Browse Topic: Motor-in-wheel drives

Items (78)
Series Fuzzy PID with Anti-windup Controller for Intelligent Vehicle2020-01-01134/14/2020
A series fuzzy PID controller with anti-windup scope (SFPCA) is proposed in this paper to address saturation nonlinear problem and control disturbance caused by uncertainty of actuator model. In order to achieve novel dynamic and steady-state performance, the fuzzy controller and PID controller are fused into series, which realizes excellent dynamic performance of fast response and low overshoot like pure fuzzy controller at the initial response stage, and the excellent steady-state performance of stable and no static difference like PID control at the later response stage. The Hurwitz low is employed to configure PID parameters and 49 rules are designed for fuzzy controller. Since the input of the actuator could not be infinite, the actuator being saturated for a long time could reduce the stability of system and, even lead to irreversible damage. Moreover, after exiting the saturation state, it is difficult to quickly recover to the fast and stable response state of the original system. Therefore, an anti-windup scope is meticulously developed to limit the system input to a reasonable range under the saturation state, and, in the unsaturated state, the original Fuzzy PID control is restored. In order to verify the performance of the algorithm, four comparison algorithms were adopted, including pure PD, pure PID, pure Fuzzy and series Fuzzy PID controller (SFPC), and two typical commands like step and sine are employed as desired signals. The experimental results show that the SFPCA has more excellent dynamic and steady performance than pure PD, pure PID, pure Fuzzy and series Fuzzy PID controller (SFPC).
Luo, Chao
Replacement of a 50cc Two-stroke Engine with an Electric Powertrain2019-32-06231/24/2020
As global regulations look to create a dramatic reduction in CO2 emission and other forms of pollution, companies with products that rely on engine technology must be ready to take on the electrification challenge. Applications that remain using two-stroke engine technology continue to exist due to their very high power density requirements. However, their history of higher pollution compared to four-stroke engines makes them a target to be regulated out of existence. Such high power two-stroke applications include high performance off-road motorcycles. In this type of product, electrification can solve not only pollution challenges but market challenges, such as ridership and public perception. By addressing the core problems presented by the two-stroke engine and turning challenges into opportunity, a strong attraction is created to convert a two-stroke engine motorcycle to an electric vehicle. With Automotive electric vehicle technology paving the way, the basis for cost effective electric motorcycle powertrain is explored for a 50cc off-road motorcycle application. The 50cc engine and motorcycle represent a special product where size, performance, and cost have a high sensitivity. The 50cc product also represents an area of great opportunity for the product as it is connected to the youth riding segment that establishes the future of motorcycle riding. With both strong opportunity and strong challenges, the electrification solution for a 50cc application provides broad justification for mass market adoption across the motorcycle industry. Challenges will be presented towards a OEM level product where design change is to be minimized without compromising performance. Various challenges include system design, packaging, supply chain, product lifecycle, competition readiness, safety, and cost. Opportunities will be discussed in the context of how the electrified powertrain can create a better product for the rider and solve challenges to enable the next generation of motorcycling. These opportunities include manufacturing advantages, environmental harmony, and new features.
Beeker, Jesse
Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits2019-01-04594/2/2019
Electric vehicles are capable of more flexible drivetrain configurations, such that driving dynamics of each wheel could be controlled independently to increase its stability and maneuverability bounds. We hereby propose a configuration consisting of four wheel independent driving and front and rear axle modular steering. The vehicle implements drive-by-wire technology, which means the control program running on vehicle control computer will have direct control authority of the vehicle under normal driving conditions, based on inputs of higher level systems such as human drivers and autonomous driving programs. Both the torque allocation on four wheels and the steering allocation on axles are completely independent on the mechanical hardware level, thus the vehicle is able to harness adverse contact conditions with confidence. A slip-aware model-free control method for torque allocation and steering is proposed and inspected in the paper, with digital model of a modified SUV simulated for validation, and the vehicle responses with and without such controller are compared to elaborate its strengths. Such control method has more safety margin under close-to-limits driving conditions with presence of tire slip. The control method along with drive-by-wire features also enhance driving safety by correcting excessive inputs by human drivers. Additionally, a comprehensive index reflecting the stability and maneuverability of the vehicle is also introduced and based on which a model-based controller is designed and compared.
Yang, HaoguangLiu, ChenShi, JiongmingZheng, Gangtie
Model-Based Pitch Control for Distributed Drive Electric Vehicle2019-01-04514/2/2019
On the dual-motor electric vehicle, which is driven by two electric motors mounted on the front and rear axles respectively, longitudinal dynamic control and electro-dynamic braking can be achieved by controlling the torque of front and rear axle motors respectively. Suspension displacement is related to the wheel torque, thus the pitch of vehicle body can be influenced by changing the torque distribution ratio. The pitch of the body has a great influence on the vehicle comfort, which occurs mainly during acceleration and braking progress. Traditionally active suspension is adopted to control the pitch of body. Instead, in this paper an ideal torque distribution strategy is developed to limit the pitch during acceleration and braking progress. This paper first explores the relationship between the torque distribution and the body pitch through the real vehicle test, which reveals the feasibility of the vehicle comfort promotion by optimizing the torque distribution coefficient. A two-degree-of-freedom semi-vehicle model is established according to the actual vehicle parameters. Based on the vehicle model, the control system is established to minimize the pitch motion during the acceleration and braking process by means of a model predictive control technique. The control effect is verified by simulation experiments.
Yu, YizeXiong, LuYu, ZhuopingYang, XingHou, YuyeLeng, Bo
Stability Control of Autonomous Vehicles with Four In-Wheel Motor Drive for Severe Environments2017-01-20019/23/2017
Research and development of autonomous functions for a road vehicle become increasingly active in recent years. However, the vehicle driving dynamics performance and safety are the big challenge for the development of autonomous vehicles especially in severe environments. The optimum driving dynamics can only be achieved when the traction torque on all wheels can be influenced and controlled precisely. In this study, we present a novel approach to this problem by designing an advanced torque vectoring controller for an autonomous vehicle with four direct-drive in-wheel motors to generate and control the traction torque and speed quickly and precisely, thus to improve the stability and safety of the autonomous vehicle. A four in-wheel motored autonomous vehicle equipped with Radar and camera is modelled in PanoSim software environment. Vehicle-to-Vehicle (V2V) communication is used in this software platform to avoid collision. Individual in-wheel motor control systems are integrated and networked together using a high-level advanced vectoring control system. The proposed vectoring control system can monitor and manage the behavior of the individual subsystems, assigning appropriate tasks to each of them according to the driving maneuver and road conditions. The performance and effectiveness of the proposed vectoring control system is evaluated using standard test maneuvers. Simulation results show that the proposed advanced torque vectoring controller can improve the vehicle steadiness and transient response properties, thereby enhancing the stability performance compared with the conventional central motor controller particularly for severe environment conditions.
Li, XinSitu, LixinYu, YongqiangChen, Feng
Path-Tracking Controller Design for a 4WIS and 4WID Electric Vehicle with Steer-by-Wire System2017-01-19549/23/2017
Path tracking is the rudimentary capability and primary task for autonomous ground vehicles (AGVs). In this paper, a novel four-wheel-independent-steering (4WIS) and four-wheel-independent-drive (4WID) electric vehicle (EV) is proposed which is equipped with steer-by-wire (SBW) system. For path-tracking controller design, the nonlinear vehicle model with 2 degrees of freedom (DOF) is built utilizing the nonlinear Dugoff tire model. The nonlinear dynamic model of SBW system is conducted as well considering the external disturbances. As to the path-tracking controller design, an integrated four-wheel steering (4WS) and direct yaw-moment control (DYC) system is designed based on the model predictive control (MPC) algorithm to track the target path described by desired yaw angle and lateral displacement. Then, the fast terminal sliding mode controller (FTSMC) is proposed for the SBW system to suppress disturbances. The control allocation algorithm of DYC is realized by weighted least square (WLS). To evaluate the performance of the designed controller, numerical simulations of two maneuvers are carried out using a high-fidelity and full-vehicle model via CarSim-Simulink platform. Simulation results show that the integrated 4WS+DYC controller has better path-tracking performance than other controllers, and it has strong robust performance against parametric perturbations, i.e. the road adhesion coefficient and vehicle longitudinal velocity.
Hang, PengChen, XinboLuo, Fengmei
Network Scheduling for Distributed Controls of Electric Vehicles Considering Actuator Dynamic Characteristics *CSP Meta QA Testing*2017-01-00193/28/2017
Electric vehicle (EV) has been regarded as not only an effective solution for environmental issues but also a more controllable and responsible device to driving forces with electric motors and precise torque measurement. For electric vehicle equipped with four in-wheel motors, its tire longitudinal forces can be generated independently and individually with fully utilized tire adhesion at each corner. This type of the electric vehicles has a distributed drive system, and often regarded as an over-actuated system since the number of actuators in general exceeds the control variables. Control allocation (CA) is often considered as an effective means for the control of over-actuated systems. The in-vehicle network technology has been one of the major enablers for the distributed drive systems. The vehicle studied in this research has an electrohydraulic brake system (EHB) on front axle, while an electromechanical brake system (EMB) on rear axle. The focus of this study is on the scheduling of the networked control for the distributed systems. A network control system (NCS) model is first established with a continuous-time based plant model, a discrete controller and a FlexRay communication model, in addition to the electric vehicle model with tire model and driving/braking actuator models. An integrated vehicle control allocation method based on constraints optimization is then proposed. The dynamic characteristics of each actuator are considered on the control allocation with higher-bandwidth actuators being used for faster control commands. It is also considered for the scheduling optimization of FlexRay which minimizes a cost function and subject to a set of constraints. Finally, a hardware-in-the-loop (HIL) system is built, which consists of a driving simulator, four in-wheel motors, EHB and EMB brake systems, all connected via FlexRay communication in order to validate the proposed scheduling methods. The experimental results have demonstrated the improved responses of actuators when considering their dynamic characteristics, improved control performance via properly designed control allocation, and reduced bus efficiency via optimized scheduling methods.
Zhao, YangDeng, WeiwenWu, JianHe, Rui
Analysis of Conventional Motorcycles with the Focus on Hybridization2016-32-003111/8/2016
The release of the “Regulation No. 168/2013” for the approval and market surveillance of two- or three-wheel motorcycles and quadricycles of the European Union started a new challenge for the motorcycle industry. One goal of the European Union is to achieve emission parity between passenger cars (EURO 6) and motorcycles (EURO 5) in 2020. The hybridization of motorcycle powertrains is one way to achieve these strict legislation limits. In the automotive sector, hybridization is well investigated and has already shown improvements of fuel consumption, efficiency and emission behavior. Equally, motorcycle applications have a high potential to improve efficiency and to meet customer needs as fun to drive as well. This paper describes a methodical approach to analyze conventional motorcycles regarding the energy and power demand for different driving cycles and driving conditions. Therefore, a dynamic or forward vehicle simulation within MATLAB Simulink is used. Within this simulation the energy and power requirement for overcoming the driving residence is calculated. By a detailed analysis of the load points over the separate parts of a driving cycle (e.g. WMTC) potentials and requirements are displayed. The results of this research shows that with a proper selection of the hybridization-level, dimensioning and assembly of the vehicle components (ICE, E-Motor, Electrical Storage,…) improvements are still possible. Furthermore, the impacts of different hybridization levels on the homologation process are shown. In this case, the focus is put on the fuel consumption calculation which is prescribed by the European Union.
Rieger, Paul W.Zinner, ChristianSchmidt, StephanHausberger, Stefan
Effect of Three Controls (Camber Angle Control, Derivative Steering Assistance Control, and Inside-Outside Wheel Braking Force and Driving Force Control in Body Slip Angle Area2016-01-16664/5/2016
In this research, we examine the three controls inside-outside wheel braking force and driving force, camber angle, and the derivative steering assistance to determine how angle differences affect cornering performance and controllability. This is accomplished by comparing body slip angle area differences in a closed loop examination of the grip to drift area using a driving simulator. The results show that inside-outside wheel braking force and driving force control in the area just before critical cornering occurs has a significant effect on vehicle stability. We also clarified that controlling the camber angle enhances grip-cornering force, and confirmed that the sideslip limit could be improved in the vicinity of the critical cornering area. Additionally, when the counter steer response was improved by the use of derivative steering assistance control in the drift area exceeding the critical cornering limit, corrective steering became easier. Moreover, the effect could be achieved by using camber angle and derivative steering assistance controls in combination over a wide area. Based on the above, we conclude that it is possible to control wide-ranging body slip angle areas by combining the three abovementioned controls.
Yamaguchi, RyoNozaki, Hiromichi
Improvement of Ride Comfort by Unsprung Negative Skyhook Damper Control Using In-Wheel Motors2016-01-16784/5/2016
Vehicles equipped with in-wheel motors (IWMs) are capable of independent control of the driving force at each wheel. These vehicles can also control the motion of the sprung mass by driving force distribution using the suspension reaction force generated by IWM drive. However, one disadvantage of IWMs is an increase in unsprung mass. This has the effect of increasing vibrations in the 4 to 8 Hz range, which is reported to be uncomfortable to vehicle occupants, thereby reducing ride comfort. This research aimed to improve ride comfort through driving force control. Skyhook damper control is a typical ride comfort control method. Although this control is generally capable of reducing vibration around the resonance frequency of the sprung mass, it also has the trade-off effect of worsening vibration in the targeted mid-frequency 4 to 8 Hz range. This research aimed to improve mid-frequency vibration by identifying the cause of this adverse effect through the equations of motion. As a result, a method was derived by analysis that reduced vibration over a wide mid-frequency range by a control that applies unsprung vertical velocity in the direction that enhances that velocity (i.e., a negatively signed skyhook damper control called unsprung negative skyhook damper control). This control was then incorporated into a vehicle equipped with IWMs and the improvement effect on ride comfort was verified.
Katsuyama, EtsuoOmae, Ayana
Study on Power Ratio Between the Front Motor and Rear Motor of Distributed Drive Electric Vehicle Based on Energy Efficiency Optimization2016-01-11544/5/2016
For distributed drive electric vehicles (DDEVs), the influence of the power ratio between the front and rear motors on the energy efficiency characteristics is investigated. The power-train systems of the DDEVs in this study are divided into two different power-train configurations. The first is with its front axle driven by wheel-side motors and the rear axle driven by in-wheel motors, and the second is with both the front and rear axles driven by in-wheel motors. The energy consumption simulation and analysis platform of the DDEV is built with Matlab/Simulink. The parameters of the key components are determined by the experiments to ensure the validity of the data used in simulation. At the same time, the vehicle’s average energy efficiency coefficient is defined to describe the energy efficiency characteristics of the power-train strictly. Besides, the control strategies for driving and braking of the DDEV based on energy efficiency optimization are presented. Then, based on the existing energy efficiency MAPs of the power components including motor, inverter and reducer, the methods which calculate the energy efficiency MAPs of the power components with other sizes by calculating power losses related to the parameters and sizes are proposed. Thus, the energy efficiency MAPs of the power-train with different power ratios between the front and rear motors are acquired. Several simulations with different typical driving cycles are implemented to compare the energy efficiency characteristics of different power-train configurations. As a result, based on the energy efficiency optimization, we propose the best power ratio between the front and rear motors, which is about 1:2.5 for the power-train using front wheel-side motors and rear in-wheel motors, while about 2:1 for another configuration. Our works can provide recommendations for allocation of front motor power and rear motor power for DDEVs.
Shen, PeihongSun, ZechangZeng, YingjieWang, XinjianDai, Haifeng
Fault-Tolerant Control for 4WID/4WIS Electric Vehicle Based on EKF and SMC2015-01-28469/29/2015
This paper presents a fault-tolerant control (FTC) algorithm for four-wheel independently driven and steered (4WID/4WIS) electric vehicle. The Extended Kalman Filter (EKF) algorithm is utilized in the fault detection (FD) module so as to estimate the in-wheel motor parameters, which could detect parameter variations caused by in-wheel motor fault. A motion controller based on sliding mode control (SMC) is able to compute the generalized forces/moments to follow the desired vehicle motion. By considering the tire adhesive limits, a reconfigurable control allocator optimally distributes the generalized forces/moments among healthy actuators so as to minimize the tire workloads once the actuator fault is detected. An actuator controller calculates the driving torques of the in-wheel motors and steering angles of the wheels in order to finally achieve the distributed tire forces. If one or more in-wheel motors lose efficacy, the FD module diagnoses the actuator failures first. Then the reconfigurable control allocator accommodates faulty in-wheel motors and reconfigures the control allocation law of the healthy motors to achieve the desired vehicle motion to the greatest extent. Experimental verification is made to show that the proposed FTC algorithm is able to improve the vehicle's stability and handling performance in various driving scenarios.
Li, ChunshanChen, GuoyingZong, ChangfuLiu, Wenchao
A Control Allocation Strategy for Electric Vehicles with In-wheel Motors and Hydraulic Brake System2015-01-16004/14/2015
Distributed drive electric vehicle (EV) is driven by four independent hub motors mounted directly in wheels and retains traditional hydraulic brake system. So it can quickly produce driving/braking motor torque and large stable hydraulic braking force. In this paper a new control allocation strategy for distributed drive electric vehicle is proposed to improve vehicle's lateral stability performance. It exploits the quick response of motor torque and controllable hydraulic pressure of the hydraulic brake system. The allocation strategy consists of two sections. The first section uses an optimal allocation controller to calculate the total longitudinal force of each wheel. In the controller, a dynamic efficiency matrix is designed via local linearization to improve lateral stability control performance, as it considers the influence of tire coupling characteristics over yaw moment control in extreme situations. The second part adopts a longitudinal force allocator to separate each longitudinal force into motor torque and hydraulic pressure based on actuators' output characteristics. A Carsim and Matlab joint simulation is carried out under the double lane change condition and the simulation results demonstrate that the proposed control strategy achieves a better performance in lateral stability control than that without hydraulic system. It can be concluded that the strategy is able to broaden the working range of in-wheel motor in vehicle stability control.
Zou, TongXiong, LuYang, PengfeiJin, Chi
Fault-Tolerant Control for 4WID/4WIS Electric Vehicles2014-01-258910/13/2014
The passive fault-tolerant approach for four-wheel independently driven and steered (4WID/4WIS) electric vehicles has been investigated in this study. An adaptive control based passive fault-tolerant controller is designed to improve vehicle safety, performance and maneuverability when an actuator fault happens. The proposed fault tolerant control method consists of the following three parts: 1) a fault detection and diagnosis (FDD) module that monitors vehicle driving condition, detects and diagnoses actuator failures with the inequality constraints; 2) a motion controller that computes the generalized forces/moments to track the desired vehicle motion using Model Predictive Control (MPC); 3) a reconfigurable control allocator that redistributes the generalized forces/moments to four wheels with equality constrained optimization. The FTC approach is based on the reconfigurable control allocation which reallocates the generalized forces/moments among healthy actuators once the actuator failures is detected. If one or more in-wheel motors lose efficacy, the FDD module diagnoses the actuator failures first. Then the reconfigurable control allocator accommodates faulty in-wheel motors and reconfigures the control allocation law of the healthy motors to achieve the desired vehicle motion to the greatest extent. Numerical simulations have been conducted to verify the proposed algorithm. It has been shown that the FTC controller prevents the fault further expands, and displays the effectiveness of the proposed fault tolerant control approaches in various driving scenarios.
Li, ChunshanChen, GuoyingZong, Changfu
Regenerative Braking Systems for Electric Driven Vehicles: Potential Analysis and Concept of an Adaptive System2013-01-20659/30/2013
Electric driven Vehicles (EV) can help reduce CO2 emissions caused by traffic. High acquisition costs and the limited driving range of electric vehicles are their major drawbacks. In the last few years many efforts in research have been made to increase the usability of EV's. A Battery Electric Vehicle (BEV) consists mainly of an electric motor and a battery. Both components allow regenerative braking, where kinetic energy can be transformed back to electric energy and stored in the battery during braking. Several types of Regenerative Braking Systems (RBS) already exist. These systems differentiate from each other by the concepts and strategies used, and therefore have different potential to increase the driving range of electric driven vehicles. Furthermore, the potential depends on the actual traffic situation and the actual state of the vehicle components. In this paper, a review of the actual concepts proposed for regenerative braking and their impact on driving range will be made. The concepts will also be evaluated for different driving & traffic situations. The concept of an Adaptive Regenerative Braking System (ARBS) will also be introduced and its applications will be discussed. For the development and evaluation of an appropriate system a Vehicle Simulation Model (VSM) with traffic simulation was used. The developed system was validated afterwards on an institute owned Battery Electric Vehicle (BEV).
Kubaisi, RayadHerold, KonradGauterin, FrankGiessler, Martin
Passive Fault-Tolerant Performance of 4WID/4WIS Electric Vehicles Based on MPC and Control Allocation2013-24-01459/8/2013
The passive fault-tolerant performance of the integrated vehicle controller (IVC) applied on 4WID/4WIS Electric Vehicles has been investigated in this study. The 4WID/4WIS EV is driven independently by four in-wheel motors and steered independently by four steering motors. Thanks to increased control flexibility of the over-actuated architecture, Control Allocation (CA) can be applied to control the 4WID/4WIS EVs so as to improve the handling and stability. Another benefit of the over-actuated architecture is that the 4WID/4WIS Electric Vehicle has sufficient redundant actuators to fight against the safety critical situation when one or more actuators fail. The integrated vehicle control (IVC) approach is composed of two parts, i.e. a motion controller which is based on the Model Predictive Control (MPC) to determine the generalized forces/moments in order to track the desired vehicle motion; a control allocator which adopts Control Allocation (CA) method and distributes the generalized forces/moments among four wheels aiming at maximizing the vehicle-road grip margin. The MPC-based integrated vehicle controller is robust to parameter uncertainties and external disturbances. The actuator failure can be considered as a sort of disturbances. The integrated vehicle controller can handle the actuatorfailure situation maintaining the desired vehicle motion while the controller configuration is not necessary to be reconfigured. The proposed IVC controller has the passive fault-tolerant performance which does not need the fault detection and diagnosis mechanism so that the control system is simple and has no diagnosis time delay. The passive fault-tolerant performance of the proposed IVC controller has been confirmed through simulations. Simulations have shown that once the actuator fails, the IVC controller can still maintain the desired vehicle motion. The IVC controller ensures the desired vehicle dynamics after driving motor failures which verify the passive fault-tolerant performance of the proposed IVC controller. In this way, the proposed passive fault-tolerant controller improves the post-fault safety, stability and maneuverability of the 4WID/4WIS EVs.
Liu, ChaoZong, ChangfuHe, LeiLiu, JieLi, Chunshan
Assessing Environmental Benefits of Electric Aircraft Taxiing through Object-Oriented Simulation2012-01-221810/22/2012
A number of promising technologies to perform ground movements without main engines are currently being researched. Notably, onboard ground propulsion systems have been proposed featuring electric motors in the landing gear. While such on-board systems will help save fuel and avoid emissions while on ground, they add significant weight to the aircraft, which has an impact on the performances in flight. A tool to assess the global benefits in terms of fuel consumption and emissions is presented in this work. A concept of an aircraft-integrated ground propulsion system is firstly considered and its performances and weights are determined, assuming the Auxiliary Power Unit or a zero-emission device like a fuel-cell as power source for the system. Afterwards, a model of the propulsion system integrated into an object-oriented, mid-sized aircraft model is generated, capable of precisely simulating a whole aircraft mission. Two different gate-to-gate flights with realistic trajectories are simulated with a conventional aircraft and one equipped with a ground propulsion system. Finally, the emissions and fuel consumptions are compared in each flight phase. The results show a potential overall fuel saving of up to 2.6%, depending on the flight mission and the duration of the taxi phases. The associated CO₂ emission may decrease by the same amount. Furthermore, NOx, CO, and HC emissions on ground using an electrical taxiing system might be reduced by 64% to 80% compared to conventional ground operations. In conclusion, the aircraft model used in this work has proved a powerful tool to assess the performances of an electrical taxiing system and to compare different real-world scenarios.
Re, Fabrizio
Hybrid Transit Bus Technology Assessment - A Feasibility Approach2012-36-013910/2/2012
Stricter environmental regulation and the increasing concern about fuel economy and emissions have driven transit agencies and operators toward environmental and economic concerns when selecting transit bus technology. In this scenario, hybrid bus, that combines two or more distinct propulsion systems (generally combustion engine and electric motor), has been seen as a choice that balances both the need for better environmental and efficiency performance and capital expenditures for introducing new technology-based transit bus fleets. The source of better performance of hybrid buses is the ability to i) optimize the operating point of combustion engine to achieve best fuel economy; ii) store energy generated during braking at storage devices (batteries, supercapacitors or flywheels), to be used to power the vehicle when needed, and, hence, iii) downsizing engine due to reduced average power requirements. Most significant gains in efficiency and environmental performance of hybrid vehicles are achieved during starting and stopping regimes, what makes them suitable to be used in congested areas, typical of transit routes. Regarding system design, three main architectures can be used for commercial vehicles: i) serial hybrid, in which combustion engine has no mechanical connection to the driving gear, with the vehicle being driven solely by an electric motor; ii) parallel hybrid, in which the combustion engine and electric motor are both mechanically connected to the wheels, a configuration suitable to less congested regimes, where combustion engine can be tuned to work in its most efficient range; and iii) dual hybrid, in which an engine and two electric motors, with complex planetary gear arrangements, make possible a continuously variable transmission through two parallel routes: electrical and mechanical. This complex design provides freedom in managing engine speed and torque versus vehicle speed and power demand. On a cost perspective, the "Achilles Heel" of hybrid technology, much has to be done, since costs of energy storage devices and electronic components still remain an issue in near and medium term. In transit application, however, since intensive use maximizes hybrid benefits over traditional bus configuration, the expectation is that regulatory measures, like correctly pricing diesel fuel and incentives to hybrid fleets at early market introduction, can make the technology competitive and economically viable. Brazil, one of the largest transit bus markets, is debuting this technology, with some ongoing field trials and an announcement of a hybrid bus fleet in the city of Curitiba, State of Paraná, with an order of 60 local-made hybrid buses for delivery expected from 2012. This study presents the state-of-the-art hybrid bus technologies available worldwide, and, whenever possible, their operational results, with a special focus on Brazilian market, its structure and policies available to make this technology come true.
Barbosa, Fabio Coelho
Energy Efficiency of Series Hybrid Electric Vehicles2012-36-010510/2/2012
This study presents the evaluation of the energy efficiency of a series hybrid electric vehicle through the theoretical development of two electric propulsion systems and an experimental study of fuel consumption of the original vehicle. The experimental analysis was done by a test setting, consisting mainly of a chassis dynamometer, an autopilot system and a fuel flowmeter, all connected to the data acquisition system. In this study it was developed two theoretical models of propulsion systems for Series - HEV. The first one consists of four in-wheel motors and the second one consists of two in-wheel motors on the rear axle. There are various methods for embedding a motor in the wheel. It is necessary to consider the weight, power and transmission efficiency. In the theoretical model it was considered a cycloidal reducer, which allows a reduction of 3:1 to 119:1 in one stage with an efficiency of 93%, together with a brushless DC motor, which has a high power density. The results of the evaluation of the electric propulsion systems show that the model with four in-wheel motors is more efficient than the model with two in-wheel motors. This is a consequence of the fact that the second model is heavier, because it needs a bigger amount of batteries and more robust motors. In the evaluation of the HEV energy consumption compared with the original gasoline model, it was observed interesting results regarding the energy savings. The HEV presents better performance in urban cycles that in road cycles, saving 57,6% of the consumed energy in urban cycles and 11,4% in road cycles.
Sanchez, Fernando ZegarraBraga, Sergio Leal
Development of a Path-following and a Speed Control Driver Model for an Electric Vehicle2012-01-02504/16/2012
A two-passenger all-wheel-drive urban electric vehicle (AUTO21EV) with four in-wheel motors and an active steering system has been designed and developed at the University of Waterloo. In order to evaluate the handling and performance of such a vehicle in the design stage and analyze the effectiveness of different chassis control systems before implementing them in the real vehicle, the simulation of a large number of different open-loop and closed-loop test maneuvers is necessary. Thus, in the simulation environment, not only is a mathematical vehicle model needed for every test maneuver, but a driver model must also be designed to simulate the closed-loop test maneuvers. The role of the driver model is to calculate the control inputs required to successfully follow a predefined path. Such a driver model can be implemented as an inverse dynamics problem or by a representation of a driver that can look ahead, preview the path, and change the steering wheel angle and acceleration or brake pedal positions accordingly. In this regard, a path-following driver model is developed in this work with an advanced path previewing technique. In addition, a gain scheduling speed control driver model is developed for the AUTO21EV, which adjusts the drive torques of the wheels to minimize the deviation between the desired and actual vehicle speeds.
Jalali, KiumarsLambert, SteveMcPhee, John
Integrating In-Wheel Motors into Vehicles - Real-World Experiences2012-01-10374/16/2012
Compact direct drive in-wheel motors with integrated inverters, control and brakes offer a number of distinct advantages compared to conventional electric drive systems. The most obvious being that the drivetrain is now packaged within the wheel freeing up space elsewhere, in addition many driveline components and their associated losses are eliminated and the vehicle efficiency, response and handling can be improved. In new vehicle applications this allows complete freedom for designers to optimize the vehicle layout, have more usable space inside the vehicle body and enables revolutionary vehicle concepts (which will become more important as road space becomes scarce and taxation measures migrate towards vehicle size). In retrofit applications the compact package allows an electric drive to be added to any existing vehicle without requiring any significant disruption to the vehicle platform to keep integration costs down. This represents an opportunity for OEM's to hybridize their existing vehicle portfolio in order to address more stringent fleet-average emissions legislation. Protean has retrofitted its Protean Drive™ in-wheel motors to a variety of different vehicles in both pure EV and hybrid configurations and has collated its findings over three years of track and road testing. This paper will distil the practical experience gained from these vehicle programs and illustrate some of the challenges and solutions associated with in-wheel motor integration. In doing so the paper deals with many of the key vehicle level topics, such as the CAN interface, vehicle control strategy, and brake integration.
Watts, AndyVallance, AndrewFraser, AlWhitehead, AndrewHilton, ChristopherMonkhouse, HelenBarrie-Smith, JohnGeorge, SunojEllims, Michael
Concept Study of Range Extender Applications in Electric Scooters2011-32-059211/8/2011
Nowadays, politicians are forced by air pollution prevention to demand zero emission vehicles (ZEV) in the form of pure electric vehicles. The poor capacity to weight factor of actual batteries compared to any kind of liquid or gaseous hydro-carbon fuel is the main reason for the retarded implementation of ZEV. Solutions offered by automobile manufacturers are mild to full hybrid powertrains based on the well established ICE platform. The difficulty of those approaches of electrification is to compete with the performance and benefit costumers expect from standard automobiles. Pure electric vehicles are rare and often disappointing regarding range and/or performance. Additionally the costs for such vehicles, which are mainly driven by the battery prices, are comparatively high, impeding their market entrance and acceptance. Low price electric city scooters are actually offered as pure electric vehicles in a wide variety of different models. The category of city scooters (L1e [1]) is regulated regarding limited speed and engine capacity. The driving distance is generally short and additional comfort features (such as heaters or air condition) are not expected nor demanded by the customers. The selling numbers of electric city scooters are strongly depending on the local legislation. In case of the establishment of restricted areas with exclusive access for zero emission vehicles, their share will be positively affected due to the capability of pure electric driving. The only disadvantage is range distance uncertainty due to the small battery size of such economic vehicles. This can either be improved by increasing the battery capacity (negative influence on costs) or by implementing a Range Extender technology (greening influence) with a simultaneous decrease of the battery size. A small combustion engine with a generator, loading the batteries in case of long distance driving, is required. The analysis of existing electric scooters and the theoretical implementation of a small Range Extender in a simulation model (via PHEM [2] MATLAB, and MS Excel) of a scooter are able to assess the application of Range Extender technologies in electric scooters for standard driving cycles. Additionally, decisions concerning engine and generator have to be made as well as careful considerations on packaging, costs, weight, economics and other ecological factors. Finally, the presentation of a draft design of a Range Extender package demonstrating its potential completes this study.
Schacht, Hans-JürgenKirchberger, RolandWinkler, FranzSchmidt, Stephan P.
The i-REAL Personal Mobility Vehicle2011-39-72425/17/2011
The need for small personal mobility vehicles is growing as urbanization, the aging of society, traffic congestion, and parking become major issues, particularly in inner-city areas. The aging of society also means that more short trips within communities will be made. The i-REAL personal mobility vehicle is a next-generation single-passenger electric vehicle that enables the driver to move around town using a smaller amount of energy. This compact EV has three wheels: two front wheels driven by in-wheel motors and one rear wheel. According to the driver's needs, the i-REAL switches driving modes by changing its wheelbase. It can go slowly, allowing the driver to meet the eyes of passers-by when driving in parks, on sidewalks, or inside shopping malls. When on the road, it can lower its height and drive quickly like a bicycle or motorcycle. The body of the i-REAL leans automatically based on the speed and the turn angle to maintain the balance of the vehicle for any driver. For safety, the i-REAL detects obstructions and people ahead by radar and slows down automatically. In addition, areas likely to be impacted in collisions are made of softer materials. The i-REAL also has built-in contact sensors that stop the vehicle automatically if a collision occurs. Demonstration tests have been held at the Chubu International Airport from June 2009 toward practical use of the i-REAL in the future.
Akihiro, YanakaMakoto, MoritaTakeo, Moriai
Analytical Evaluation of Propulsion System Architectures for Future Urban Vehicles2011-01-08614/12/2011
Today, nearly half of the world population lives in urban areas. As the world population continues to migrate to urban areas for increased economic opportunities, addressing personal mobility challenges such as air pollution, Greenhouse Gases (GHGs) and traffic congestion in these regions will become even a greater challenge especially in rapidly growing nations. Road transportation is a major source of air pollution in urban areas causing numerous health concerns. Improvements in automobile technology over the past several decades have resulted in reducing conventional vehicle tailpipe emissions to exceptionally low levels. This transformation has been attained mainly through advancements in engine and transmission technologies and through partial electrification of vehicles. However, the technological advancements made so far alone will not be able to mitigate the issues due to increasing GHGs and air pollution in urban areas. Electrification of propulsion systems may play a significant role in overcoming the challenges associated with personal urban mobility. Electric vehicles are particularly suited for use in urban areas since city transportation is mainly characterized by relatively short driving distances, low continuous power requirements, long idling times and high availability of regenerative braking energy. These characteristics, when carefully incorporated into the design process, create valuable opportunities for developing clean, efficient and cost effective urban vehicle propulsion systems. In this paper, various urban propulsion systems architectures that can address these challenges are presented. These architectures are incorporated into a vehicle math model and they are analyzed. Various advanced propulsion system architectures are presented and their benefits relative to conventional propulsion systems are assessed. Strengths and weaknesses of different designs are assessed relative to conventional propulsion systems on the basis of metrics such as well-to-wheel energy conversion efficiency, GHG emissions and vehicle functionality.
Atluri, V.PrasadKoprubasi, KeremGupta, RajivBrinkman, Norman D.
Items per page:
1 – 50 of 78