Abstract
BackgroundNowadays, electric vehicle development takes a great attention in vehicle industry and researches, due to demising supplies of fuel, less pollution, and developing many resources of generating electricity as renewable energy and clean resources.ResultsThis research is a part of the Autotronics Research Lab (ARL), applying researches on autonomous and electric vehicles. The main aim of the research is to apply vector control method on traction control system of electric vehicle (mini golf cart) by using two hub motors on the rear wheels while the two front wheels are used for steering; it is assumed that the controlled vehicle is fitted with some equipment which can used in autonomous driving.Simulation results show the output response of speed and torque of the vehicle motors and vehicle speed while the vehicle is moving in a straight line or during steering and also show the fusion between vector control and power steering algorithm.ConclusionsThe system preforms the efficiency, safety, accuracy, and more controllability of electric vehicle traction system, leading to more stability in vehicle speed, lower troubleshoots, and less error in unstable surfaces and bad roads.
Highlights
Nowadays, electric vehicle development takes a great attention in vehicle industry and researches, due to demising supplies of fuel, less pollution, and developing many resources of generating electricity as renewable energy and clean resources
This section explains many cases of the controlled vehicle under many different conditions illustrating the output results of the Simulink model showing the output of the motor speed and torque, vehicle speed, and speed commands
The first figure shows the speed command and motor speed (RPM), the second figure shows the electromagnetic torque and output torque of the motors (Nm), and the third one shows the line current [A]. Second case This case shows the output response of the vehicle and the motors’ command and speeds while the vehicle is moving in straight line from zero and accelerating at (T) < 2 and moving with constant speed at 2 < (T) < 4.5 and applying steering angle to the left at δ = 20 and moving with constant speed at (T) > 4.5; the results in this case shows the output of the vehicle speed and the difference between the speed of the two motors during steering
Summary
Electric vehicle development takes a great attention in vehicle industry and researches, due to demising supplies of fuel, less pollution, and developing many resources of generating electricity as renewable energy and clean resources. The main idea that will be discussed in this research is the implementation of vector control system technology on traction system (electronic power steering, acceleration and deceleration by using regenerative torque) to ensure reliability and efficiency of the controlled vehicle. Integration of accelerator pedal, brakes, and steering wheel takes place as the main controller of the SIMUlink model computing required motor speed signals as an input to the vector control model which controls vehicle motors; simulations take place for many different cases of vehicle traction system The system design applied indirect vector control on the two rear induction hub motors (Gang et al, 2012) and discussed the fusion of vector control model with Ackermann-Jeantnat model of steering kinematics, trying to perform output speed of vehicle during acceleration, deceleration, and steering while accelerating or decelerating either in good roads or unstable surface; this shows the system necessity.
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