Final Project: Electric Rickshaw modelling

OBJECTIVES

Create a detailed MATLAB model of an electric rickshaw (three-wheel passenger vehicle) as per details below: 

Rear wheels driven by PM brushed type motor

Assume efficiency points of motor controller and motor

Make an excel sheet of all input and assumed data 

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.

(Note- The Simulink model file should be compulsorily attached)

ANSWERS

AIM: Design of an Electric Rickshaw using MATLAB Simulink

ABSTRACT:

In this project, we work to create the MATLAB model of the ELECTRIC RICKSHAW by doing a PM brushed type DC motor and a suitable Lithium-Ion battery for the motor. Before this, we will remember what is Electric RICKSHAW, how it's functioning, and the privileges of EV RICKSHAW Then we make an actual EV RICKSHAW model in SIMULINK with suitable blocks from the powertrain block set. My main motto is to examine "how my RICKHSHAW performs for any three standard driving cycles showing energy consumption, the temperature rises of motor and controller for vehicle cover around 100 km at constant speed driving 45 kmph. Made a comparison with Mahindra e-Rickshaw and my Simulink model.

OBJECTIVES:

Create a detailed MATLAB model of an electric rickshaw (three-wheel passenger vehicle) as per the details below:

• Rear wheels driven by PM brushed type motor
• Assume efficiency points of motor controller and motor
• Make an excel sheet of all input and assumed data 
• Results: For any three standard driving cycles show energy consumption, the temperature rise of the motor and controller for 100 km constant speed driving at 45 kmph.

METHODOLOGY:

• The electric vehicle consists of a battery, motors, and controller then it generates propulsion power.
• To design any vehicle 1st, we have to calculate propulsion power then the motor is selected.
• Lastly based on the motor rating or operating range and no km/charge we want to depend on everything battery capacity and then battery capacity is selected.

So, the Design flow of the vehicle engineers has to be like the following:

1. Identify what amount of propulsion power is required.
2. What is the best suitable motor for that propulsion power?
3. Then type of battery and range of battery according to the range

To Create a detailed MATLAB model of an electric rickshaw.

Introduction:

In India, Rikshaw is mainly used for public transport. A typical rikshaw is three-wheeler vehicle with driver+3 passenger arrangement. In this project, we are designing a Rear wheel driven electric rickshaw using permanent magnet brushed type motor with payload of 300 kg.

FLOW CHART 

                           

BASIC E RIKSHAW BLOCK DIAGRAM 

                                     

                             

Genaral deatils of the E-Rickshaw:

 Important result to be obtained is the rise in temperature of motor and controller when the vehicle has travelled 100km distance at 45kmph constant speed throughout. For this a separate drive cycle is created. In this drive cycle the speed is 12.5m/s constant for 8000 seconds. With speed of 12.5m/s for 8000 seconds, the vehicle should complete 100km.

 Electric Rickshaws or E-Rickshaws are one of the preferred models of transportation for passengers. They are gaining popularity as they are an alternative to petrol, diesel, or CNG-driven vehicles. Hence are eco-friendly and do not add to the carbon dioxide level in the air. The cost of commuting is comparably less and comfortable. And customers can avail of this product at a pocket-friendly price

These rickshaws have an M.S(Mild Steel) tubular chassis, consisting of three wheels with a differential mechanism at the rear wheels. The motor is a brushless DC motor manufactured mostly in India and China. The electrical system used in the Indian version is 48V and Bangladesh is 60V. The body design from the most popular Chinese version is of very thin iron or aluminum sheets. Vehicles made in fiber are also popular because of their strength and durability, resulting in low maintenance, especially in India. The body design is varied from load carriers, passenger vehicles with no roof, to full body with windshields for drivers' comfort. It consists of a controller unit. They are sold on the basis of voltage supplied and current output, also the number of MOSFET (metal oxide field-effect transistors) used. The battery used is mostly a lead-acid battery with a life of 6–12 months. Deep cycle batteries designed for electric vehicles are rarely used. The weight of the electric car has also been a recurring design difficulty in them.

The layout of the electric rickshaw is similar to that of an electric car or electric vehicle.

 

 The main electronic components which make the powertrain are the motor, controller, harness, batteries, and throttle. Any mismatch among any of these components is undesirable and may compromise vehicle performance.

The chassis is the main part that ensures the drive quality and safety of the vehicle. It is made of mild steel. These days, most of the locally-made chassis are often built without proper design, leading to an imbalance in the drive, and often causing the vehicle to pivot or topple very easily. The chassis manufactured by a professional E Rickshaw Manufacturer is robust as the design adheres to all quality / technical parameters, which are often ignored by others. The chassis, if inaccurately made, will have handling problems, will be damaged easily, and corrode if not treated for resisting certain chemicals (from the battery or otherwise) or moisture.

The motor power used in most e rickshaws is 650W to 1250W, the latest government norms allow it to be 650W, most of them run on 850W and higher, which adversely affects the battery life. The controller used is ~ 40A, 48V output, uses 14, 18, or 24 MOSFETs, and powers all-electric components.

A good quality controller must be used to increase the performance of the motor and other overheating issues. A controller should be installed with an electrical brake cut-off, and which usually are removed by common rickshaw mechanics in order to achieve a continuous torque or improper functioning of the brakes.

The braking system is mechanical drum brakes. Service and maintenance are required for proper vehicle functioning as improper brake adjustments may heat up the motor and controllers and damage brake shoes. It may also reduce the mileage of the vehicle.

PROCEDURE - 

First, let's see what Simulink is?

Simulink - Simulink is a MATLAB-based graphical programming environment for modeling, simulating, and analyzing multidomain dynamical systems. Its primary interface is a graphical block diagramming tool and a customizable set of block libraries. It offers tight integration with the rest of the MATLAB environment and can either drive MATLAB or be scripted from it. Simulink is widely used in automatic control and digital signal processing for multidomain simulation and model-based design. 

The steps by which I created the model using different blocks are shown below: so, at first, I started with the tire block.

1) Tire block - The Tire (Magic Formula) block models the tire as a rigid wheel-tire combination in contact with the road and subject to slip. When torque is applied to the wheel axle, the tire pushes on the ground (while subject to contact friction) and transfers the resulting reaction as a force back on the wheel. This action pushes the wheel forward or backward. If you include the optional tire compliance, the tire also flexibly deforms under load. The tire block is shown below:

  

As you can see the block has 4 ports (N, S, A, H) in which A is the input port and s is the output port

N- Physical signal input port associated with the normal force acting on the tire. The normal force is positive if it acts downward on the tire, pressing it against the pavement.

A - Mechanical rotational port associated with the axle that the tire sits on.

H - Mechanical translational port associated with the wheel hub that transmits the thrust generated by the tire to the remainder of the vehicle.

S - Physical signal output port associated with the relative slip between the tire and road. 

There are four tire blocks I have used here 2 for the front axle and two for the rear axle 

The parameters of the tire that I used in my model are shown below:

For front axle tires:

 

and for Rear axle tires :
 

All these values are my assumed parameters, The rolling radius of all 4 wheels was 0.3 and here i have kept the rolling resistance coefficient of all four wheels 0.015

The next block I have used was the vehicle body block:

2) vehicle body - The Vehicle Body block represents a two-axle vehicle body in longitudinal motion. The vehicle can have the same or a different number of wheels on each axle. For example, two wheels on the front axle and one wheel on the rear axle. The vehicle wheels are assumed identical in size. The vehicle can also have a center of gravity (CG) that is at or below the plane of travel.

The block accounts for body mass, aerodynamic drag, road incline, and weight distribution between axles due to acceleration and road profile. Optionally include pitch and suspension dynamics. The vehicle does not move vertically relative to the ground. The block has an option to include an externally defined mass and an externally defined inertia. The mass, inertia, and center of gravity of the vehicle body can vary over the course of simulation in response to system changes. The vehicle block is shown below:

 

The block has 6 ports (NR,NF,H,V,W,beta)

NR - Physical signal output port for normal force on the rear axle. Wheel forces are considered positive if acting downwards.

NF - Physical signal output port for normal force on the front axle. Wheel forces are considered positive if acting downwards.

H -  This port is used to connect the hub of the wheel 

V - Physical signal output port for vehicle longitudinal velocity. This is my output velocity which I will observe in the plot.

W - Physical signal input port for headwind speed. Here I have given the wind speed as 2 m/s

beta - Physical signal input port for road incline angle. The inclination angle in my case is 0

The parameters of the vehicle body block are shown below:

 

 As you can see above the mass I have taken is 1000kg, and the drag parameters I have taken are as follows:

The drag force will resist the motion of the vehicle means it will act opposite to the direction of motion of the vehicle.

Frontal area = 0.6 m2, Air density = 1.25 kgm3, Drag coefficient = 0.2 and pitch variables and other variables are off. 

Then I have made the connection of two blocks that are the vehicle body block and tire block the connections are shown below:

 

Here you can see that the hubs of front tires are connected to the hubs of rear tires and all the hubs are connected to the H port of the vehicle body block and the ports of front and rear tires are connected to their adjacent front and rear tires to form the front and rear axle.

 similarly, the N port of front tires and rear tires are connected to the N ports of adjacent front and rear tires which are further connected to the NF and NR ports of the vehicle body block. 

The sport of tire represents the slip that I have displayed in the output for each individual tire.

3)Gear block - Here I have used a simple gear block. The Simple Gear block represents a gearbox that constrains the connected driveline axes of the base gear, B, and the follower gear, F, to corotate with a fixed ratio that you specify. You choose whether the follower axis rotates in the same or opposite direction as the base axis. If they rotate in the same direction, the angular velocity of the follower, ω_F, and the angular velocity of the base, ω_B, have the same sign. If they rotate in opposite directions, ω_F and ω_B have opposite signs. The gear block is shown below:

 

gear ratio (G) is defined as NbNf where Nb is the number of teeth in base gear and Nf is the number of teeth in follower gear.

This block has two ports B and F

B - Rotational mechanical conserving port associated with the base, or input, shaft.

F - Rotational mechanical conserving port associated with the follower, or output, shaft.

so I have connected the F port to the rear axle of the vehicle and B will be input to the gear which will come from the motor.

so I have made the subsystem combining the three blocks that is the tires, vehicle body, and gear block, and named it 'vehicle'.

the whole subsystem looks like this:

4)  DC motor - A DC motor is a motor that requires DC signal input for its working but here I have used a permanent magnet DC motor.

The working principle of a DC motor is when a current-carrying conductor is placed in a magnetic field, it experiences a force. A permanent magnet DC motor also works on the same principle.  In a PMDC motor, permanent magnets (located in stator) provide a magnetic field, instead of the stator winding. The stator is usually made from steel in cylindrical form. Permanent magnets are usually made from rare earth materials or neodymium.

The rotor is a slotted armature that carries armature winding. The rotor is made from layers of laminated silicon steel to reduce eddy current losses. Ends of armature winding are connected to commutator segments on which the brushes rest. The commutator is made from copper and brushes are usually made from carbon or graphite. DC supply is applied across these brushes. The commutator is in the segmented form to achieve unidirectional torque. The reversal of direction can be easily achieved by reversing the polarity of the applied voltage.

The DC motor block is shown below:

 

    

There are 4 ports in the motor block above 

+ve terminal - Electrical conserving port associated with the DC motor positive terminal.

-ve terminal - Electrical conserving port associated with the DC motor negative terminal.

c - Mechanical rotational conserving port associated with the DC motor case.

R - Mechanical rotational conserving port associated with the DC motor rotor. 

 

here we can see that the thermal port of the DC motor is also shown because I want to show the temperature rise of the motor. so the H port in the above fig represents the thermal port.

The block has an optional thermal port, hidden by default. To expose the thermal port, right-click the block in your model, and then from the context menu select Simscape > Block choices > Show thermal port. This action displays the thermal port H on the block icon and exposes the Temperature Dependence and Thermal Port parameters.

The thermal port is connected to the temperature sensor and the sensor is further connected to the scope for observing the rise.

The motor parameters are shown below:

5) current sensor block - The Current Sensor block represents an ideal current sensor, that is, a device that converts current measured in any electrical branch into a physical signal proportional to the current. Connections + and – are electrical conserving ports through which the sensor is inserted into the circuit. The connection I is a physical signal port that outputs the measurement result. The current sensor block is shown below:

 

It has two ports +ve and -ve the -ve will be connected to the motor and the +ve will be connected to the H bridge block.

6) H-bridge block - An H-bridge is a simple circuit that lets you control a DC motor to go backward or forward. You normally use it with a microcontroller, such as an Arduino, to control motors. An H-bridge is an electronic circuit that switches the polarity of a voltage applied to a load.

The term H-bridge is derived from the typical graphical representation of such a circuit. Suppose An H-bridge is built with four switches (solid-state or mechanical). When the switches S1 and S4 are closed (and S2 and S3 are open) a positive voltage is applied across the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this voltage is reversed, allowing reverse operation of the motor.

Using the nomenclature above, the switches S1 and S2 should never be closed at the same time, as this would cause a short circuit on the input voltage source. The same applies to switches S3 and S4. This condition is known as shoot-through. 

The H bridge block is shown below:

 

as you can see it has six ports:

+ve terminal - Electrical conserving port associated with the positive load connection.

-ve terminal - Electrical conserving port associated with the negative load connection.

PWM - Electrical conserving port associated with the pulse-width modulated signal. The voltage is defined relative to the REF port.

REF - Electrical conserving port associated with the floating zero-volt reference.

REV - Electrical conserving port associated with the voltage that controls when to reverse the polarity of the H-Bridge block output.

BRK - Electrical conserving port associated with the voltage that controls when to short circuit the H-Bridge block output.

The +ve terminal port I have connected to the positive terminal of the current sensor block is already explained above.

The -ve terminal is connected to electrical reference, the H bridge PWM port will get its input from the controlled PWM voltage block which I will describe in the next section. 

Here I am not running my vehicle in the reverse direction so I will connect that port to the ground, the reference port is also connected to controlled PWM voltage which will be further connected to the ground. The BRK port will be connected to a controlled voltage source which will be again connected to a ground-controlled voltage source that will provide the controlled input as per driver requirement.

here also I have to show the temperature rise of the controller. so again, I have used the thermal port H and again it is connected to a temperature sensor which is further connected to the scope block to observe the temperature rise.

General details of the E-Rickshaw:

1) Battery type: lithium-ion 330v75

2) vehicle kerb weight 260 kgs

3) load capacity 340 kgs 

4) vehicle speed 7kmph

5) driving range 140 km (160ah)

6)no of wheels per axel 2 

7)frontal area 91 m

8) drag coefficient 5-wheel radius 306m

9) vertical load 3000N

10) nominal voltage 330v

11) rated capacity 75Ah

12) initial SOC 100%

13) internal resistance 5ohms

SIMULINK MODEL DIAGRAM

The drive link 

https://drive.google.com/file/d/1e-kBFeImSQJLyKLt7eWgDZssQekX55Dr/view?usp=sharing

Procedure:

i) Power and motor-controlled subsystem model with the temperature sensor

ii) H-bridge:

• The above block respresnts the an H-bridge motor drive
• This block can be used to driven by the controlled PWM voltage block in PWM or avergae mode
• In this PWM mode the motor is powered if the PWM port volatge is above the enable volatge
• But in averaged mode the PWM port volatge is divided by the PWM singnal amplitude paramter which gives the ratio of the on time to PWM required period 
• By using this ratio and load assumptions about the block applies an averge volatge to the load 
• This will achive the correct average load current 
• The simulation mode paramters value must be the same for the controlled PWM voltage and H-bridge

• Here if the REV port voltage is greater than the reverse threshold volatge then the output volatge polarity is reversed
• If the BRK port voltage is greater than the braking voltage then the output will be short circuited through one bridge arm in series with the paralle combination od the second bridge arm and with a freewheeling diode
• The volatge at the ports PWM REV BRK are defined relative to the REF port if we exposing the power supply connections the block only supports pwm mode

iii) D.C motor:

• The above block represents the electrical and torque charcterstics of the DC motor which aslo inculdes the therma port to series with the temperature of the motor
• This manly assumes that there is no electromagnetic energy is lost and hence the back emf and torque constants have the same numerical values 
• Here the motor paramters can be specified or directly derived from the no load speed and torque if there is no info is available on the armature inductance this paramter can be set to the small non zero value
• If when the postive current flows from the electrical ports a postive torque acts from the mechincal C TO R ports
• The motor torque direction can be changed by changing sign of the back emf pr the torque constants

• Here the motor controller will get the input from the longitudinal driver 
• Its main function is to control the speed of the motor and drive according to the input of the driver
• Here mainly motor controlled we designed consist of two parts names as PWM voltage and H -bridge input 1 is getting from the acceded of the longitudinal driver and it's given to a controlled voltage source block where its input to controlled PWM voltage will generate a PWM signal in such way the H bridge will generate the required voltage to operate the DC motor for the given driver input
• The PWM voltage block negative reference and ref are grounded and REF of the H bridge, Here the H bridge is a motor controller that has IGBT components which operates only two at the time to the input of the signal from the PWM block
• If when the deceleration occurs this H bridge will give an output from the positive and negative terminals of it 
• This negative and postive terminals are then connected to the DC motor battery 
• By all this components are simscape electrical components so they need a connection to the solver configuration block which helps ti solve the simulation easily

iv) Controlled PWM voltage:

• The above block mainly 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
• Here the duty cycle is set by the input value by right clicking block and selects simscape block choice to switch between electrical ref/ -ref ports and ps input u to specify the input values

When the time is zero the pulse is initialized as the high unless the duty cycle is set to zero or the pulse delay time is greater than zero

Here the simulation mode can be set to PWM or averaged .in PWM mode the output is a PWM signal whereas in Averaged mode the output is constant with the value equal to the averaged PWM signal so selected the simulation mode as averaged

V) Temperature sensor:

• This sensor is mainly used to measure the temperature of the H bridge and the motor
• 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 postive when the temperature at port A is greater that the temp at port B

Vii) solver configuration:

It mainly defines the solver settings for the simulation

2 Vehicle body subsystem model:

• The above diagram shows that how is it is inside the vehicle body and transmission system and the main design it is mainly referred just only as a transmission system
• Here we created a rear-wheel-drive transmission system
• The motor will produce the rotational output which will give to the vehicle body and transmission system
• This rotational output is taken by the gear system here to maintain the constant speed through the transmission losses in speed from the motor to tires
• Here the gear output is given to the axel of rear tire in the circuit as shown above that gear is connected to the rear wheels and the front wheels is free to rotational motion so by this vehicle moves forward
• Here N is the normal force caused by the tires and it is given to the vehicle body's normal force port
• The vehicle body as an H hub s-tire slip N normal force as the axel connection wind velocity inclination angle 
• So, the tire hub is connected as the common node to the vehicle body
• The vehicle body wind velocity is mainly connected to the constant block and the beat inclination angle is connected to another constant block
• Here we can assign wind velocity and inclination angle as per requirement 
• The velocity output port where we can ger at which speed the vehicle is moving the velocity is taken out to get the distance traveled and soc

i) Tire:

It mainly represents the longitudinal behaviour of the high way tire by the tire magic formula

This block is built from the tire road interaction and simscape foundation library wheel and axel blocks

The optionally the effect of tire inertia stiffness and damping can be included

• Here the 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 trust developed by the tire is applied to the vehicle
• The connection N is the physical signal input port which applies the normal force acting on the tire the force is considered as the postive if it acts downwards
• Connection s is the physical signal output port which reports the tire slip
• Physical signal port M accepts a four-element vector corresponding to the B C D and E magic formula 

ii) Gear:

The above figure represents the fixed ratio gear or gear box there is no inertia is compliance is modeled in this block

The connection B and F are mechanical conserving ports which specify the relation between the base and flower rotation directions with the output shaft rotates 

It also has thermal effects and expose thermal conserving port H by right clicking on the block and selecting simscape block choices to switch between various output shaft rotates in the same direction of the input shaft

Here the base is connected to the motor shaft and follower is connected to the rear wheel drive

iii) Vehicle body:

• The above block is representing a two-axle vehicle body in longitudinal motion 
• the block accounts for the body mass aerodynamic drag road incline weight distribution between the axels due to acceleration of the road
• here the connection H is the mechanical translational conserving port hub NF and NR correspond to the output ports for normal reactions forces on the front axle and rear axle wheels 
• The connection V represents the actual output translational velocity of the vehicle beta is the road inclination angle and W corresponds to the headwind speed 
• The gross weight is given as 600 kg the geometric parameter of the vehicle are given as

3 ) Battery and SOC sub system model:

i) Battery:

The battery is mainly used to power the controller and motor the controller uses the battery power according to produce the input given by the motor to get maximum speed

The battery is also used to power every electrical component in the vehicle

The battery block mainly implements the generic dynamic model which represents the most popular types of rechargeable batteries

Here the battery as two stage one is charging and other is discharging state 

the battery is 75Ah capacity and the nominal voltage of the battery is 330 v the initial SOC is 100%

Here SOC is the percentage or level of a battery presents after certain travel or consumption of battery charge by the vehicle

In the designed vehicle battery charge or SOC is calculated by giving it to the rate of transition and then to gain where 1/nominal battery capacity then to discrete time integrator and it will get minus from the 1 as it is considered a 100% of the battery and it is multiplied with 100% of battery

ii) Controlled current source:

• The above block shows the controlled current source which converts the Simulink input signal into a current source
• This generated current is driven by the input signal of the block
• The positive direction is as shown by the arrow in the block icon
• Here we can also initialize the controlled current source block with the specific AC or DC 
• If we want to start the simulation instead sate the block input must be connected to a signal starting as a sinusoidal or DC wave form which responsible to the initial values
• BY double clicking on he controlled current from the drop-down menu of measurement select current 

iii) Bus selector:

Here the bus selector block mainly represents the output of signals you select from the input bus 

the block can output the selected elements separately or in a new bus

Here we need to just mange the output and connect it with different scope block

IV) Power GUI:

This powerful block allows us to chose the one of these methods to solve

continuous or discretization 

The powerful block also opens tools for steady state and simulation results analysis and advance parameter

4) Longitudinal driver:

• It is a in built block provided by the powertrain blocks
• It is a speed tracking controller for generating normalized acceleration and braking commands based on the reference and feedback velocities
• The VelFdbk port is responsible to the feedback velocity so the actual velocity output given by the vehicle body is connected here
• Grade is responsible to the grade angle for this simulation there is no inclinations so it is not considered
• Info gives the output for the bus signal for different block calculations like difference in ref vehicle speed and vehicle speed
• Accel Cmd and decked CMd are responsible for acceleration and deceleration commands generated and connected to the corresponding ports of the controlled PWm voltage block
• Her the selected control type is PI so the block implements proportional integral control with the tracking windup and feed forward gains

5) Reference velocity (drive cycle):

Here the drive cycle is assumed as the driver input of a vehicle and it is replaced how a driver will drive a vehicle

here we have used two different drive cycle they are FTP75 and WOT 

FTP drive cycle:

This generates a standard specified longitudinal drive cycle

we can also import the drive cycle from the predefined sources and workspace variables and also #mat ,xlsx xls txt files

Wide open throttle:

Entire Simulink model:

Here initially the current flow to DC motor from the battery through the DC-DC power converter to drive the motor

The required voltage will be controlled in the controller the controller will follow the given drive cycle reference and run the motor to required rpm

Then the motor power is transmitted to the wheels of a vehicle through the gear box and controller will take the vehicle speed and compare and control

Output results:

1) For FTP75drive cycle:

Here by running the vehicle with the ftp75 drive cycle for 2474 we get the below results and the distance travelled is 57.8

As from the above we can see that the velocity profile alomost completely following drive cycle data with the maximum speed reaching up to 25km/hr

The SOC for the battery drop to neraly 75% of its 100% value for the complete drive cycle it coverd distance is 57.8 km 

The temperature of the motor is increased to 893c and the temperature of the controller is 298.3 with10000 as the thermal mass given both to the motor and the Hbridge

2) For WOT drive cycle:

By running the vehicle with the WOT drive cycle for 30 sec we get the distance travelled is 0.5378

scope 2 SOC:

The Soc battery reaches to full throttle value later the battery gets charged by the back emf

The temperature of the motor is increased to 309c and the temperature of the controller is 298c

Simulink model links 

EXCEL SHEET

https://drive.google.com/file/d/13Gf-XOdJLUcqz4GGS5SLYRCALO3WULwT/view?usp=sharing

https://drive.google.com/file/d/1_Um-1zQ7Odt_cJME2KcMrJKSWwd-EFH0/view?usp=sharing

scope 1 result

https://drive.google.com/file/d/1butENPs1RvEOra5HvJM_tyWHIC8TYVxZ/view?usp=sharing

The scope result of simulink model

https://drive.google.com/file/d/155AzImDNjF-lFRDPERNyNjVZkR-Bc-ob/view?usp=sharing

scope 2 result

https://drive.google.com/file/d/155AzImDNjF-lFRDPERNyNjVZkR-Bc-ob/view?usp=sharing

CONCLUSION 

Here We have compromised with the temperature of Motor and controller to achieve vehicle speed is near to reference speeds. Since we haven’t used any cooling system in the model. In the real time application, the motor temperature is less than 100 C.

-In the real time application, the motor, battery & controller temperature is controlled by air cooling. Hence, the temperature of this components is not increased to this extent.

-Hence, created a MATLAB model of an Electric Rickshaw (three-wheel passenger vehicle) by using Li-ion battery, PM Brushed DC Motor.  

-Determined the variations of Temperature of Motor and controller, SoC% and Energy consumed by the by vehicle for all the three Reference Drive cycles (i.e.; FTP75, WOT, manually prepared).

This Battery powered Rickshaw will be the most popular mode of transport in the coming days.