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Electric propulsion system (EPS) employing Induction Motors (IM) have gained acceptance due to their robust structure, reliability, technological advancement and low cost. This paper presents the technical considerations and design methodology of EPS for urban cars. Direct torque control (DTC) is a prominent technique in controlling the IM due to its easy configuration and fast performance. Nevertheless,...
Presenting a coordinated control algorithm that takes into account both electric stability control (ESC) and drive force assisted steering (DFAS) performance. It introduces the correction factor ki of the driving force when driving the power steering, which designed by fuzzy control the factor with the different vehicle attitude and conditions of the rules of change, and finally the basic control...
Hybrid electric vehicles are one of the most practicable technologies in the automobile industry to conserve resources and to protect the environment. Mode transitions between different modes are critical to improve fuel economy and driving performances. Due to the response delay of the engine and the engagement of the clutch, smooth transitions are sometimes difficult to achieve. Fuzzy sliding mode...
This paper talks about the creation of fast and lightweight 2D electric road vehicle models in order to design the whole electric powertrain. Two models are developed. The first one is very essential: it consists of three dynamics, that is full vehicle dynamics, front wheels dynamics and rear wheels dynamics; basic friction model is used. The second model is more complex: it also takes into account...
This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
In this paper, the impact of transmission gear ratios selection on a Nissan Leaf EV (NLEV) is investigated. The traditional single ratio gearboxes are replaced by multiple ratio ones. The selection of the gear ratio is proved to have a significant impact on electric vehicle's performance and range. A mathematical model of a NLEV is developed for both single and multiple ratio transmission systems...
Classical induction machine design generally focuses on achieving high steady state efficiency. In contrast, automotive applications consist of almost continuous transients, where the flux linkage is varied along the driving cycle to save energy. With conventional induction machines designed for high steady state efficiency, higher peak current and excessive machine losses can occur during the transient...
The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse...
This paper is concerned with the design of a robust position Backstepping tracking controller for a permanent magnet synchronous motor (PMSM). A Backstepping control law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted via the estimation of the unknown load torque and friction effects. A linear extended state observer is devised...
The research object of this paper is a single-shaft parallel hybrid electric vehicle (PHEV). A noticeable jerk or torque fluctuation in the hybrid powertrain may result in the vibration of the drivetrain and an unpleasant driving sensation during transition from the motor driving mode to the hybrid driving mode. According to the analysis of the vehicle dynamics, the switching process is divided into...
Lane keeping assistance is an important lateral control technology of autonomous driving system. A large number of autonomous steering control methods were given to deal with path-following and lane keeping problems by controlling steering wheel angle directly. In this paper, however, a linear time-varying model predictive control (LTV-MPC) method for path-following manipulating is proposed based...
This paper presents the design and implementation of a current controlled Rotor Flux Oriented PMSM for automotive steer-by-wire applications. The development of a realistic torque feedback reference is carried out by monitoring the steering torque while driving a commercial vehicle. The paper shall discuss the torque dynamics of the PMSM drive with respect to position demands replicating a driver...
Direct torque control using space vector modulation (DTC-SVM) is one of the most popular control methods of induction motor for electric vehicle (eV). This paper proposes DTC-SVM with improved deadbeat control. During uphill and downhill, instant torque changes is problem for drivers. The principle of the developed method is a solution to overcome the torque need on unexpected road conditions. In...
This paper validates the advantage of using an integrated electric vehicle-battery model in torque control application. In the integrated electric vehicle-battery model, battery dynamics is explicitly included in the model. A well-known linear quadratic integral (LQI) design is adopted here to have an optimal controller with zero tracking error. The energy consumption is, however, observed through...
This paper describes the design of a new haptic shared steering control framework for automated driving systems. In this framework, the shared control problem is formulated as a constrained optimization problem which is solved online by a model predictive controller. Without driver's intervention, the system assumes automatic lane-keeping control. When the driver takes over control, by adapting the...
In order to develop an advanced haptic take-over system for highly automated vehicles, research into the driver's neuromuscular dynamics is needed. In this paper a dynamic model of drivers' neuromuscular interaction with a steering wheel is firstly established. The transfer function and the natural frequency of the systems are analysed. In order to identify the key parameters of the driver-steering-wheel...
This paper focuses on yaw stability control of in-wheel-motored electric vehicles (EVs), a nonlinear incremental model predictive control combines the error prediction control is proposed. By inputting a suitable reference model from driver action, the controller output of EV stability tracks the input. So this problem can be described as a tracking problem under constraints. To solve tracking problem,...
This paper presents an integrated articulated steering vehicle's (ASV) dynamics model, which provides a simulation platform for research on path tracking control of ASV. The active speed limiting control is designed according to the sideslip constraints to improve the lateral stability of the vehicle during path tracking. The weighted PID controller is applied to control the steering torque based...
In this paper, we propose a robust steering pinion angle control of Column mounted Electric Power Steering (C-EPS) for autonomous vehicle lateral control. An augmented observer was utilized for a rejection of external disturbances such as road reaction torque. By considering C-EPS mechanical structure, a reduced C-EPS dynamic model is utilized when constructing proposed controller. Also, the stability...
The support of rescue forces using Micro Aerial Vehicles (MAVs) is a challenging task which is addressed in this work. In order to fulfill this task an advanced type of MAV is being developed: A quadrotor with tiltable rotors. This vehicle is able to perform vertical takeoff and landing maneuvers as well as to control attitude and velocity independently. To achieve this goal the navigation filter...
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