The Electrical Explorer Vehicle (E2V) is a two-wheeled, single-axle vehicle which is specifically designed for the use in traffic-free areas. The drive concept comprises two wheel hub motors for driving, braking and steering. Two additional linear actuators enable a displacement of the wheel hub motors in order to support the stabilization of the vehicle by shifting the position of the center of gravity. This paper presents the control system of the E2V and its model-based design. Therefore a model is outlined that describes the dynamics of the vehicle under different road conditions. To determine appropriate set points and parameters for the control system, the equilibria of the vehicle are analyzed. Derived from an analysis of the equilibria a suitable control scheme is presented. The functionality of the control system is evaluated by simulations of the closed loop system.
A single-axle vehicle for traffic calmed areas - Model-based controller design for the E2V
2013
13 Seiten, 10 Bilder, 2 Quellen
Aufsatz (Konferenz)
Englisch
Zweiradfahrzeug , Elektroantrieb , Radnabenmotor , Fahrzeugantrieb , Fahrzeugbremse , Fahrzeuglenkung , Linearmotor , Stabilisierung , Schwerpunkt (Massenpunkt) , Gewichtsverlagerung , Gleichgewicht , anwendungsbezogene Steuerung und Regelung , Regelkreis , Modellsimulation , modellbezogener Entwurf
A single-axle vehicle for traffic calmed areas - model-based controller design for the E2V
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