Autonomous Electric-Vehicle Control Using Speed Planning Algorithm and Back-Stepping Approach
<p>Bearing angle identification.</p> "> Figure 2
<p>Curve parameters.</p> "> Figure 3
<p>Forces applied on the vehicle.</p> "> Figure 4
<p>Speed planning algorithm.</p> "> Figure 5
<p>Overall diagram of vehicle speed control system.</p> "> Figure 6
<p>Diagram of voltage space vector.</p> "> Figure 7
<p>IM back-stepping control scheme.</p> "> Figure 8
<p>Vehicle tracking trajectories.</p> "> Figure 9
<p>Vehicle speed profiles.</p> "> Figure 10
<p>IM speed profiles.</p> "> Figure 11
<p>Response of speed under load during startup and steady state.</p> "> Figure 12
<p>Electromagnetic torque under load during startup and steady state.</p> "> Figure 13
<p>Stator phase current under load during startup and steady state.</p> "> Figure 14
<p>Flux magnitude under load during startup and steady state.</p> "> Figure 15
<p>Flux components under load during startup and steady state.</p> "> Figure 16
<p>Experimental setup.</p> "> Figure 17
<p>Speed response for speed profile 1 and 2.</p> "> Figure 18
<p>Electromagnetic torque and speed response for speed profile 1 and 2.</p> "> Figure 19
<p>Zoom 1 of electromagnetic torque and speed response for speed profile 1 and 2.</p> "> Figure 20
<p>Zoom 2 of electromagnetic torque and speed response for speed profile 1 and 2.</p> "> Figure 21
<p>Stator phase current for speed profile 1 and 2.</p> "> Figure 22
<p>Rotor flux magnitude for speed profile 1 and 2.</p> "> Figure 23
<p>Rotor flux components for speed profile 1 and 2.</p> "> Figure 24
<p>Estimated load torque for speed profile 1 and 2.</p> ">
Abstract
:1. Introduction
2. Related Works
2.1. Speed Profile Generation
2.2. IM Speed Control
3. Vehicle Velocity Planning
3.1. Curve Identification
3.2. Curve Characteristics
3.3. Curve Speed Calculation
3.4. Speed Profile Planning
- The actual traveled distance is greater than the difference between the curve distance and the required distance to reach the curve.
- The actual traveled distance is less than the summation of the curve distance and the curve length .
- The actual speed is greater than the next curve speed.
4. Vehicle Speed Control
4.1. IM Model Presentation
4.2. Back-Stepping SVM Control Design
- Step 1: Outer loops control
- Step 2: Inner loops control
4.3. Load Torque Estimation
4.4. SVM Strategy Control
5. Results and Discussion
5.1. Speed Planning Results
5.2. Back-Stepping SVM and Classical DTC Comparative Analysis
5.3. Vehicle Speed Control Results
6. Conclusions
7. Future Work
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameter | Value |
---|---|
Initial position | |
Final position | & |
Initial speed | |
Max. speed | |
Longitudinal acc. |
Parameters | Value |
---|---|
Power | |
Frequency | |
Stator resistance | |
Rotor resistance | |
Stator inductance | |
Rotor inductance | |
Mutual inductance | |
Friction coefficient | |
Total inertia | |
Pole pairs |
Benefits | Description |
---|---|
Adaptability | Ability to adapt speed to changing roads and curvature |
Safety | Driving over straight and curving stretches at safe speeds |
Comfortability | Ensuring smooth speed changes to respect passenger comfort |
Versatility | Applicable to different types of vehicles |
Efficiency | Fast tracking of the reference speed with high accuracy and low error |
Robustness | The system’s ability to quickly respond to external load disturbances. |
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Bacha, S.; Saadi, R.; Ayad, M.Y.; Sahraoui, M.; Laadjal, K.; Cardoso, A.J.M. Autonomous Electric-Vehicle Control Using Speed Planning Algorithm and Back-Stepping Approach. Energies 2023, 16, 2459. https://doi.org/10.3390/en16052459
Bacha S, Saadi R, Ayad MY, Sahraoui M, Laadjal K, Cardoso AJM. Autonomous Electric-Vehicle Control Using Speed Planning Algorithm and Back-Stepping Approach. Energies. 2023; 16(5):2459. https://doi.org/10.3390/en16052459
Chicago/Turabian StyleBacha, Sofiane, Ramzi Saadi, Mohamed Yacine Ayad, Mohamed Sahraoui, Khaled Laadjal, and Antonio J. Marques Cardoso. 2023. "Autonomous Electric-Vehicle Control Using Speed Planning Algorithm and Back-Stepping Approach" Energies 16, no. 5: 2459. https://doi.org/10.3390/en16052459