Transcript Slide 1

Micro Urban Electric Vehicle -- Phase II
Vehicle Modeling
Complete System Model
Controller
Info
Motor
Info
Axes
-100
Throttle
Shaf t Velocity
Field Voltage
Shaf t Velocity
Field Voltage
Vehicle Speed
joyinput
Grade (degrees)
Buttons
Battery Voltage
Shaf t RPM
Passenger Mass (kg)
Load Torque
Vehicle
Info
Armature Voltage
Joystick Input
Armature Voltage
Armature Current
Vehicle Dynamics
Subsystem
Field current
Controller Subsystem
Load Torque
Students:
Brian Kuhn
Steve Komperda
Matt Leuschke
Multi-Phase Overview
Arm current
Motor Subsystem
Armature Current
Battery Voltage
Field Current
Battery Model
Subsystem
Grade (degrees)
Passenger
Mass (kg)
Controller Model
3
Armature Current
Armature Current
Field Duty Cy cle
1
Throttle Position
Field Voltage
Field Duty Cycle
Subsystem
2
Battery Voltage
1
2
Throttle
Armature Voltage
The controller model accepts a
throttle input and a load
feedback in order to provide
the motor with appropriate
operating voltages.
Armature Lookup
The Electrical and Computer Engineering Department at Bradley
University has launched a multi-year project to design a commercially
viable urban electric vehicle with a low carbon footprint. The vehicle
will be ultra compact, lightweight, and street legal. This final vehicle
will strive to solve these issues by having:
• Zero carbon emissions with the use of a stationary battery array
charged by photovoltaic solar panels or wind power generators
• Speed capabilities of up to 65 mph
• Fully optimized regenerative braking
• Fully optimized battery system capable of reliable daily use while
powering all additional auxiliary systems
Motor Model
Problem Statement
3
Field current
1
1
s
1/.396
Field Voltage
Km*If = KE
Km
1/Lf
Km*If
Km Lookup Table
.746
1.35/.396
Columbic Friction
Torque
3
1
Load Torque
Shaft
Velocity
Rf/Lf
4
Arm current
2
1
1
s
Armature Voltage
60/(2*pi)
8.2e-5s+.00589
T = KE*Ia
Va/La
Developed Torque
Saturation
Equivalent
Mechanical TF
2
Shaft RPM
rps to RPM
The motor model translates
voltages into shaft velocity in
order to drive the wheels of the
vehicle.
Eg
Armature Feedback Loop
Vehicle Dynamics Model
0
Vehicle Mass (kg)
9.81
k
3
Passenger Mass (kg)
Gravity (N)
Coeff Rolling
Resistance
cos(2*pi*u)
.00278
u
2
Grade (degrees)
2
.022
Load Torque
Radius of
the Shaft (m)
4
Inverse
Gear Ratio
deg to rad/(2*pi)
Cosine
.2032
Radius of
the tires (m)
sin(2*pi*u)
Add1
u
Sine
k
1/2*p*Cd*A
u1
y
fcn
u2
Embedded
MATLAB Function1
u1
y
u
fcn
Embedded
MATLAB Function
1
1/4
2
Velocity^2
k
u2
Coeff of Static Friction
.2032
2.2356
Shaft Velocity
1
Vehicle Speed
Gear Ratio
Radius (m)
In order to create a commercially viable commuter vehicle
and charging station, a computer simulation needed to be
developed to optimize the vehicle’s components, reducing
cost, increasing performance, and limiting need for future
testing.
Phase II Goals
Ke*w = Eg
Armature Current
1/La
Torque
Saturation
Advisors:
Dr. Huggins
Mr. Gutschlag
Dr. Anakwa
m/s to MPH
The vehicle dynamics incorporate
the properties of the vehicle in
order to provide loads to the motor
and give actual vehicle speed.
• Modeling
• Separately Excited DC Motor
• Motor Controller
• Vehicle Dynamics
• Battery
• Verify and Optimize Model
• Compare experimental and simulated outputs of
subsystems and modify Simulink© blocks as necessary
• Optimize Simulink© blocks
Micro Urban Electric Vehicle -- Phase II
Vehicle Modeling - Testing
Students:
Brian Kuhn
Steve Komperda
Matt Leuschke
Advisors:
Dr. Huggins
Mr. Gutschlag
Dr. Anakwa
Motor Testing
Performed transient
and steady-state noload tests in order to
determine motor
parameters.
Data Acquisition System
Controller Testing
Armature Current Comparison
Armature Current (A)
Field Current (A)
Field Current Comparison
12
10
8
6
4
2
0
0
20
40
60
80
100
Throttle Position (%)
No-Load Field Current
Acquired a state of the art data
acquisition system from National
Instruments to provide accurate
measurements.
• Armature and Field currents
200
150
100
50
0
0
20
40
60
80
100
Throttle Position (%)
Loaded Field Current
No-Load Armature Current
Loaded Armature Current
Dynamometer Testing
Performed loaded motor and
controller tests to determine
the relationship between the
armature and field.
SepEx DC Motor Torque/HP curves
14
• Armature and Field Voltages
• Throttle Position
12
Torque (N-m) & HP
• Battery Voltage
Acquired relationship
between throttle position,
armature voltage, and field
voltage through loaded
simulations with the
battery.
10
8
Torque
Horsepower
6
4
2
0
2000
2500
3000
3500
RPM
4000
4500
5000