Final Project: Electric Rickshaw modelling

AIM  :

             To design the matlab model of Electric Rickshaw (three wheel passenger vehicle) and controller of motor and speed and temperature rice to all calculations.

 

        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)

 

   

      OBJECTIVES :

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

     the electric rickshaw is the some parameter of the block used in the matlab module simulik block is the three wheel and electric PM brushed DC motor and battery and controller and vehilcle body and input data to speed of the value signals.     

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.

 

    INTRODUCTION :

             The project of ELECTRIC RICKSHAW  is the PM brushed type motor of DC motor and lithium ion battery and vechile body and three wheels and controller and gear shoft and all other model of powerdrain blocksets to used in design to create the electric rickshaw model.

      Assume efficency points of motor controller and motor to input of data and final result of the three standrd driving cycle show energy consumption, temperature rise of motor controller for 100 km constant speed driving at 45 kmph to using matlab model of simulink modul.

     ELECTRIC RICKASHAW -- is the electric tuk-tuk e-rickshaw and auto which are going after 2018 in india market. This E-rickshaw is best alternative of petrol/ CNG auto rickshaw and human or horse pulled rickshaws because of their low fuel cost, zero emissions and less human efforts. The electrical system used in Indian version is 48VDC can run 90– 100 km/full charge, top speed 25 km/hour and this electric motor power ranging from 650-1400 Watts; the battery takes 8–10 hrs to become fully charged. Basic seating capacity is driver plus 4 passenger total 5 persons. Here basically, e-rickshaw is designed in CREO and MATLAB Simulink. In the designed electric rickshaw main blocks are battery, drive cycle, controlled, DC Motor, Vehicle body and transmission system. Drive cycle is the input of human effort that how he is going to drive his actual cycle. We can use drive cycle like FTP75, WOT or by using Excel. The main objective of this project is to obtain speed by driver, to estimate the temperature of motor and controller, to estimate the state of charge (SOC) and distance travel by the vehicle. There is a SOC block that will estimate the state of charge of battery, distance is calculated by speed and time parameter for all the three Drive cycle.

   Design of the electric rickshaw model :

 

 

 

 

 COMMON GENERAL ELECTRIC RICKSHAW DETAILS :

    1) battery type lithium iron,

    2) vechile kerb weight 250 kgs,

    3) load capacit 340 kgs,

    4) vehicle speed, and drive range,

    5) no of wheels per axel is 2, and front side is 91m2

    6) wheel radius is the 306m

    7) norminal voltalge 8v, 

    8) rated capacity 160 Ah

    10) initial SOC %100 and resistance 5 ohm.

 

 

    PROCEDURE OF ELECTRIC RICKSHAW MATLAB  MODUL :

         E-rickshaws are small vehicles, with three wheels and use electric power from batteries to run. They use an electrical motor of 650-1400W as engine which draws the electric power from the rechargeable batteries installed in rickshaw body. These battery operated vehicles are perfect for small distance transport, both cargo and people; they are perfect for running on narrow streets because of their small size. But biggest reason for their popularity is operating cost and zero pollution. 

       The rickshaw module is the matlab module of blocks is the subsystem is the vehicle body and DC motor controller of PWM power converter subsystem  and battery SOC subsystem and longitudinal driver and refrence velocity drive cycle block all the subsystem are used in matlab simulink module.

 

           VEHICLE BODY SUBSYSTEM :

      

• Motor will produce the rotational output which will give to the vehicle body and transmission system. The rotational output is taken by the gear system here to maintain the constant speed throughout the transmission without any loss in speed from the motor to tires.
• Below is a diagram that is how it is how it inside the vehicle body and transmission system and in the main design, it is referred just only as a transmission system.
• Here I created a Rear wheel drive transmission system.
• The gear output is given to axels of Rear tires, in the circuit it is shown that gear is connected to Rear wheels and front tire is free to rotational motion, thus vehicle moves forward. N is the normal force caused by the tires and it is given to the vehicle body normal force port.
• The vehicle body has an H-Hub, S- Tire slip, N- Normal force, A- axel connection, wind velocity, inclination angle. The tires hub is connected as a common node to the vehicle body.
• The vehicle body wind velocity is connected to a constant block and the beta-inclination angle is connected to another constant block where we can assign wind velocity and inclination angle as per requirement. Velocity is the output port where we can get at which speed the vehicle is moving. The velocity is taken out to the get the distance travelled and state of charge.

        

          TYRPE OF VEHILE BODY IS :

      The body parts is the  1) tire and gear and vechile body.

  TIRE : 

         tire is the three wheel drive Electric vehicles boast instant torque, meaning they accelerate the second you put the pedal to the metal. However, the high instant torque of electric vehicles can also increase wear and tear. In addition to good grip, the rubber compound used for EV tires also needs low rolling resistance.       EVs are known for being very quiet vehicles, and EV-specific tires are designed to minimize road noise. Using a standard tire on an EV might result in a louder in-cabin experience than if you used the same tire on a gas-powered car, where tire noise would be masked by engine and wind noise

     matlab model block of 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.

 

    This the tire block of matlab model 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.

     

         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.

 

           GEAR BOX :

      The motor is a brushless DC motor. The electrical system used in Indian versions is 48V and in Bangladesh is 60V. 

 

 

 

 

The block represents an ideal, non-planetary, fixed gear ratio gear box. The gear box is characterized by its only parameter, Gear ratio, which can be positive or negative. Connections S and O are mechanical rotational conserving ports associated with the box input and output shaft, respectively. The gear ratio is determined as the ratio of the input shaft angular velocity to that of the output shaft. The block generates torque in positive direction if a positive torque is applied to the input shaft and the ratio is assigned a positive value

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.

    

         

     MOTOR AND POWER CONVERTER SUBSYSTEM :

      This is the controller block of the the electric rickshaw module and with temperature sensor h- bridge circuit DC motor and temperature sensor and voltage controller source and current controler source and solver block scope.

 

 

     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.

  

     H-BRIDGE :

      

 

 

 

        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.

 

         

          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.

 

           Solver Configuration  and scope singnal :

 

 

       Defines solver settings to use for simulation. the equation formlatio of the block of parameter.

and sope is the temprature and voltage controller source and the block of ps simulink controller.

 

          BATTERY AND SOC SUBSYSTEM MODEL :

 

The battery and SOC subsystem is the mode of the power supply device of the electric rikshwa module using block is the battery, current controlle source, and scope, electrical refrence, soc sub blocks all the used.

 

       BATTERY :

               This block models a battery. If you select Infinite for the Battery charge capacity parameter, the block models the battery as a series internal resistance and a constant voltage source. If you select Finite for the Battery charge capacity parameter, the block models the battery as a series internal resistance plus a charge-dependent voltage source defined by:

V = Vnom*SOC/(1-beta*(1-SOC))

       where SOC is the state of charge and Vnom is the nominal voltage. Coefficient beta is calculated to satisfy a user-defined data point [AH1,V1]

             

 

        INPUT VOLTAGE SIGNAL wavefrom :

    Controlled Current Source  And Electric Refrence  :

                                                          

            The block represents an ideal current source that is powerful enough to maintain the specified current through it regardless of the voltage across it. The output current is I = Is, where Is is the numerical value presented at the physical signal port.

              Electrical reference port. A model must contain at least one electrical reference port (electrical ground).

 

   SOC Blocks :

       this block is Rate Transition, integrator, sum block, constant.

            Display block Output source :        

                     

         POWERTRAIN BLOCKSET :

         

 

        LONGITUDINAL DRIVER :

 

           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 :

 

    SIGNAL BUILDER BLOCK INPUT SIGNAL :

   MULTIPORT SWITCH :

                                     

                      Pass through the input signals corresponding to the truncated value of the first input. The inputs are numbered top to bottom (or left to right). The first input port is the control port. The other input ports are data ports.

 

       

   

       Electric Rickshaw modelling :

          Electric Rickshaw modelling is block is used and create sub system of the module is used all drive cycle and constent lognditude driver DC motor and input battery block and PWM block vehicle body block all used  scope output. 

 

 

   Drive Cycle Source source input signal and output wavefrom of electric Rickshaw modelling :

 

 

 

 Signal Builder input and vehicle model output :

         

 From Workspace Excel drive cycle input and vehile model output plote :

 

 

 

 

   all the drive cycle input and also output is the plote wave frome past in the  graph output.

 

   CONCLUSION :

                           To completed Electric Rickshaw modelling using matlab simulink model get output wavefrome all drive cycle inpute using to get outpu of vehicle.