Electric Wheel Research Articles

Coordinated control of AFS and DYC for electric vehicles with mechanical elastic electric wheels considering the roll effects and uncertain parameters

In order to improve the lateral stability of in-wheel motors electric vehicles (IMEV) equipped with mechanical elastic electric wheels (MEEW) under extreme conditions, this paper proposes an integral sliding mode control (ISMC) algorithm based on the coordination of active front steering (AFS) and direct yaw moment control (DYC) considering the roll effects and the uncertainty of tire cornering stiffness. Firstly, the AFS control algorithm based on adaptive integral terminal sliding mode is proposed, which uses radial-basis-function neural network (RBFNN) to adaptively approximate the integrated nonlinear unknown disturbance. Secondly, considering the roll effects and uncertain cornering stiffness, a mismatched uncertain system for integrated control of AFS and DYC is established. An integral sliding mode control algorithm based on linear matrix inequality (LMI) is designed, and the asymptotic stability of sliding mode dynamics is proved. Further, a constraint optimization algorithm is used to distribute the additional yaw moment. Then, a coordinated control strategy based on the elliptical stable region of the phase plane and the rollover index is designed to activate the integrated controller of AFS and DYC at the right time. Finally, the effectiveness of the control algorithm is verified by high-fidelity CarSim-Matlab simulations. The results show that the proposed controller can effectively and robustly ensure the vehicle lateral stability under extreme conditions.

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

Improving the maneuverability of vehicles by using front swivel axles with separate electric wheels

There is a need for vehicles to maneuver when there are traffic jams, to overcome narrow streets and various obstacles. This leads to increased requirements for dynamism and maneuverability of vehicles.
 The authors present the results of the development and research of the steering control of the vehicle, which provides increased maneuverability. Such circumstances significantly affect the increase in maneuverability of wheeled vehicles, including tractors, for which the use of front suspension axles is possible in terms of layout. The use of a front swing axle with electric motor-wheels with separate control will increase the maneuverability of a two-axle vehicle and minimize the steering effort when turning.
 When solving the task, a mathematical model of the movement of the vehicle on a turn was created. The forces in the contact of the wheels with the road surface were determined, which made it possible to determine the forces and moments of resistance to the rotation of the front axle. Rational laws of control of turning the front axle, providing minimal resistance to the movement of the vehicle, were obtained.
 A vehicle turning control option is proposed, in which the wheels of the outer and inner sides are alternately braked when the vehicle enters and exits the turn. In addition, it is possible to alternately create a torque difference on the wheels of the outer and inner sides of the front axle. Using the proposed turn control options, it is possible to create a multi-axle vehicle with a rocking axle.
 The materials of the article on the controllability of vehicles depending on the design of the steering and front axle are of interest to researchers, designers of mobile equipment, graduate students and students of engineering specialties

An Overview of and Prospects for Research on Energy Savings in Wheel Loaders

Wheel loaders consume a large amount of energy, and research on energy savings in wheel loaders has been carried out for decades. This paper introduces several types of wheel loaders and compares their structures. The research progress of the energy savings of three different forms of wheel loaders is reviewed, including a diesel engine wheel loader, a hybrid wheel loader, and an electric wheel loader. In particular, the energy-saving control methods of an electric wheel loader in the working cycle are analyzed, as construction machinery electrification is an emerging trend. Based on the analysis of the driving features and the working process of a wheel loader, energy-saving control methods are introduced including the resistance reduction method, optimized control strategies, intelligent control, and unmanned WL research. Comparing various energy-saving research methods and the advantages of electric wheel loaders, the pure electric wheel loaders are advised to be researched at present and in the future. Controlling the torque distribution of the front and rear motors of electric wheel loaders and assistant drive control are proposed to be significant research prospects for energy savings in wheel loaders usage.

Torque Distribution Control Strategy of Electric Wheel Loader with Multiple Drive Motors Based on Optimal Motor Efficiency

<div>Wheel loaders are widely used in construction projects. In order to reduce pollution and energy consumption, major wheel loader manufacturers are developing electric powertrain technology. Our main research goal is to reduce the energy consumption of a pure electric loader. This study is intended to build a vehicle simulation model of a multiple drive motor electric loader. According to the common working conditions and empirical formulas of the loader, the simulation data of the electric loader are calculated. The torque distribution control strategy based on the optimal efficiency of the motor is designed for the multiple drive motor electric loader and is compared with the equal proportion distribution control and the axle load ratio distribution control through simulation analysis. The simulation results show that the proposed torque distribution control strategy based on motor optimal efficiency can reduce energy consumption by 7–12%.</div>

Design and Simulation of Two Stage Reduction Wheel-Edge Drive System

The distributed driving system with electric wheel as key feature has become a major research issue in new energy automobile. However, wheel-edge driving system with reducing gear may cause significant increase of unsprung mass due to introduction of motor and reducer, which is negative to the vehicle maneuverability. As a result, this paper proposed a structural design of two stage reduction wheel-edge driving system which can convert unsprung mass into sprung mass, and established 1/4 three degree-of-freedom vertical vibration system model. Through simulation analysis, the effectiveness of such design was verified. Results showed that two stage reduction wheel-edge driving system can effectively suppress vertical vibration amplitude of automobile body, reduce vehicle dynamic tire loads, and increase riding comfort and tire ground adhesion.

Principle Analysis and Fault Handling of MCC400A Electric Wheel Automatic Lubrication Control System

Selecting the appropriate lubricating grease, applying the right amount of lubrication, suitable intervals, and the correct lubrication points can significantly reduce equipment maintenance and spare parts costs, while enhance the reliability of equipment operation. A well-functioning automatic lubrication system for mining dump trucks can greatly minimize friction and wear, thus extending the lifespan of bearings and mechanical components. Through in-depth analysis of the principles of the MCC400A electric wheel automatic lubrication control system and combined with on-site troubleshooting processes, we have accumulated valuable maintenance experience. This experience holds great significance for maintenance personnel to master troubleshooting techniques for automatic lubrication control systems. By understanding the system principles and analyzing the root causes of issues, we can precisely locate and resolve faults. Additionally, by leveraging modern technology effectively, we can enhance system stability and reliability, further improving equipment operational efficiency. In conclusion, optimized lubrication practices and a thorough understanding of the system will contribute significantly to the sustainable operation of equipment and reduced maintenance costs.

Slip ratio estimation of electric wheels based on tire force and road conditions

The independently controlled electric wheels of distributed drive vehicles provide faster and more accurate actuators for vehicle slip ratio control. Meanwhile, the estimation of the slip ratio of electric wheels has been of vital importance for the dynamics control of distributed drive electric vehicles. However, the conventional slip ratio estimation method is hard to accurately estimate the slip ratio under steering conditions without multiple observations, increasing the cost and introducing errors. Considering that the output torque and motor rotation rate of electric wheels can be accurately collected, the novel slip ratio estimation method takes advantage of the signals of the electric wheels and requires fewer vehicle sensors. Based on the torsional vibration model of electric wheel, the slip ratio estimation method was proposed and validated by simulations and experiments. With the drum dynamometer, the slip ratio estimation method was applied to a single electric wheel for testing, proving the feasibility and accuracy of the proposed method. The slip ratio estimation was finally applied to a fuel cell heavy truck for road tests, of which the results show that the error index is reduced from 0.0152 to 0.0064 compared to the conventional slip ratio estimation method, confirming the good estimation performance achievable via the proposed method.

TRANSPORT AND TECHNOLOGICAL MODULE WITH ELECTRIC WHEEL DRIVE

Agriculture of the Russian Federation suffers huge losses due to the lack of the necessary equipment to work on soils with low load-bearing capacity. As a result, harvesting of winter crops takes more than 40 days, and crop losses amount to 42 percent. When applying fertilizers, about 40 percent of the soil surface is compacted by the wheels of agricultural machinery. Compaction of the soil leads to the appearance of large and dense blocks of earth during plowing. Tractors of traction classes 1,4-5 are used as part of the tractor fleet of peasant farms. Such a nomenclature of tractor types leads to additional costs associated with low annual loading of tractors, over-compaction of soils, tractors of high traction classes. (Research purpose) The research purpose is justifying the use of a transport and technological module with an electric wheel drive. (Materials and methods) Gave a schematic diagram of a modular power-technological means and a kinematic scheme of the wheel drive of a transport and technological module. (Results and discussion) We have developed a transport and technological module with an electric drive of the driving wheels from the generator, which in turn rotates due to the tractor power take-off shaft connected by a cardan transmission. It was determined that the electronic control unit and wheel speed sensors are responsible for the necessary kinematic correspondence between the driving wheels of the tractor and the transport and technological module. It was found that this eliminates the need for a synchronous power take-off shaft on the tractor and, as a result, makes the technological module universal. (Conclusions) It was shown that the use of a transport and technological module with an electric wheel drive serves as an effective way to solve the problem of ballasting and makes it possible to improve the technological properties of a second-generation tractor. It was stated that the use of a transport and technological module with an electric wheel drive will allow the tractor to be used to perform transport work requiring a large traction force on soils with low load-bearing capacity, such as the transportation of forests, manure in the spring and autumn thaw and others.

Research on the Safety of Intelligent Vibration Control System for Electric Vehicle Suspension

Aiming at the problem of poor vertical vibration performance of electric vehicles, an integrated design scheme of electric vehicle suspension based on in-wheel vibration damping system is proposed, and the fuzziness between vehicle suspension and in-wheel vibration damping system is carried out for this scheme. control. Then, the LQR control method based on particle swarm optimization weight coefficient is adopted, and the LQR optimization controller is designed to comprehensively control the electric in-wheel vibration damping system and the vehicle suspension, and further optimize the vehicle ride comfort and electric wheel vibration performance. The simulation results show that the inversion control strategy based on the reference model can effectively suppress the vertical motion of the body, reduce the vertical acceleration of the body, and at the same time reduce the tire deformation to a certain extent, and improve the ride comfort and driving stability of the car.

Extending battery lifetime for electric wheel loaders with electric-hydraulic hybrid powertrain

Electrification is the future trend for construction machinery due to its advantage of zero-carbon emission. The battery of electric construction machinery has an inevitable degradation phenomenon, which will increase the maintenance cost. In this paper a parallel electric-hydraulic hybrid powertrain is proposed to extend battery lifetime of an electric wheel loader by utilizing a hydraulic powertrain to provide and capture power during launch and braking. Different operation modes are analyzed and a rule-based energy management strategy is developed to determine the holding and switching conditions of each mode. Powertrains and battery aging models are introduced in detail and dynamic simulation is developed in Simulink. Results show that the parallel electric-hydraulic hybrid powertrain with the proposed strategy can reduce the battery full equivalent cycles, thereby achieving a 15.64% improvement in the battery lifetime compared with the pure electric powertrain. Moreover, influences of the strategy parameters on extending the battery lifetime are further discussed, which gives a parametric design guideline to the energy management strategy.

계단 이동이 가능한 전동휠 구조 설계에 관한 연구

In this paper, we would like to report the advanced structure of electric-powered wheel that can go upstairs or downstairs. One of the reasons of electric wheelchair accidents that occur recently is the rollover accident from wheel jamming at a step or stairs. Commercially available electric-powered wheels have a serious problem with malfunctioning of electric wheels. When the gap or step difference is larger than 5 cm, the electric wheel is not working properly. We have intensively investigated this matter by using a variable track wheel method rather than the conventional triangular wheel method that had been studied mostly in the past. We have engineered a prototype electric wheel with a variable track wheel which is tested at various conditions. Our result shows that the performance of the electric-powered wheel with variable track wheel is stable for both of flatland and stairs due to the contracting action of actuator.

Closed-Circuit Pump-Controlled Electro-Hydraulic Steering System for Pure Electric Wheel Loader

Traditional construction machinery’s full hydraulic steering system has high energy consumption. An electro-hydraulic flow matching steering system for electric wheel loaders based on closed-circuit pump control is proposed to solve the problem. The transfer function of the electro-hydraulic system is established, and the system is stable according to analysis via Routh matrix. A test platform is built to verify the effectiveness of the system and the control strategy. Taking a 1.6T wheel loader as an example, the energy consumption of the traditional steering system and the new steering system under zero-load, positive-load (shovel loaded with 600 kg gravel), and offset-load (the center of gravity of the gravel is off the center of the bucket) conditions is compared. The results show that the energy consumption of the proposed steering system is greatly reduced compared to the traditional system. Under the condition of zero-load with medium steering speed, compared to the traditional system, consumption is reduced by 22.8%.

Suspension design and posture control for a novel by-wire chassis based on integrated electric wheel module

Suspension design and posture control for a novel by-wire chassis based on integrated electric wheel module

Design and Implementation of Solar Based Electric Wheelchair

This paper concentration on the reducing expenditure for the mechanically setup & designation of a solar based electric wheelchair with solid structure design and control system for the handicapped persons. In a country like India, most of the people distressed of temporary or permanent disabilities due to illnesses or accidents there are some person can’t afford to be expensive electric wheelchair. That’s why a developed of electric wheel chair is proposed in this paper which contains more features and a developed control system along with the reduced of manufacturing price & design about two to three times of recent market cost.

Problems of power division between the devices of agricultural machine-tractor units

Purpose. Determination of the rational use of various types of transmissions in the creation of multi-moving agricultural machine-tractor units. Methods. Analysis of technical characteristics of sources of mechanical energy, synthesis of power distribution system using motor-wheels. Results. Based on the analysis of literary sources, proposals were received for the choice of transmissions for multi-moving agricultural machine-tractor units. A kinematic synthesis of an electromechanical transmission for individual propellers for various purposes is proposed. Conclusions 1. The maximum transport speed of modern agricultural tractors is in the range of 40 ÷ 50 km/h, and the minimum technological speed at the maximum power of the traction vehicle (TV) can be within 4 ÷ 5 km/h when working with a soil loosener. 2. Modern agricultural TV should have a ratio of maximum speed to minimum speed up to 10. 3. The nominal range of rotation frequencies of traction electric motors available on the market is not able to overlap the ratio more than 2 ÷ 2.5. 4. The kinematic combination of the rotation frequencies of two electric motors allows you to cover the range of operating speeds of the MTA without mechanical switching of the transmission elements. 5. The proposed autonomous motor-transmission unit allows to compose MTA with the distribution of electrical power between additional engines of technological modules of MTA. Keywords: machine-tractor unit, transmission, traction concept, mover, electric wheel motor.

Design and Implementation of Remote Monitoring and Maintenance System for Electric Wheel Truck

Design and Implementation of Remote Monitoring and Maintenance System for Electric Wheel Truck

Current Situation and Prospect of Mine Electric Wheel Dump Truck Technology

Current Situation and Prospect of Mine Electric Wheel Dump Truck Technology

Analysis of Electric Wheel Truck Weighing System

Analysis of Electric Wheel Truck Weighing System

Discussion on the Application of Supercapacitor in Mine Electric Wheel Truck

Discussion on the Application of Supercapacitor in Mine Electric Wheel Truck