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Design and implementation of a Vehicle Control System (VCS) model for electric vehicles.
Ubicación
Caracas - Venezuela
Rol
Charge of Electronics and Telecommunications Division of USB Solar Team
Tipo de proyecto
Engineering Project
Fecha
May. 2021 - Nov. 2022
The main objective of this work is design and implement a vehicle control system model oriented to a prototype of competitive solar four-wheeled vehicle with independent rear wheel drive and front-wheel steering (Catatumbo CS3). This model adopt two permanent magnet synchronous machines included directly in the vehicle's drive wheels, making it unnecessary to integrate a conventional mechanical gear-based drive train, which provides a decentralized configuration and greater flexibility.
Additionally, part of the Driver Mode System (DMS) was designed, which is in charge of providing the interaction environment between the driver and the vehicle, is composed of the Vehicle Finite State Machine (VFSM) and a Graphical User Interface (GUI). Regarding the Stability Control System (SCS), a Direct Yaw Moment Control (DYC) is adopted based on a Sliding Mode Control (SMC), It allows selecting the type tracking error (yaw rate or lateral slip angle or a combination of both) and the type of control (Proportional or Proportional-Integral) in order to track the target responses. As Electric Machine Control System (EMCS), a controller from the Kelly Controller line is selected, and together a Revolutions Acquisition System (RAS) is implemented that allows the acquisition of the revolutions of the electric machine through a Raspberry PI using a Client-Server architecture. In relation to the Data Acquisition System (DAS), a robust embedded controller is used for the automation of industrial processes (CompactRIO-9068) with reconfigurable modules of analog and digital inputs and outputs, models: NI 9381 y NI 9401.
The implementation is done using the language Python programming, NI LabVIEW Software and Matlab-Simulink development environment. As part of the results, the performance of the controllers is compared considering the presence of disturbances in system, type of terrain (high and low adherence), vehicle speed (high and low speed), and type of input (constant, sinusoidal and variable).
Catatumbo CS3 has a digital graphical user interface (GUI) that allows viewing part of the vehicle's information. In the "STATUS" window the driver can observe the status of the buttons, steering angle and current state of the Finite State Machine (FSM). Additionally, it incorporates two digital indicators that show the revolutions and speed of the car. It was developed using the Python programming language.
Catatumbo CS3 incorporates two rear-wheel hub motors from the Jonway line. These operate with 72 Vols and are capable of performing revolutions of up to 820 RPM.
In the implementation, it was required to incorporate a Hall effect sensor together with two Neodymium magnets in the brake disc to measure the revolutions.
Each Permanent Magnet Synchronous Machine (PMSM) has an inverter from the Kelly Controller line that converts current from DC to AC. Through the software of these inverters, some adjustment parameters can be configured, such as:
- Effective accelerator pedal response
- Forward Switch and Foot Switch
- Throttle Up/Down Rate
- Motor Top Speed and Motor Top Speed in Reverse
- Regeneration and Brake Switch (option for regenerative braking)
- Control Mode (Torque, Speed and Balanced)
- Under voltage and over voltage
-Hall sensor type
As a Data Acquisition System (DAS), a controller for the automation of industrial processes, cRIO-9068, was selected, together with reconfigurable modules for analog and digital inputs and outputs, models NI 9401 and NI 9381.
Project Creators
For me it has been an honor and privilege to have worked with the support of the PhD. Carlos Osorio. He has been a great friend and mentor.
