scholarly journals Research of the Design Feasibility of a 3-Wheel Electric Vehicle with a Simplified Control System

2020 ◽  
Vol 14 (1) ◽  
pp. 32-35
Author(s):  
Srđan Medić ◽  
Veljko Kondić ◽  
Tihomir Mihalić ◽  
Vedran Runje
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Fem Analysis ◽  
Steering Wheel ◽  
Circular Path ◽  
Main Concern ◽  
The Finite Element Method ◽  
Vehicle Aerodynamics ◽  
Computational Fluid Dynamics Cfd ◽  
The Stability

The need for a simple, customised electric vehicle (EV) has inspired the research of the possibility to build a simple EV tailored for the specific needs of the buyer. This paper is focused on the concept of an EV with no conventional control mechanism. In this paper, a research of user needs, vehicle dynamics, vehicle aerodynamics, type of drive and batteries was carried out. EV aerodynamics characteristics were simulated by using the Computational Fluid Dynamics (CFD) software. The control system was designed in correlations with the maximal safe velocity and the radius of EV turning on a circular path. The stability of the EV, concerning the vehicle turning over and wheels slipping while driving in the curves, was the main concern of this paper. The steering wheel and brake pad were replaced with a control stick. Using the Finite Element Method (FEM) analysis, key parts of the construction were constructed.

scholarly journals Vehicle Stability Control Strategy Based on Recognition of Driver Turning Intention for Dual-Motor Drive Electric Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Shu Wang ◽  
Xuan Zhao ◽  
Qiang Yu
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Stability Control ◽  
Motor Drive ◽  
Vehicle Stability ◽  
Lane Change ◽  
Vehicle Stability Control ◽  
Stability Control System ◽  
The Stability

Vehicle stability control should accurately interpret the driving intention and ensure that the actual state of the vehicle is as consistent as possible with the desired state. This paper proposes a vehicle stability control strategy, which is based on recognition of the driver’s turning intention, for a dual-motor drive electric vehicle. A hybrid model consisting of Gaussian mixture hidden Markov (GHMM) and Generalized Growing and Pruning RBF (GGAP-RBF) neural network is constructed to recognize the driver turning intention in real time. The turning urgency coefficient, which is computed on the basis of the recognition results, is used to establish a modified reference model for vehicle stability control. Then, the upper controller of the vehicle stability control system is constructed using the linear model predictive control theory. The minimum of the quadratic sum of the working load rate of the vehicle tire is taken as the optimization objective. The tire-road adhesion condition, performance of the motor and braking system, and state of the motor are taken as constraints. In addition, a lower controller is established for the vehicle stability control system, with the task of optimizing the allocation of additional yaw moment. Finally, vehicle tests were carried out by conducting double-lane change and single-lane change experiments on a platform for dual-motor drive electric vehicles by using the virtual controller of the A&D5435 hardware. The results show that the stability control system functions appropriately using this control strategy and effectively improves the stability of the vehicle.

Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller

1997 ◽  
Vol 9 (2) ◽  
pp. 160-167
Author(s):  
Jun Tang ◽  
◽  
Keigo Watanabe ◽  
Akira Nomiyama ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Mobile Robot ◽  
Fuzzy Controller ◽  
Control Object ◽  
Circular Path ◽  
Unknown Parameters ◽  
Trajectory Tracking Control ◽  
Practical Applications ◽  
The Stability

This paper presents a new design for a fuzzy controller, called ""stochastic fuzzy control."" It describes the application controlling a mobile robot driven by two independent wheels. Using this scheme, the fuzzy control system provides an optimal stochastic control strategy that ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, and the other assumes that the control object includes unknown parameters. We design the straight line and circular path reference trajectories in accordance with the practical applications for the mobile robot, in which three patterns of speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests using our experimental mobile robot.

Design and Simulation of a Stability Control System for 4 Independent Wheel Drive Electric Vehicle

2016 ◽  
Author(s):  
Juan S. Núñez ◽  
Luis E. Muñoz
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Sliding Mode ◽  
Stability Control ◽  
Performance Comparison ◽  
Phase Portraits ◽  
Vehicle Model ◽  
Stability Control System ◽  
The Stability ◽  
Yaw Moment

With the aim of prevent situations of vehicle instability against different driving maneuvers, the vehicle yaw stability becomes crucial for safe operation. This paper presents the design and simulation of a traction and a stability control system algorithms for independent four-wheel-driven electric vehicle. The stability control system consists of a multilevel algorithm divided into a high level controller and a low level controller. First, an analysis of the stability of the vehicle is performed using phase portraits analysis, both in open loop and closed loop. The stability control system is designed to generate a desired yaw moment according to the steady state cornering relationship with the steering angle input. As the test vehicle, a 14 DoF vehicle model is proposed including nonlinear tire models that allow the generation of combined forces. The vehicle model includes the powertrain dynamics. The yaw moment generation is performed using the traction and braking forces between the tires of each side of both front and rear axle. In order to generate the maximum traction forces in each of the wheels, a traction and a braking control is developed via a sliding mode controller scheme. Finally a performance comparison between a controlled and an uncontrolled vehicle is presented. The behavior of both vehicles is simulated using a classical double lane change driving maneuver.

scholarly journals Self-propelled inspection vehicle on omni wheels

2019 ◽  
Vol 254 ◽  
pp. 02002
Author(s):  
Jarosław Selech ◽  
Dariusz Ulbrich ◽  
Konrad Włodarczyk ◽  
Żaneta Staszak ◽  
Jacek Marcinkiewicz ◽  
...  
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Control System ◽  
Power Supply ◽  
Fem Analysis ◽  
Vehicle Control ◽  
Radio Waves ◽  
The Finite Element Method ◽  
Ventilation Ducts ◽  
Vehicle Movement

In the article design of a self-propelled vehicle for inspecting ventilation ducts and ceiling structures in buildings equipped with omni wheels was presented. Such vehicles are used in places that are hard to reach for people. The vehicle was designed using the vehicle control system – ARDUINO. For this system dedicated program was written, which is used to operate it. The vehicle is remotely controlled by radio waves. Its range is about 100 meters and the power supply is a 12 V battery. The vehicle operator has joysticks (controllers) modelled on those used in game controllers that are used for precise vehicle control. The vehicle is equipped with cameras that allow to view the image in real time. The omni wheels have also been tested for strength by the finite element method (FEM). Carried out FEM analysis as part of the work allowed to determine the strength of omni wheels on the acting forces during vehicle movement.

Critical Force Analysis of Thin-Walled Symmetrical Open-Section Beams

2016 ◽  
Vol 827 ◽  
pp. 283-286
Author(s):  
Diana Šimić Penava ◽  
Maja Baniček
Keyword(s):  
Cross Section ◽  
Cross Sections ◽  
Local Buckling ◽  
Fem Analysis ◽  
Critical Force ◽  
The Finite Element Method ◽  
Force Analysis ◽  
Standard Specimens ◽  
Thin Walled ◽  
The Stability

This paper analyzes critical forces and stability of steel thin-walled C-cross-section beams without lateral restraints. Mechanical properties of the rods material are determined by testing standard specimens in a laboratory. Based on the obtained data, the stability analysis of rods is carried out and critical forces are determined: analytically by using the theory of thin-walled rods, numerically by using the finite element method (FEM), and experimentally by testing the C-cross-section beams. The analysis of critical forces and stability shows that the calculation according to the theory of thin-walled rods does not take the effect of local buckling into account, and that the resulting critical global forces do not correspond to the actual behaviour of the rod. The FEM analysis and experimental test show that the simplifications, which have been introduced into the theory of thin-walled rods with open cross-sections, significantly affect final results of the level of the critical force.

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

Investigation of the stability of periodic motions in a nonlinear automatic control system based on the fast fourier transform

2003 ◽  
Vol 3 ◽  
pp. 297-307
Author(s):  
V.V. Denisov
Keyword(s):  
Fourier Transform ◽  
Control System ◽  
Automatic Control ◽  
Fast Fourier Transform ◽  
Automatic Control System ◽  
Resonance Phenomenon ◽  
Periodic Motions ◽  
Multiply Connected ◽  
Non Linear ◽  
The Stability

An approach to the study of the stability of non-linear multiply connected systems of automatic control by means of a fast Fourier transform and the resonance phenomenon is considered.

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