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Referring to a 4-wheel drive Formula Student Electric vehicle, a fractional-slot synchronous permanent magnet machine has been designed. Torque density has been improved adopting outer rotor topology and lightweight materials. An ironless rotor with PMs placed in an Halbach array configuration allows reduced rotor inertia to be obtained. The results described in the paper provide a quantitative assessment...
In this paper, a robust and an efficient tracking controller based on model reference adaptive system (MRAS) technique is performed for mobile robot in order to get the accurate trajectory tracking performance. The model reference adaptive system (MRAS) technique has been presented so as to achieve the estimated value of system's speed information. To estimate the rotor position and speed of the mobile...
Wheel hub drives provide the opportunity to control the torque at every wheel independently. Thus, safety functions like anti-lock braking system (ABS) or electronic stability control (ESC) can be implemented in the drives as well. This enables the substitution of friction brakes at the driven wheels by electric drives. In this paper, resulting requirements for the drive system are presented and an...
Distributed electric vehicles are typical over- actuated systems, therefore, the optimal torque distribution can be realized through the driving wheels. It is meaningful to extend driving range and reinforce stability of vehicles by using optimal torque allocation methods. In this paper, a quadratic programing based torque allocation strategy is proposed to minimize the drivetrain power loss and utilize...
In this paper is discussed and evaluated the using of various concept of traction drives in Czech Republic and in the World. The article is focused on application of innovative solutions especially high speed traction drives with permanent magnet synchronous machines. In the research is evaluated the impact of high speed application and assessed the advantages and disadvantages of the new concept...
As part of the optimization of electric machines, we are interested in this work to optimize the geometrical parameters of an in-wheel permanent magnet motor with an external rotor and concentrated windings. In the magnetic circuit optimization, three based Particle Swarm Optimization (PSO) multi-objective optimization algorithms were applied: Multi-Objective Particle Swarm Optimizer (OMOPSO), Speed-constrained...
This paper designs omni-directional AGV(Automated Guided Vehicle) in the polar coordinates by combining with currently-used AGV in production and daily life and the Mecanum wheel [1-2]. Therefore, it is endowed with the ability to move in omni-direction in the production and daily life, which can greatly improve the efficiency of the machine operation, a higher utilization space and greater convenience...
This article describes concept and design of electronic units of remotely navigated vehicle Democar. Article is mainly focused on hardware part of this vehicle. Desribed are systems of this vehicle and their main functions. Also is included cooperation between systems with procedures for safety operation. In last part are shown results of communication between systems and functional results.
This paper proposes a time-optimal path-tracking strategy of cross-coupling control for a wheelchair driven by dual power wheels. Each power wheel is integrated by a rim motor, a battery bank, a brake, and a controller. The control strategy is responsible for adjusting the speed ratio of dual power wheels to maintain a direction of motion that the driver commands under any road circumstance. Since...
This paper considers the possibility of adopting a conical shaped motor for Green Taxiing (GT) application. This topology of motor has been selected in order to obviate the presence of external declutching system (i.e. mechanical or electromagnetic clutch) interposed between the electric actuator and the wheel. An axial force contributes to move the rotor inside-out of the stator (principle of sliding-rotor)...
It is necessary to detect vehicle speed to calculate the slip ratio in slip control systems. However, it is hardly to measure the vehicle speed directly for electric vehicle (EV) with in-wheel motors. So, this paper proposed a new slip ratio estimation method for EV with in-wheel motors based on Extended Kalman Filter (EKF) without detecting the vehicle speed. This method takes advantage of the features...
This contribution proposes an algorithm to minimise power consumption of electrical vehicles equipped with a permanent magnet three-phase synchronous motor. A constrained optimization problem is formulated and its solution is numerically approximated by using a Hamiltonian function. The problem is posed as a two-point boundary value optimization problem that clearly takes the structural physical constraints...
In this paper authors present two omnidirectional robots developed for educational and research purposes. For the first minirobot, synchronization is achieved electronically and for the second (synchro-drive) minirobot synchronization is done mechanically. Transmission for the second minirobot is based on geared mechanisms. Two motors are used for driving the minirobot. One for driving and one for...
In this paper, the circuit model of the parallel connected induction motors driven by single inverter is established. According to the circuit model, the problem of unbalanced electromagnetic torque caused by the wheel diameter difference of the parallel connected motors is analyzed. The weighted vector equation of the parallel connected motors is established. To improve the control performance with...
Compared with the traditional electric vehicle whose drive axle is composed of one single electric motor and differential, four-wheel-drive electric vehicle with in-wheel motor has tremendous potential and freedom to design various chassis dynamic control system. In this paper, a driving-mode switching regulation applied to this kind of electric bus for energy conservation is presented, by using minimum-...
The paper illustrates the design guidelines for a drivetrain of a fuel cell light urban vehicle. The procedure starts from the mechanical and dynamic constraints and includes the sizing of the battery pack, the choice of the traction motors and the speed reduction gears. The design is validated by simulations, comparing two motor types. Although the induction motor has lower dynamical performances...
The twin direct drive motor system connected by wire rope has many advantages such as lightweight and high stiffness, widely used in light weight actuation applications. However, because of the elasticity and nonlinearity characteristic, wire rope is difficult to be used in the precise position control applications. In this paper, a novel wire rope pretightening force control strategy by dual direct...
Understanding the need for improvement in efficiency of an electric vehicle drivetrain system, this paper exclusively discusses various design aspects of a permanent magnet machine drive for direct-drive electric vehicles (EV). Firstly, the motivation to employ a direct-drive configuration in EV is discussed. Thereafter, initial electric machine rating design considerations for a typical Supermini...
Electrified drive trains for tractors open great possibilities of raising performance in heavy agricultural operations due to high controllability and drive torque feedback. However, electric motor characteristics do not completely satisfy traction requirements in agricultural operations which imply high torques at low speeds as well as high transport speeds. The paper proposes to apply a winding...
For an electric vehicle, motor selection is very important as it mainly determine its efficiency, cost and reliability. A particular motor may behave differently under different driving conditions. The driving behavior for an urban and suburban region is represented by its drive cycle. Thus, motor must be analyzed based on different drive cycles. In this paper, analysis of an induction motor for different...
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