Wheel Slip Detection for Electric Drive in Planetary Exploration Vehicles

2020 ◽  
Vol 17 (9) ◽  
pp. 4122-4124
Author(s):  
Bishwajit Pal ◽  
Samitha Khaiyum
Keyword(s):  
Real Time ◽  
Electric Drive ◽  
Electric Motor ◽  
Control Algorithm ◽  
Planetary Exploration ◽  
Wheel Slip ◽  
Current Consumption ◽  
Dc Electric Motor ◽  
Slip Detection

This article illustrates a technique for tracking longitudinal wheel slips in real time using an embedded microcontroller to map current consumption against real-time current consumed by the engine. This system can be used and operated separately of each other on more than one wheel. To detect wheel slippage, a predefined slip curve mapped to a specific DC electric motor is mapped against the current consumed by the same operational motors. This paper also recommends a convenient control algorithm to calculate its slippage of the wheel in real time. This approach is implemented using distinct load and terrain on a planetary exploration robot.

scholarly journals Parametric identification algorithm for asynchronous electric motor inverter on the switching intervals of power transistors

2019 ◽  
Vol 124 ◽  
pp. 02017
Author(s):  
A. Andreev ◽  
M. Andreev ◽  
D. Kolesnihenko ◽  
R.R. Dyganova ◽  
G.T. Merzadinova ◽  
...  
Keyword(s):  
Real Time ◽  
Electric Drive ◽  
Electric Motor ◽  
Parametric Identification ◽  
Identification Algorithm ◽  
Power Transistors ◽  
Asynchronous Electric Drive ◽  
Subsequent Calculation ◽  
Asynchronous Electric Motor ◽  
A Current

The authors propose an algorithm for identifying the parameters of a controlled asynchronous electric drive in real time, which provides calculation of stator and rotor resistances which change as a function of temperature. The algorithm is based on the analysis of a current tube of electric motor phase with the subsequent calculation of resistances.

scholarly journals Research of Tractor Power Unit with Electric Drive Parameters

2020 ◽  
Vol 14 (4) ◽  
pp. 33-42
Author(s):  
A. V. Bizhaev
Keyword(s):  
Diesel Engine ◽  
Lithium Ion Batteries ◽  
Power Unit ◽  
Electric Drive ◽  
Electric Motor ◽  
Lithium Ion ◽  
Electrical Energy ◽  
Energy Unit ◽  
Effi Ciency ◽  
Dc Electric Motor

The author showed that it was possible to reduce the exhaust gases toxicity and increase tractors effi ciency using an electric power unit to implement traction. The effi ciency of modern electric motors was at its peak of 96 percent, compared to 45 for a diesel engine. He emphasized that this parameter for modern sources of electrical energy was 85-90 percent, which opened up opportunities for the implementation of an electric tractor.(Research purpose) To present the general concept of an electric drive power unit for a tractor of a small traction class and to evaluate its parameters as a fi rst approximation.(Materials and methods) For the tractor’s electric drive lithium-ion batteries were chosen as a source of electrical energy, showing the best characteristics of energy intensity – 432-864 kilojoule per kilogram with a unit cost of 4200-17400 rubles per kilogram. During the analyses of the power unit drive types, a D-120 diesel engine with a power of 20 kilowatt, a DC electric motor and an asynchronous motor with similar parameters were studied. The VTZ-2032 tractor with a nominal tractive eff ort of 600 Newtons when working on stubble was taken as the basis for the calculation.(Results and discussion) The author determined the best indicators of the electric drive by the power characteristics fullness in the gears with a decrease in unit costs per kWh from 24 to 15-16 rubles.(Conclusions) The most effi cient engine was determined – a brushless DC electric motor. The author calculated that the specifi c cost of its energy was 1.5-1.8 times less than that of a diesel engine, and amounted to 15-27 rubles per kilowatt-hour with a maximum effi ciency of 95 percent. It was found that lithium-ion batteries would be the optimal solution for powering the electric drive. They were distinguished by a high specifi c energy consumption – 432-864 kilojoule per kilogram – and a low price per energy unit, amounting to 5-45 rubles per kilojoule.

scholarly journals Algorithm for Real-Time Cycle Slip Detection and Repair for Low Elevation GPS Undifferenced Data in Different Environments

2021 ◽  
Vol 13 (11) ◽  
pp. 2078
Author(s):  
Ning Liu ◽  
Qin Zhang ◽  
Shuangcheng Zhang ◽  
Xiaoli Wu
Keyword(s):  
Real Time ◽  
High Voltage ◽  
Second Order ◽  
Cycle Slip ◽  
Order Difference ◽  
Cycle Slips ◽  
Cycle Slip Detection ◽  
Wide Lane ◽  
Time Cycle ◽  
Slip Detection

Real-time cycle slip detection and repair is one of the key issues in global positioning system (GPS) high precision data processing and application. In particular, when GPS stations are in special environments, such as strong ionospheric disturbance, sea, and high-voltage transmission line interference, cycle slip detection and repair in low elevation GPS observation data are more complicated than those in normal environments. For low elevation GPS undifferenced carrier phase data in different environments, a combined cycle slip detection algorithm is proposed. This method uses the first-order Gauss–Markov stochastic process to model the pseudorange multipath in the wide-lane phase minus narrow-lane pseudorange observation equation, and establishes the state equation of the wide-lane ambiguity with the pseudorange multipath as a parameter, and it uses the Kalman filter for real-time estimation and detects cycle slips based on statistical hypothesis testing with a predicted residual sequence. Meanwhile, considering there are certain correlations among low elevation, observation epoch interval, and ionospheric delay error, a second-order difference geometry-free combination cycle slip test is constructed that takes into account the elevation. By combining the two methods, real-time cycle slip detection for GPS low elevation satellite undifferenced data is achieved. A cycle slip repair method based on spatial search and objective function minimization criterion is further proposed to determine the correct solution of the cycle slips after they are detected. The whole algorithm is experimentally verified using the static and kinematic measured data of low elevation satellites under four different environments: normal condition, high-voltage transmission lines, dynamic condition in the sea, and ionospheric disturbances. The experimental results show that the algorithm can detect and repair cycle slips accurately for low elevation GPS undifferenced data, the difference between the float solution and the true value for the cycle slip does not exceed 0.5 cycle, and the differences obey the normal distribution overall. At the same time, the wide-lane ambiguity and second-order difference GF combination sequence calculated by the algorithm is smoother, which give further evidence that the algorithm for cycle slip detection and repair is feasible and effective, and has the advantage of being immune to the special observation environments.

scholarly journals An intelligent method for solar flare observation

2012 ◽  
Vol 8 (S294) ◽  
pp. 503-504
Author(s):  
Jia Ben Lin ◽  
Juan Guo ◽  
Yuan Yong Deng
Keyword(s):  
Fine Structure ◽  
Solar Flare ◽  
Real Time ◽  
Structure Data ◽  
Control Algorithm ◽  
Simulation Experiment ◽  
Hard Disk ◽  
Solar Observatory ◽  
Explosive Phase

AbstractTo capture the fine structure of the flare kernel during it's explosive phase, we design a real time flare onset detecting algorithm named Near Saturation Area Threshold(NSAT), And an automatic CCD parameters control algorithm for the observing software. All the data from CCD, 48f/s, could be saved to the hard disk, and the GPS time of the flare onset also be saved in the log. These methods could avoid the data overflow and grab the fine structure data of the flare kernel. The simulation experiment works well and the software will be put into use in Huairou Solar Observatory soon.

Control System for the Mountainous Orchard Electric-Drive Monorail Transporter

2015 ◽  
Vol 738-739 ◽  
pp. 935-940 ◽  
Author(s):  
Zhen Li ◽  
Pei Xu ◽  
Yu Ping Ouyang ◽  
Shi Lei Lv ◽  
Qiu Fang Dai
Keyword(s):  
Control System ◽  
Electric Drive ◽  
Gear Ratio ◽  
System A ◽  
Speed Measurement ◽  
Driving Speed ◽  
Current Consumption ◽  
Operation Risk ◽  
Load Weight ◽  
Steep Hill

In order to reduce operation risk and working intensity in mountainous orchard transportation and to realize optimized control for the mountainous orchard electric-drive monorail transportation system, a mountainous orchard electric-drive monorail transporter control system was designed and developed in this study. The system mainly consists of modules as: manual and remote control, positioning, obstacle avoidance, speed measurement, motor control, electric-magnetic break, and the position limit. The driving speed, current consumption, break control, and battery pack running ability experiments were conducted to test the control system. Results indicated that, the transporter’s driving speed is 0.60~0.58 m/s when it is running on the ground with the load weight from 0 to 100kg. This speed is little affected by the load weight. The transporter’s driving speed is 0.45~0.28 m/s when it is climbing a steep hill with an angle of 39°. That speed is critically affected by the load weight. In further improvements, a shift mechanism will be introduced so that adjustable gear ratio could be achieved thus solve the current overload problem in a full load situation.

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