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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…
Jiji M
updated on 23 Jun 2023
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.
Answer:
Objectives:
Create a detailed MATLAB model of an electric rickshaw (three wheel passenger vehicle) where;
Block Diagram:
Electric rickshaws are small 3-wheeled vehicles powered by an electric motor and battery. A micro-controller-based smart electronic controller serves as the heart of the system. This controller acts as the electrical drive of the motor and takes electronic inputs from various sources such as – throttle, brakes, temperature-sensor, current-sensor, battery voltage-sensor, motor’s speed/position sensors (hall-sensor) and manages to drive the motor and thus the vehicle accordingly.
Here, we have used PM Brushed type, DC motor attached to the rear wheels. Three drive cycle sources are used. For the controller, we have used, Controlled PWM and H-bridge, with temperature sensors to get the temperature of both motor and controller. We have used, gear box, inertia, 3 tires and vehicle body for the vehicle subsystem. Li-ion battery has been used for battery subsystem for the vehicle. The below figure shows the block diagram for electric rickshaw.
Design and Specifications:
The drive cycle source is connected to a Multiport switch, so as to select one of the drive cycle sources to run, one at a time. The multiport switch is connected to Reference velocity port of the driver block. The velocity feedback for longitudinal driver is taken from vehicle body. The acceleration command and deceleration command of Motor and controller subsystem. The controller outputs are motor temperature, H-bridge temperature, Current output and motor shaft output. The current sensor output is connected to battery subsystem and motor shaft output (torque) is connected to gear in vehicle body. The motor temperature and H-bridge temperature is showed at the displays as well as in the scopes. The battery outputs,SOC%, Current and Voltage are connected to scope and display. The velocity output is used to get the distance travelled and as feedback for driver block.
Drive cycle Source:
A 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.
Here we have used 3 drive cycle sources. FTP25 drive cycle, WOT drive cycle and a drive cycle of 100km @45kmph.
Specifications:
The first drive cycle is FTP25 drive cycle source with simulation time of 2474 seconds.
The second drive cycle is Wide Open Throttle(WOT), with a simulation time of 30 seconds.
The next drive cycle source is 100 km constant speed driving at 45 kmph.
Here we are converting the speed to m/s, then it will be 45*(5/18) = 12.5 m/s.
A multiport swith with 3 ports is connected to select between the drive cycle sources one at a time.
Driver block:
In the driver block, here we have 2 input commands and 2 output commands. Reference velocity and Velocity are considered as the input. To get the reference velocity, a drive cycle source is given as input and to get the velocity, a feedback signal is taken from the Transmission block. The reference velocity is given to the positive of sum block and velocity is given to negative of sum block. The output of the sum block is given to a PID controller block. Then the PID block output signal is given to two saturation blocks named Acceleration and Deceleration.The acceleration block and deceleration block outputs are connected to control system and motor system block. Here we have considered PID controller, so as to give the inputs for saturation blocks.
PID controller:
This block implements continuous- and discrete-time PID control algorithms and includes advanced features such as anti-windup, external reset, and signal tracking. You can tune the PID gains automatically using the 'Tune...' button
Specifiations:
Saturation block:
Limits input signal to the upper and lower saturation values.
Specifications:
PMDC Motor and Controller:
There are 2 controlled voltage sources connecetd to the +ve and -ve reference ports of Controlled PWM volatge. PWM and REF outputs are given as the inputs of H-bridge. All the reference ports and -ve ports are connected to a common electrical reference. The REV and BRK of H-bridge is connected to electrical reference. The H-port of H-bridge gives the temperature output of H-bridge and is connected to temperature sensor. The +ve and -ve outputs of H-bridge is connected to FC motor. FRom DC motor a current sensor is used to get current output. C port of DC motor is connected to mechanical rotational reference, and H-port is connected to temperature sensor to get the temperature output of DC motor.
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.
Here, we have enabled thermal port, since we need to get the temperature of DC motor.
Specifications:
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.
Here, we have enabled thermal port, since we need to get the temperature of H-bridge.
Specifications:
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. Right-click the block and select Simscape->Block choices to switch between electrical +ref/-ref ports and PS input u to specify 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.
Specifications:
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.
Current sensor:
The 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.
Controlled Voltage Source:
The block represents an ideal voltage source that is powerful enough to maintain the specified voltage at its output regardless of the current passing through it. The output voltage is V = Vs, where Vs is the numerical value presented at the physical signal port.
Solver Configuration:
The Solver Configuration block specifies the solver parameters that your model needs before you can begin simulation. Each topologically distinct Simscape block diagram requires exactly one Solver Configuration block to be connected to it.
Battery subsystem:
In the battery subsystem, we have used Li-ion battery with a controled current source input, and a bus selectro is connected at the output to get the SOC%, Current and Voltage of battery. The current and Battery is used to calculate the energy consumption.
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.
Specifications:
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. We can initialize your circuit with a specific AC or DC current. If we 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.
Powergui:
The powergui block allows you to choose one of these methods to solve your circuit:
Continuous, which uses a variable-step solver from Simulink.
Discretization of the electrical system for a solution at fixed time steps
Continuous or discrete phasor solution
The powergui block also opens tools for steady-state and simulation results analysis and for advanced parameter design.
Vehicle Subsystem:
In the vehicle body, we have used, simple gear, connected to inertia and A port of 2 rear wheels, so that the rear wheels will be driven by the motor. The simple gear input will be the torque output from the motor shaft. The A ports of rear wheels are connected with simple gear, and A port of front tire is connected to a rotational free end. Headwind velocity(w) and Road inclination angle(beta) of vehicle is kept as constant, value is 0. The V is the output port where we can get the velocity output. H port of all the 3 wires are connected to H port of vehicle body. The N port of rear wheels are connecetd to NR port of vehicle body and N port of front wheel is connecetd to NF port of vehicle body. All the S ports of tires are connected to PS terminators.
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. Connections V, NF, and NR are physical signal output ports for vehicle velocity and front and rear normal wheel forces, respectively. Connections W and beta are physical signal input ports corresponding to headwind speed and road inclination angle, respectively.
Specifications:
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.
We have used 3 tires, (2-rear and 1 front), where rear wheels driven by PM brushed type motor.
Specifications:
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 and viscous bearing losses. Connections B (base) and F (follower) are mechanical rotational conserving ports.
Speifications:
Inertia:
The block represents an ideal mechanical rotational inertia. The block has one mechanical rotational conserving port. 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.
Specifications:
Other blocks:
Scope:
Display signals generated during simulation
Electrical Reference:
Mechanical Rotational Reference:
Display:
Rotational Free end:
This block represents a mechanical rotational free end. Use it to allow a node to rotate freely without torque. This block can be used to optionally specify initial rotational velocity.
PS terminator:
Use this block to terminate physical signal outputs. Unconnected physical signal output ports do not generate warnings, but connection to a PS Terminator can be used to indicate that the signal was not inadvertently left unconnected
Terminator:
Used to "terminate" output signals. (Prevents warnings about unconnected output ports.)
PS Constant:
This block creates a physical signal constant:
y = constant
The Constant parameter accepts both positive and negative values. The block output is a physical signal port.
Constant Block:
Output the constant specified by the 'Constant value' parameter. If 'Constant value' is a vector and 'Interpret vector parameters as 1-D' is on, treat the constant value as a 1-D array. Otherwise, output a matrix with the same dimensions as the constant value.
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.
Distance calculation:
Energy consumption calculation:
Results:
1. FTP25 drive cycle source
Reference Velocity and Vehicle speed:
Motor and H-bridge Temperature:
Battery Current, Voltage and SoC%:
2. Wide Open Throttle(WOT)
Reference Velocity and Vehicle speed:
Motor and H-bridge Temperature:
Battery Current, Voltage and SoC%:
3. Drive cycle source to obtain 100 km constant speed driving at 45 kmph
Reference Velocity and Vehicle speed:
Motor and H-bridge Temperature:
Battery Current, Voltage and SoC%:
Conclusion:
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