Design of Slip-based Active Braking and Traction Control System for the Electric Vehicle QBEAK

Wiben, Rune ; Andersen, Mads Hellegaard

4. term

Energy Engineering, Master

2012

2012-06-14

157

Denne afhandling udvikler et slip-kontrolsystem til elbilen QBEAK fra ECOmove ApS. Slip handler om, hvor meget hjulene spinner eller glider i forhold til vejbanen; målet er at holde et godt greb under både acceleration og bremsning. Regulatoren bygger på en dynamisk model, der beskriver bilens bevægelse på en plan overflade. Der anvendes integral sliding mode control, en robust reguleringsmetode, som kan håndtere ændringer i køretøjsparametre, luftmodstand, rullemodstand og forskellige vejforhold. Simulationer viser, at systemet kan forkorte bremsevejen, øge trækkraften og forbedre manøvredygtigheden, og samlet set peger resultaterne på bedre acceleration og bremseegenskaber for QBEAK. Systemet er også testet eksperimentelt. Under testene blev der observeret svingende slip-responser, forårsaget af en forsinkelse på 240 ms i datakommunikationen i testopstillingen. Konklusionen er, at denne kommunikationsforsinkelse skal reduceres for at opnå tilfredsstillende lukkede kredsløbsdynamik, dvs. systemets respons, når det styrer sig selv.

This thesis develops a slip control system for the QBEAK electric vehicle from ECOmove ApS. Slip refers to how much the wheels spin or slide relative to the road; the goal is to maintain good grip during both acceleration and braking. The controller is built on a dynamic model that describes the vehicle’s motion on a flat surface. An integral sliding mode control approach is used—a robust control method that can handle changes in vehicle parameters, aerodynamic drag, rolling resistance, and different road conditions. Simulations show that the system can shorten braking distance, increase traction, and improve maneuverability, and overall point to better acceleration and braking performance for QBEAK. The system was also tested experimentally. During tests, oscillatory slip responses were observed due to a 240 ms delay in data communication in the test setup. The conclusion is that this communication delay must be reduced to achieve satisfactory closed-loop dynamics, meaning the system’s behavior when it regulates itself.

[This abstract was generated with the help of AI]

QBEAK ; Electric vehicle ; slip control ; ABS ; TCS ; sliding mode ; anti wind-up ; RLS ; chattering ; PMSM

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