Control system in electric tricycle focused on high dynamics of pedals load torque response

• Autorzy: Fabiański B. , Wicher B.
• Konferencja: Computer Applications in Electrical Engineering (18-19.04.2016 ; Poznań, Polska)
• Języki publikacji: EN

Abstrakty

EN

In the article two different control system structures of electric driven tricycle are presented. The very specific feature of the vehicle is that it works with "pedaling by wire". It means, that there is no mechanical coupling between pedals and any of driven wheels. This structure gives an advantage of achieving wide range of the correlation between the pedals load torque and speed and the driven wheels electromagnetic torque and speed. The challenge is to provide a natural pedaling feels for the rider. Two different approaches for control system signal flow are compared for natural pedaling feel for cyclist. The system architecture bases on CAN network distributed control that links three independent wheel drives, dedicated HMI panel, generator inverter and centralized supervisory board. The modelling methods are presented in the paper with an appropriate analytical base. Simulation results of presented control structures follows experimental ones taken from the electric tricycle.

Słowa kluczowe

EN

electric vehicle; tricycle; distributed control system; pedaling by wire system; CAN network; electric drive; BLDC motor; power inverter; STM32F4 MCU

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Poznan University of Technology Academic Journals. Electrical Engineering
• Rocznik: 2016
• Tom: No. 85
• Strony: 233--244
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Fabiański B.

• Poznan University of Technology

autor

Wicher B.

• Poznan University of Technology

Bibliografia

• [1] Fabianski B., Wicher B., Control algorithms in distributed system of three wheeled electric vehicle, 2014 16th Int. Conf. Mechatron. – Mechatronika ME, 2014, p. 38-44. DOI:10.1109/MECHATRONIKA.2014.7018233.
• [2] Fabianski B., Wicher B., Dynamic model and analysis of distributed control system algorithms of three wheel vehicle. Methods Models Autom. Robot. MMAR 2014 19th Int. Conf. On, 2014, p. 70–5. DOI:10.1109/MMAR.2014.6957327.
• [3] Fabiański B., Zawirski K., Nowopolski K., Wicher B., Janiszewski D., Siembab K., Gearless Pedaling Electric Driven Tricycle. [In:] Gołębiowski L., Mazur D., editors. Anal. Simul. Electr. Comput. Syst., Springer International Publishing; 2015, p. 411-21.
• [4] Fabiański B., Janiszewski D., Nowopolski K., Siembab K., Wicher B., Zawirski K., et al., Napęd elektryczny i sterowanie trójkołowego roweru bez przekładni mechanicznej. Przegląd Elektrotechniczny 2014; 90:17–22. DOI:10.12915/pe.2014.06.04.
• [5] Nowopolski K., Bielak C., Wicher B., Static and dynamic ergonomic corrects of torque controlled in bicycle ergometer, 2013 18th Int. Conf. Methods Models Autom. Robot. MMAR, 2013, p. 161–5. DOI:10.1109/MMAR.2013.6669899.
• [6] Rumniak P., Ufnalski B., Grzesiak L., Tuning of PI regulators in distributed control system for an electric vehicle. Przegląd Elektrotechniczny 2015; 91:290–4. DOI:10.15199/48.2015.09.70.
• [7] Skóra M., Pawlak M., Zastosowanie czujników MEMS do sterowania napędu elektrycznego wózka inwalidzkiego. Przegląd Elektrotechniczny 2013; R. 89, nr 12:133–7.
• [8] Zawirski K., Deskur J., Kaczmarek T., Automatyka napędu elektrycznego. Wydawnictwo Politechniki Poznańskiej; 2012.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.