2

F=25.872+0.3348v (calculations given in appendix2)

1.1 DRIVETRAIN – HUMAN
Considering the effect of both drivers, actual tractive
force, Fa = 2 * Fe
CALCULATION FOR MAXIMUM SPEED:
2
→ 2*212.5/v 25.872+0.3348v
Seats for both drivers are provided sideways. The v=9.33m/s
drivers produce power through pedals which Or, V=33.58 km/h
is transmitted to the rear wheel. This type of Since the above calculation is done for maximum power
transmission of power from two chain drives to a single produced by the drivers, the velocity thus obtained is
rear wheel is achieved by introducing an auxiliary the maximum velocity with which the Efficycle can
shaft which contains three sprockets (two of which move during Human Drive.
mechanically connect the input end with the shaft
while central sprocket connects the shaft with the rear
wheel). Maximum acceleration of vehicle:
It is assumed that an average ,person weighing While pedaling, torque produced by one driver
70kg, can generate a power of 300W for a short T= Fr
span of time. F=mg
T=m*g*r
So the power produced by each driver at maximum
speed will be Where weight(m) applied by one driver on pedal = 30kg
(practically calculated.).
And radius(r) of crank arm = 0.180m
P=300W
T=30*9.81*0.180
Power = Torque (T) * Angular T=52.974Nm
velocity (ω) P = Tω Torque available on auxiliary shaft=52.974*18/48
=19.865Nm
T=P/ω Total torque available on auxiliary shaft by the efforts of
T=300/ω both drivers = 2*19.865
= 39.730Nm
But, Torque (T) = Tractive force (F) * radius of wheel
Torque available on rear wheel=39.730*14/22
(r) T = Fr =25.26Nm
Force at rear wheel=T/r
And, Angular velocity (ω) = Velocity (v) / distance (r) Fw=25.26/.3048
Fw=82.87N
ω
=v/r Force on wheel = Rolling force + Inertial force
F = F r + Fi
Hence Tractive Force acting on wheels is 82.87=25.872+240*a
2
a=0.237m/s
F=300/v

The efficiency of each individual drive train is

assumed to be 85%

The effective force acting on wheels= 0.85 * 300/v

Fe = 255/v GradeabilityCalculations
where Fe - Effective Tractive force on wheels Angle of gradient =α°
Tractive Force is a combination of Rolling R=mg cos α
frictional force and drag force Fr = µrR
Hence, Fr = 25.872*cos α
F= Fr + Fd
Gradient resistance due to weight,
where Fr – Rolling Frictional Fw=mg sin α
Force andFd – Drag Force Fw= 240*9.81 sin α =2354.4 sin α
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 =18.995Nm
Power generated per driver on pedal
P=300W
Starting torque required to overcome resistance
If there is 80% efficiency at front axle due to slip
Pa=480W (consideringefforts of both driver) = 18.995*2 = 37.99Nm

Tractive force on wheel,

F=480/v Gear ratio required
= resistance torque / peak torque of motor
Since, a=0, no net force is acting
= 37.99/45.836
∑Force = 0

Tractive force =Rolling Force + gradient force

Hence, a gear reduction of 1:0.828 is required.
480/v = 25.872 cos α + 2354.4 sin α
For v=1m/s
α=11.13°
Gradeability = 11.13 deg Calculation for maximum speed

Power produced by motor,

2.2. DRIVE TRAIN-ELECTRIC
P = 600 W
Assuming 85 % efficiency of drivetrain, power available
Power rating of the motor, P=600 W
at Axle be:
Maximum RPM achieved by the motor, N=500
Pa = 0.85 * 600 W
Rated Voltage of the motor, V=48V
= 510 W
Rated torque of motor ,T=10Nm
Peak torque of the given KTC BLDC Motor
We know, Power = Torque x Angular velocity
(KTC600R)
=Txω
Is 400% of the rated power for 10 seconds. Therefore, T = 510/ω
Thus, Peak torque of motor=60*2400/(2*π*500) Nm Tractive force on driving wheels,
=45.836Nm F = Torque/ (radius of wheels)
= 510/V
Total resistance offered to vehicle = Rolling resistance F = 510/V N

+Air drag resistance + inertia force + gradient force.

If V – Tangential velocity of wheels or velocity of vehicle

For our vehicle to run at max speed of 40 For maximum cruise speed of the vehicle,

Kmph, Rolling Resistance=25.872N Tractive force = Total resistance offered to

vehicle
Air Drag Resistance=36.45 N = Rolling resistance + Air Drag
resistance
Total Resistance =Rolling Resistance +Air
drag resistance
=25.872 +
36.45 F = Fr + Fd
=62.322. N 2
510/v = 25.872 + 0.3348v

On solving, v = 9.30 m/s

So, torque required to overcome resistance at
= 33.48 Kmph
max speed
Hence, Maximum velocity of vehicle, v = 33.48 Kmph
=Resistance force*Radius of wheel
=62.322 * 0.3048

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 GradeabilityCalculation
Maximum Acceleration of vehicle

Let consider that our vehicle ascends a slope of angle

For achieving maximum acceleration of vehicle, power
‘α’ degrees with a constant speed of ‘V’ m
applied by the motor is:
Normal reaction force on vehicle, R = mg cos α
P = 600 W
Rolling resistance for vehicle, FR =μr R
Peak torque of motor = 45.836 Nm
= μr mg cos α
Gear ratio = 22/18
Or FR = 25.872 cos α
Torque available on axle shaft due to motor,
Ta = (22/18)*45.386 Nm Gradient resistance due weight component of vehicle

=55.47 Nm down the slope,

Force at wheel (tractive force) will be: Fw = mg sin α

F = T/ (radius of wheel) = 2354.4 sin α
= (55.47/
0.3048) F = Power delivered by motor is,
181.99 N P = 600 W

Since maximum acceleration of vehicle occurs at the Considering 85 % efficiency of drive train, power
start of vehicle run when vehicle just starts from rest, available at front wheels:
for that condition: Pw = 0.85 x 600
Tractive force = total resistance for vehicle at start = 510 W
= rolling resistance + inertial force Tractive force on front wheels, F = 510/v N
Where, V – tangential velocity of wheels
Or
F = F r + Fi
F= Fr + (ma) Since, acceleration of vehicle is zero there is no net

If ‘a’ is the maximum acceleration of vehicle at start, force acting on the vehicle, or
then ΣForces = 0
181.99 = (25.872) + (240*a) Therefore,
Hence, a = 0.650 m/s
2 Tractive force = rolling resistance + gradient
resistance
= Fr + F w
510/V = 25.872 cos α + 2354.4sin α
Gradeability of vehicle differs with different cruise
speeds.
For speed of vehicle, V = 1m/s
510 = 25.872cos α + 2354.4sin α

On solving, α =11.8 deg

Gradeability, = 11.8 deg.

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 Gradeability Calculation
2.3. DRIVE TRAIN - HYBRID Let consider that our vehicle ascends a slope of angle

Calculation for maximum speed: ‘α’ degrees with a constant speed of ‘V’ m/s.
Normal reaction force on vehicle, R = mg cos α

Max speed of human drive = 33.58 Kmph Rolling resistance for vehicle, Fr = μr R

Max speed of Electric drive = 33.48 Kmph = μr mg cos α

Or Fr = 25.872 cos α
Gradient resistance due weight component of vehicle
Since, slippage occurs in simultaneous driving of
down the slope,
both Human and electric drive as the speed of
vehicle increases, so the maximum speed of vehicle for Fw = mg sin α
= 2354.4 sin α
Hybrid drive would be at least equal to maximum
speed of either of the drives, i.e. Power generated by human drive at front axle =300 W
Power delivered by electric drive at front axle = 600 W
Maximum speed of hybrid drive would be at least 33.58 Total power at front axle, P = 900 W
Kmph Tractive force on front wheels, F = 900/V N
Where, V – velocity of vehicle
For achieving maximum acceleration of vehicle, Since, acceleration of vehicle is zero there is no net
Torque available on axle shaft due to motor =45.386Nm force acting on the vehicle, or
Torque available on axle shaft due to human drive Σ Forces = 0
=
Therefore,
19.865 Nm
Tractive force = rolling resistance + gradient resistance
F= Fr + Fw
Assuming 85% efficiency of drivetrain, 900/V = 25.872 cos α + 2354.4 sin α
Torque, T = 0.85 x (19.865+45.386) = 55.46 Nm
Gradeability of vehicle differs with different cruise
Force at wheel (tractive force) will be:
speeds.
F = T/ (radius of wheel)
For speed of vehicle, V = 1m/s
= (55.46 / 0.3048) F
900 = 25.872 cos α + 2354.4 sin α
= 181.966 N
On solving, α = 21.845 deg
Gradeability = 21.845 deg
Since maximum acceleration of vehicle occurs at the
start of vehicle run when vehicle just starts from rest, for
that condition:

Tractive force = total resistance for vehicle at start

= rolling resistance + inertial force
Or
F = F r + Fi
= Fr + (ma)
If ‘a’ is the maximum acceleration of vehicle at start,
then
181.966 = (25.872) + (240 x a)
Hence, a = 0.6503 m/s2
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 APPENDIX-2 : CALCULATIONS & ANALYSIS

1. CALCULATION FOR THE STARTING TORQUE OF THE VEHICLE

Total resistance offered to the vehicle while driving at maximum velocity = Rolling resistance + Air drag resistance
2
= μr.W + 1/2.ῥ.V . Cd.A

Where, Fr = Rolling resistance of the wheels = 0.011 (referred from SAE booklet of Fundamentals of

Vehicle.) W = Weight of the vehicle = 240*9.81 = 2354.4N.

ῥ = density of air = 1.225 kg/m3

V = maximum velocity of the vehicle = 10 m/s

Cd = Coefficient of air drag = 0.32

2
A = Projected area of the vehicle = 1.86 m

Rolling resistance = μr.W = 0.011 * 240 * 9.81 = 25.872 N

2 2
Air drag (at 10 m/s speed) = 1/2.ῥ.V . CdA = 1/2 * 1.225 * 10 * 0.32 * 1.86 = 36.456 N

Total resistance (F) = Rolling resistance + Air drag = 25.872+36.456 N = 62.322 N

Torque required at maximum velocity (T) = F * Radius of wheels = 62.33 N * 0.3048 m = 18.99 Nm.

Considering a F.O.S of 1.2 for the starting torque,

Starting Torque (Ts) = 2 * T = 2 * 18.99Nm =37.99Nm

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