскохозяйственных объектов

The object of the study is a wind turbine with a vertical axis of rotation. The main problem of operating wind farms with a horizontal axis of rotation includes: the need for constant guidance to the wind, cantilever tension at the attachment point of the blades, uneven rotation of the wind wheel. A vortex wind device with a vertical axis of rotation eliminates wind guidance mechanisms, cantilever tension of the blades, ensures uniform rotation of the wind wheel. The wind device has a concentrator with curved channels that concentrate the flow onto the blades of the wind wheel and create a vortex motion, which is enhanced by the thrust of the vertical pipe. A feature of the development is the steady vortex motion created inside the concentrator, which ensures uniform and stable rotational movement of the wind wheel in unstable wind flow. Based on mathematical modeling and experimental studies, an experimental model and a semi-industrial installation were developed.

Экспериментальные исследования режимов скоростного шлифования рельсов

Introduction. Rails’ grinding in the conditions of a railway track is a priority for extending its life cycle due to the timely removal of tread surface defects and formation of required transverse profile. Today, 14 RSHP-48 rail grinding trains are used in Russia. At the same time, most rail grinding trains are ending its service life. Therefore, the development of a fundamentally new rail grinding train with increased efficiency is an urgent task. Siberian transport university is working together with the Kaluga plant “Remputmash” to create a new rail grinding train named RSHP 2.0. The rail grinding train RSHP 2.0 is based on the technology of high-speed rail grinding, which is based on increasing working speed of rail grinding train by increasing rotational speed of grinding wheels and setting the angle of attack. The aim of this work is to study rails’ grinding modes on a specially designed installation URSH, which implements the technology of high-speed grinding rails by increasing speed of grinding wheels rotation up to 5,000 rpm. Research methods. Grinding wheel speed control was carried out by IT-5-ChM “Termit” electronic tachometer and “Megeon 18005” laser tachometer. The angle of attack of grinding wheel was measured by digital, three-axis accelerometer-inclinometer ATst 90. The force of pressing grinding wheel to the rail was evaluated by strain-resistive sensors M50-0.5-C3. The measurement of head rail transverse profile before and after grinding and evaluation of metal removal were carried out by a PR-03 rail profiler. The width of grinding track was controlled by ShTsTs-I-300-0.01 caliper. The surface roughness of rail sample after machining was measured by TR 200 portable instrument. Results and discussion. Based on research results of CRS, the parameters of the working equipment of designed grinding rail train, which implements the technology of high-speed rail grinding, the influence of grinding modes on the formation of the quality parameters of the machined rail surface are established, and the optimal values of the forces of pressing the grinding wheel to the rail are determined.

Particle motion analysis and performance investigation of a fertilizer discharge device with helical staggered groove wheel

Enhancing the uniformity of fertilizer particles flow is crucial in fertilizer discharge device research, and the analysis of particle motion process contributes to improving fertilization performance. In this study, the discrete element method was employed to conduct a phenomenological analysis and numerical investigation of the particle motion characteristics influenced by structural feature parameters of the groove wheel-type fertilizer discharge device. A performance evaluation model based on the uniformity of fertilizer discharge and supplemented by the flow characteristics and mechanical properties of particles was established. The results demonstrated that the particles flow within the fertilizer bin exhibits a recirculating surge induced by the rotation of the groove wheel. The geometric morphology of the outer edge grooves and their spatial distribution along the groove wheel circumference affect the uniformity of fertilizer filling and discharge mass flow rate. The force exerted on the fertilizer particles and their potential breakage are primarily concentrated during the fertilizer compaction stage, while the particles flow forms a convergence due to the sliding of the fertilizer along the discharge slope. After optimization, the discharge CV is reduced from 91.54 % to 31.48 %, and the uniformity is improved by 60.06 %. This study proposes a helical staggered groove wheel fertilizer discharge device structural model, providing new insights for the optimization of agricultural fertilization machinery equipment.

Development and testing of a ground recognition system for tractor field operations

To overcome the problems of poor recognition accuracy, slow response speed, and unsuitable for farmland ground environment based on the traditional ground recognition method of vehicle mathematical model, this paper proposes a ground recognition system for tractor field operation based on wheel acceleration. A wheel acceleration sensor and data acquisition device are designed, and a ground recognition algorithm based on Principal Component Analysis - Genetic Algorithm optimization of an Extreme Learning Machine (PCA-GA-ELM) is investigated. The system can collect acceleration samples and extract statistical features in different frequency bands in real time according to the cycle of wheel rotation and then use the trained recognition model to recognize the ground type. In the actual operation process, this system only needs to collect the acceleration test data of one rotation of the tractor wheels to achieve the recognition of the ground. The test set data show that this system achieves 96 % discrimination accuracy, higher than the 87 % of the ELM model without genetic algorithm optimization and 92 % of the GA-BP neural network model. In addition, the real-time ground recognition test shows that the increase in operation speed will slightly reduce the accuracy of the recognition model, but the overall can still maintain 94–98 % accuracy, indicating that the system has good stability. This system can provide a reference for real-time speed adjustment, implement position, and other control parameters during tractor operation.

Effects of thermo-chemical treatment and grinding process of external cylindrical surfaces on residual stresses in 13CrMo4-5 steel

This paper presents a study aimed at determining the effect of the carburizing treatment process and the subsequent grinding process on the residual stresses occurring in ring-shaped specimens made of 13CrMo4-5 steel.During the tests, vacuum carburizing was used, achieving an effective case depth ECD = 0.5 mm. Subsequently, the cylindrical outer surfaces of the samples were ground by conventional plunge grinding and with innovative kinematics using a test stand based on a conventional flat-surface grinding machine. As part of the study, microhardness and residual stresses were measured before and after grinding. Measurements were carried out to a depth of 1 mm. The main component of the stand is an original special device that allows the cylindrical specimen to be clamped. Then the angle between its axis of rotation and the axis of rotation of the grinding wheel is set with respect to the plane of the grinding machine’s magnetic table. In the described tests, the axis of rotation of the cylindrical specimen was deviated from its original position by 15 and set at an angle of 75 to the axis of rotation of the grinding wheel. The specimens were ground with a grinding wheel of noble electro-corundum marked 38A60K8V. In both kinematic cases of the grinding process, a machining allowance of 0.01 mm was removed.Grinding using innovative kinematics did not cause any significant changes in the microhardness distribution, either for vacuum or conventional carburizing. In addition, residual stress measurements using the Dawidenkov-Sachs method showed that innovative grinding enables a more favourable distribution than those obtained after conventional plunge grinding.Further research will focus on, among others, selecting the angular settings of the workpiece axes relative to the grinding wheel axes depending on their dimensions. Grinding guidelines should include coverage ratio, infeed value, grinding time, and peripheral speeds. In addition, the plan for future research includes measuring the components of the grinding force and the geometric structure of the surface.Grinding process is a crucial stage of steel treatment in almost every industrial branch. In sustainable manufacturing, it is extremely important to produce high-quality items while reducing the cost of manufacturing and taking care of the environment and workers’ health.The proposed test stand, together with the authors’ device, makes it possible to conduct machining of the external surfaces of cylindrical workpieces on a flat surface grinder. In this case, the innovation of the grinding process consists of the non-parallel alignment of the cylindrical rotational axis of the specimen and the rotational axis of the grinding wheel with respect to the plane of the magnetic grinding table.

Design and Analysis of the Braking System to Improve Heat Dissipation by Utilizing the Multi-Material Concept

A drum brake consists of a rotating cylinder that is pressed against by a set of shoes or pads, which creates friction. Cast iron is the typical material for this. When the brakes are applied, friction develops on the drum's inner surface, slowing or stopping the wheel's rotation and bringing the vehicle to a halt. The development of heat, especially in the braking systems of automobiles, is the primary issue that must be dealt with. Brake drums for cars are typically constructed of cast iron. Multi-material brake drums, such as those with a Nickel alloy coating over cast iron, have replaced traditional brake drums. The behavior of these two setups needs to be investigated. Brake drum modeling is being done in CREO, and ANSYS will be used for structural and thermal analysis. Stress, strain, and heat dissipation % are just few of the factors we'll be comparing. Additionally, we have conducted nickel coating experiments on cast iron using an electroplating procedure, varying the layer thickness from 10 to 15 to 25 microns.

Design and Analysis of the Braking System to Improve Heat Dissipation by Utilizing the Multi-Material Concept

A drum brake consists of a rotating cylinder that is pressed against by a set of shoes or pads, which creates friction. Cast iron is the typical material for this. When the brakes are applied, friction develops on the drum's inner surface, slowing or stopping the wheel's rotation and bringing the vehicle to a halt. The development of heat, especially in the braking systems of automobiles, is the primary issue that must be dealt with. Brake drums for cars are typically constructed of cast iron. Multi-material brake drums, such as those with a Nickel alloy coating over cast iron, have replaced traditional brake drums. The behavior of these two setups needs to be investigated. Brake drum modeling is being done in CREO, and ANSYS will be used for structural and thermal analysis. Stress, strain, and heat dissipation % are just few of the factors we'll be comparing. Additionally, we have conducted nickel coating experiments on cast iron using an electroplating procedure, varying the layer thickness from 10 to 15 to 25 microns.

Turning the Wheel through the Ages

Methods for reliably generating alternating current via placing metal coils in a rotating magnetic field were discovered by two individuals almost simultaneously: Italian engineer and physicist, Galileo Ferraris, and Austrian-American engineer, Nikola Tesla. While Tesla attained the patent for the AC-generator, Ferraris, who published the discovery a few months prior, is credited with having paved the way for the modern-day alternator, now used ubiquitously.The origins of rotational energy conversion can be traced back to sugar plantations in the 1600s. At that time, the milling process was initially sustained through slave-driven turning of a wheel, which was geared to large wooden rollers that would squeeze sugar cane. The Caribbean and South American variant of this system was known as a trapiche, which employed three geared rollers. Over time, slaves were replaced with oxen and horses, which were eventually supplanted by water wheels and finally by steam engines. The water wheels implemented for sugar milling ultimately paved the path for creating electrical currents. Water turbines for hydroelectric power subsequently took off. Principles of steam engine operation were adapted for electrical power as well, ultimately culminating in the use of nuclear plants to generate “wheel” turning for electricity.Electricity and magnetism, as well as interactions between them, are frequently discussed in introductory undergraduate physics. However, practical applications of these principles are often omitted from lectures. If taught under an experiential environment, these concepts can be introduced at even the middle school level, taught by first year college students taking basic college physics - a synergistic learning environment. With this in mind, we developed a middle school kit consisting of simple 3D-printed components, recycled DVDs and four bearings for support of 4 mm nail shafts. Enameled wire (30 AWG) is used to prepare the wire-wound coils. A large rubber band is used as the pulley-belt. The above represents the generator component. The power use component is assembled on an accompanying bread board. Power processing is demonstrated using diodes for rectification to DC. The DC power is used to recharge a 3V, 40 mAh lithium-ion coin cell. AC power from the generator can also be directly applied to load resistors. Students will be able to see the effects of varying the load by changes in the time of the free rotation of the generator wheels. Students will experience the charge and discharge of batteries with safe voltages and currents.Middle school students will record data from the generator and conditioning systems and draw conclusions on worksheets that accompany the hardware.

Experimental Study on the Influence of Incoming Flow on Wind Turbine Power and Wake Based on Wavelet Analysis

Taking a wind farm in the Qinghai–Tibet Plateau as the experimental site, the ZephiR Dual Mode (ZDM) LiDAR and ground-based laser LiDAR were used to scan the incoming flow and wake of the wind turbine separately. Based on wavelet analysis, the experimental study was conducted on the influence of different incoming wind speeds on the power and wake of the wind turbine. It is found that the incoming wind speeds have a great influence on the wind turbine power, and the fluctuation frequency of the wind speed is obviously higher than that of the power, that is, the scale effects of turbulence are magnified. The rotation of the wind wheel can accelerate the collapse of the large-scale turbulent structures of the incoming flow, and large-scale vortices continue to collapse into small-scale vortices, that is, the energy cascade evolution occurs. And in the wake diffusion process, the dissipation degree of the upper blade tip vortex is greater than that of the lower blade tip vortex caused by the rotation of the wind turbine. Under the same incoming flow conditions, due to the influence of tower and ground turbulence structure, the energy level connection phenomenon of the measuring points below the hub height is stronger than that above the hub height, and it weakens with the increase of the measuring distance. That is, the energy cascade of the measuring points below the hub height at 1.5 D (D is the diameter of the wind wheel) of the wake is weaker than that at 1 D of the wake. With the increase of the measuring distance of the wake, the influx of the external flow field further aggravates the momentum exchange and energy transport between the vortex clusters, that is, the influence of the external flow field gradually increases in the wake vortex pulsation.

Investigation on dry abrasion wear of natural and synthetic fiber reinforced polymer composites filled with stone waste

The fiber reinforced polymer composites filled with industrial stone waste was fabricated using vacuum assisted resin transfer molding (VARTM). The fabricated samples of composite plates were subjected to parametric studies of dry abrasion wear test. The control factors considered for parametric studies of were load, abrading velocity, percentage of stone waste and size of abrasive particles.The mean S/N ratios for dry abrasion wear were to be 4.71db, 6.48db and 7.98db for granite added jute, glass and carbon fiber reinforced polymer composites. ANOVA analysis helps to identified the order of most influencing input operating parameters on output response dry abrasion wear and order of most significance input operating parameters in decreasing order abrasion load > Wheel rotation > Filler content > Abrasive size for granite added jute, glass and carbon fiber reinforced polymer composites.

Experimental investigation of electrochemical cut-off grinding for Inconel-718 and comparative study with Ti-6Al-4V alloy

ABSTRACT In the present study, a hybrid machining process known as an electrochemical cut-off grinding (ECCG) is used for grinding of Inconel-718 material. The specimen (superalloy) contains nickel as major component. It cannot be machined conventionally due to its outstanding properties. During the electrochemical grinding of Inconel 718, the author examines the effects of input voltage (v), tool feed rate (mm/min), electrolytic concentrations (g/ltr), electrolytic flow rate (ltr/min), and grinding speed (rpm) on responses such as material removal rate (MRR) and surface roughness (Ra). The tests contains the bronze-bonded diamond abrasive grinding wheel. The MRR and surface roughness of Inconel 718 and titanium super alloy during the ECCG process are also compared in this research project. Based on the findings of the studies, it appears that the tool feed rate, the flow rate of the electrolyte, and the rotation of the grinding wheel are the maximum influential parameters for enhancing MRR and surface finish during electrochemical cut-off grinding of Inconel 718. Tool feed rates of 0.09 mm/min to 0.18 mm/min, electrolyte flow rates of 5 ltr/min to 8 ltr/min, and grinding wheel speeds of 800 rpm to 2000 rpm are the ideal influencing factors. The comparative analysis demonstrates that Ti-6Al-4 V alloy cannot match Inconel 718’s machinability. Compared to Ti-6Al-4 V alloy, Inconel-718 has an average material removal rate that is up to 1.73 times higher and an average surface quality that is up to 3.16 times better.

Maximum Correntropy Square-Root Cubature Kalman Filter with State Estimation for Distributed Drive Electric Vehicles

For nonlinear systems, both the cubature Kalman filter (CKF) and square-root cubature Kalman filter (SCKF) can get good estimation performance under Gaussian noise. However, the actual driving environment noise mostly has non-Gaussian properties, leading to a significant reduction in robustness and accuracy for distributed vehicle state estimation. To address such problems, this paper uses the square-root cubature Kalman filter with the maximum correlation entropy criterion (MCSRCKF), establishing a seven degrees of freedom (7-DOF) nonlinear distributed vehicle dynamics model for accurately estimating longitudinal vehicle speed, lateral vehicle speed, yaw rate, and wheel rotation angular velocity using low-cost sensor signals. The co-simulation verification is verified by the CarSim/Simulink platform under double-lane change and serpentine conditions. Experimental results show that the MCSRCKF has high accuracy and enhanced robustness for distributed drive vehicle state estimation problems in real non-Gaussian noise environments.

High-speed railway wheel polygon detection framework using improved frequency domain integration

Timely monitoring of wheel polygon is of great importance for the formulation of railway wheel maintenance strategies. In this study, a novel data-driven method for onboard and quantitative detection of wheel polygon is presented. First, the axle box acceleration (ABA) signal preprocessing method and stationarity test are introduced to select the relatively stationary signal from the measured data of ABA. Next, an iterative algorithm is developed to accurately extract the quasi-stationary ABA signals, representing each wheel rotation period. Then, an improved frequency domain integration method is developed to quantitatively capture the orders and roughness levels of the wheel polygon. Finally, the effectiveness and superiority of the proposed method is verified using the field-measured data of ABA and the wheel polygon in one cycle of wheel re-profiling. The results show that the proposed method can quantitatively capture the dominant characteristics of single- and multi-orders wheel polygons at different operating mileages with minimum and maximum absolute errors of 0.04 dB re 1 µm and −2.33 dB re 1 µm, respectively. The comparative analysis demonstrates that the proposed method outperforms the traditional time and frequency domain integration algorithms in the detailed characterisation of wheel polygon roughness levels.

Oscillatory processes in a nonlinear system of an individual traction electric drive

When the tires interact with the road in contact, self-oscillations occur. The appearance of self-oscillations in the interaction zone can serve as a useful diagnostic sign of the development of the process of loss of adhesion in the work, cases of self-oscillations for an individual electric drive are investigated. In traction and driven modes, a "soft" mode of occurrence of self-oscillation of wheel rotation is possible. When braking, there is a "soft" mode of excitation of self-oscillations, and when the wheels are locked, a "hard" mode of self-oscillations of the translational movement of the wheel center. Keywords: self-oscillation; frictional interaction of the wheel with the base; "soft mode" of self-oscillation; "hard mode" of self-oscillation; Bendixon criterion; friction force; individual electric wheel drive

Design and Performance Analysis of Hybrid Electric Vehicles using Matlab/Simulink

In this paper introduces an integrated method for the design and performance analysis of hybrid electric vehicles. This method considers a set of parameters that influence the system's performance. This project presents an approach for modelling electric vehicles considering the vehicle dynamics, drive train, rotational wheel and load dynamics. The performance of the hybrid electric vehicle is not satisfactory owing to the difficulties of optimal gain selections. To overcome this problem, a new fuzzy logic controller is required to set the rules for better performance. Therefore, in this project fuzzy logic-based gain tuning method for PID controller is proposed and compared with some previous control techniques for the better performance of electric vehicles with an optimal balance of acceleration, speed, travelling range, improved controller quality and response. The model was developed in MATLAB/Simulink, simulations were conducted, and results were observed