Final Project: Electric Rickshaw modelling
AIM: Create a detailed MATLAB model of an electric rickshaw (three wheel passenger vehicle)
Abstract: In this project we are going to make E-Ricksaw using PM brushed type motor and a suitable Li-ion Battery . We are using Simulink block to develop the model and check the performance of the Ricksaw for energy consumption, temperature rise of motor and controller.
Objective:
Rear wheels driven by PM brushed type motor
Assume efficiency points of motor controller and motor
Results: For any three standard driving cycles show energy consumption, temperature rise of motor and controller for 100 km constant speed driving at 45 kmph.
General Details of E-Ricksaw:
Battery Type Lithium Ion 330V 75Ah
Vehicle Weight 260kg
Load Capacity 340kg
Vehicle Speed 7kmph
Driving Range 140km
No of Wheels (3Nos)
Frontal Area 91m
Wheel Radius 306m
Drag Coefficient 5
Vertical Load 3000N
Nominal Voltage 330V
Rated Capacity
Initial SOC
Internal Resistance
Creating subsystem then assembled it:
Vehicle Body Subsystem Model:
Motor AND Power Converter Subsystem:
Vehicle Body: Represents a two-axle vehicle body in longitudinal motion. The block accounts for body mass, aerodynamic drag, road incline, and weight distribution between axles due to acceleration and road profile. The vehicle can have the same or a different number of wheels on each axle. Optionally include pitch and suspension dynamics or additional variable mass and inertia. The vehicle does not move vertically relative to the ground.
Connection H is the mechanical translational conserving port associated with the horizontal motion of the vehicle body. The resulting traction motion developed by tires should be connected to this port. Connections V, NF, and NR are physical signal output ports for vehicle velocity and front and rear normal wheel forces, respectively. Wheel forces are considered positive if acting downwards. Connections W and beta are physical signal input ports corresponding to headwind speed and road inclination angle, respectively. If variable mass is modeled, the physical signal input ports CG and M are exposed. CG accepts a two- element vector representing the x and y distance offsets from vehicle CG to additional load mass CG. M represents the additional mass. If both variable mass and pitch dynamics are included, the physical signal port J accepts the inertia of the additional mass about its own CG.
Simple Gear:
Represents a fixed-ratio gear or gear box. No inertia or compliance is modeled in this block. You can optionally include gear meshing, backlash, and viscous bearing losses.
Connections B (base) and F (follower) are mechanical rotational conserving ports. Specify the relation between base and follower rotation directions with the Output shaft rotates parameter. Optionally include thermal effects and expose thermal conserving port H by setting Friction model to a temperature-dependent setting.
Tire:
Represents the longitudinal behavior of a highway tire characterized by the tire Magic Formula. The block is built from Tire-Road Interaction (Magic Formula) and Simscape Foundation Library Wheel and Axle blocks. Optionally, the effects of tire inertia, stiffness, and damping can be included.
Connection A is the mechanical rotational conserving port for the wheel axle. Connection H is the mechanical translational conserving port for the wheel hub through which the thrust developed by the tire is applied to the vehicle. Connection N is a physical signal input port that applies the normal force acting on the tire. The force is considered positive if it acts downwards. Connection S is a physical signal output port that reports the tire slip. Optionally expose physical signal port M by setting Parameterize by to Physical signal Magic Formula coefficients. Physical signal port M accepts a four element vector corresponding to the B, C, D, and E Magic Formula coefficients.
Inertia:
T = J dώ/dt T = Inertia Torque
J = Inertia
ώ = Angular Velocity
t = Time
The block represents an ideal mechanical rotational inertia.
The block has one or two mechanical rotational conserving ports. The difference is purely graphical, as the ports are rigidly linked. The block positive direction is from its port to the reference point. This means that the inertia torque is positive if the inertia is accelerated in the positive direction.
Used Block:
Battery:
Implements a generic battery model for most popular battery types. Temperature and aging (due to cycling) effects can be specified for Lithium-Ion battery type.
Controlled Current Source:
Converts the Simulink input signal into an equivalent current source. The generated current is driven by the input signal of the block.
You can initialize your circuit with a specific AC or DC current. If you want to start the simulation in steady-state, the block input must be connected to a signal starting as a sinusoidal or DC waveform corresponding to the initial values.
Bus Selector: This block accepts a bus as input which can be created from a Bus Creator, Bus Selector or a block that defines its output using a bus object. The left listbox shows the elements in the input bus. Use the Select button to select the output elements. The right listbox shows the selections. Use the Up, Down, or Remove button to reorder the selections. Check 'Output as virtual bus' to output a single bus.
Powergui Block:
It is allows us to choose one method to solve the circuit.
Rate Transition :
Handle data transfer between different rates and tasks.
Discrete Integrator: Discrete-time integration or accumulation of the input signal.
This block represents an H-bridge motor drive. The block can be driven by the Controlled PWM Voltage block in PWM or Averaged mode. In PWM mode, the motor is powered if the PWM port voltage is above the Enable threshold voltage. In Averaged mode, the PWM port voltage divided by the PWM signal amplitude parameter defines the ratio of the on-time to the PWM period. Using this ratio and assumptions about the load, the block applies an average voltage to the load that achieves the correct average load current. The Simulation mode parameter value must be the same for the Controlled PWM Voltage and H-Bridge blocks.
If the REV port voltage is greater than the Reverse threshold voltage, then the output voltage polarity is reversed. If the BRK port voltage is greater than the Braking threshold voltage, then the output terminals are short circuited via one bridge arm in series with the parallel combination of a second bridge arm and a freewheeling diode. Voltages at ports PWM, REV and BRK are defined relative to the REF port.
If exposing the power supply connections, the block only supports PWM mode.
DC Motor: This block represents the electrical and torque characteristics of a DC motor.
The block assumes that no electromagnetic energy is lost, and hence the back-emf and torque constants have the same numerical value when in SI units. Motor parameters can either be specified directly, or derived from no-load speed and stall torque. If no information is available on armature inductance, this parameter can be set to some small non-zero value.
When a positive current flows from the electrical + to - ports, a positive torque acts from the mechanical C to R ports. Motor torque direction can be changed by altering the sign of the back-emf or torque constants
Ideal Rotational Sensor: This block measures angular velocity or angle in a mechanical rotational network. The sensor is ideal since it does not account for inertia, friction, delays, energy consumption, and so on.
The physical signal ports W and A report the angular velocity and angle, respectively, of port R relative to port C. The measured angular velocity is positive when the angular velocity at port R is greater than the angular velocity at port C.
Temperature sensor:
This block measures temperature in a thermal network. There is no heat flow through the sensor. The physical signal port T reports the temperature difference across the sensor. The measurement is positive when the temperature at port A is greater than the temperature at port B.
Controlled PWM voltage:
This block creates a Pulse-Width Modulated (PWM) voltage across the PWM and REF ports. The output voltage is zero when the pulse is low, and is equal to the Output voltage amplitude parameter when high. Duty cycle is set by the input value.
At time zero, the pulse is initialized as high unless the duty cycle is set to zero or the Pulse delay time is greater than zero.
The Simulation mode can be set to PWM or Averaged. In PWM mode, the output is a PWM signal. In Averaged mode, the output is constant with value equal to the averaged PWM signal.
Longitudinal Driver Block:
A parametric longitudinal speed tracking controller for generating normalized acceleration and braking commands based on reference and feedback velocities.
Use the external actions to input signals that can disable, hold, or override the closed-loop commands determined by the block. The block uses this priority for the input commands: disable, hold, override.
Drive Cycle Source:
Generates a standard or user-specified longitudinal drive cycle. The block output is the vehicle longitudinal speed. You can import drive cycles from:
- Predefined sources
- Workspace variables, including arrays and time series objects
- mat, xls, xlsx, or txt files
Use the fault tracking parameters to identify drive cycle faults within specified speed and time tolerances.
For FTP Cycle: 58.61 km/h
For WOT Cycle: 2.185km Distance Travelled
For Signal Builder (1400 Sec)
Conclusion:
- Here I created three wheel drive model by Simulink.
- Determined the value of SOC (State of Charge), temperature and using FTP75,WOT and manually Drive.
- This battery powered ricksaw will be the popular modem of transport in the near future.
Google Link:
https://drive.google.com/file/d/1mYUkAz-xPpp-ZSbPhJcmOpttooVaNc0N/view?usp=sharing