RESEARCH AND DESIGN OF THE TRACTION CONTROL SYSTEM ON ELECTRIC SCOOTER

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING

GRADUATION PROJECT

RESEARCH AND DESIGN OF THE TRACTION
CONTROL SYSTEM ON ELECTRIC SCOOTER

TRAN HUU MINH TIEN
Student ID: 16145051
NGUYEN NGOC VU
Student ID: 16145061

Major: AUTOMOTIVE ENGINEERING
Advisor: M.Sc. Nguyen Trung Hieu


Ho Chi Minh City, August 2020
HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY FOR HIGH QUALITY TRAINING

GRADUATION PROJECT

RESEARCH AND DESIGN OF THE TRACTION
CONTROL SYSTEM ON ELECTRIC SCOOTER

TRAN HUU MINH TIEN
Student ID: 16145051
NGUYEN NGOC VU
Student ID: 16145061

Major: AUTOMOTIVE ENGINEERING
Advisor: M.Sc. Nguyen Trung Hieu


Ho Chi Minh City, August 2020
THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom – Happiness

-------Ho Chi Minh City, 12th August, 2020

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DISCLAIMER
The authors, Tran Huu Minh Tien, and Nguyen Ngoc Vu, confirm that the work presented
in this thesis is of my own.

All the data, statistics in the thesis are reliable and are not published in any previous
studies or researches. Where information has been derived from other sources, I confirm
that this has been indicated in the thesis.

Ho Chi Minh City, 12th of August, 2020

1


ACKNOWLEDGEMENT
Completing the graduation dissertation on time and successfully has been a tremendous
accomplishment for the authors along with all the supports throughout the entire working
progress.
We would like to express our sincere gratitude toward our instructor and advisor, M.Sc.
Mr. Nguyen Trung Hieu for his instant and continuous supports for our graduation
dissertation so that it could be completed in time.
We would also extend my thanks to all the University Managing Board, the Faculty of
High-Quality Training, Faculty of Vehicle and Energy Engineering and all other related
departments for facilitating our work.
Finally, we would like to thank my family for always being by our sides throughout our
course in order to make the best result out of it.
Sincere!
Ho Chi Minh City, 12th of August, 2020
Researcher

2


TABLE OF CONTENTS
DISCLAIMER

i

ACKNOWLEDGEMENT

ii

TABLE OF CONTENTS

iii

TABLE OF FIGURES

vii

LIST OF TABLES

xii

LIST OF ABBREVIATION

xiii

ABSTRACT

xiv

Chapter 1: INTRODUCTION

1

1.1.

Problem statement

1

1.2.

Proposed methods

2

1.3.

Dissertation purposes

2

1.4.

Dissertation content

2

Chapter 2: LITERATURE REVIEW
2.1.

Investigate electric motorbikes currently available:
2.1.1.

4
4

2.1.1.1. Introduction about PEGA

4

2.1.1.2. PEGA electric motorbike models

4

2.1.2.

Yadea

5

2.1.2.1. Introduction about Yadea

5

2.1.2.2. Yadea electric motorbike models

5

2.1.3.

Vinfast

7

2.1.3.1. Introduction about Vinfast

7

2.1.3.2. Vinfast electric motorbike models

7

2.1.4.

Anbico

9

2.1.4.1. Introduction about Anbico

9

2.1.4.2. Anbico electric motorbike models

9

2.1.5.
2.2.

PEGA

4

Conclusion

11

Reference science articles

12

Chapter 3: FUNDAMENTAL

16
3


3.1.

Structure of electric scooter

16

3.2.

Operation principle of electric motor in an electric motorbike

16

3.2.1.
3.3.

3.4.

Power source supply

Introduction brushless DC motor (BLDC)

16
17

3.3.1.

The construction of brushless DC motor

17

3.3.2.

Construction of rotor

18

3.3.3.

Construction of stator

19

3.3.4.

Hall sensors

21

3.3.5.

Operation principle of BLDC motor

22

Traction Control system (TCS)

23

3.4.1.

History of Traction Control system (TCS)

23

3.4.2.

Traction Control system on electric vehicle

24

3.4.3.

Analysis the slipping of wheel

24

3.5.

Ohm’s Law

26

3.6.

Calculate powertrain characteristics of electric scooter

27

3.6.1.

Determine power of electric motor and capacity of batter

27

3.6.2.

Determine parameter of electric scooter

27

3.6.3.

Determine the capacity of battery

28

Chapter 4: ELECTRIC SCOOTER SIMULATION
4.1.

Application of BIKESIM software
4.1.1.

Simulate Traction control system by using BIKESIM software

29
29
29

4.1.1.1. Introduce BIKESIM software

29

4.1.1.2. Input data

33

4.1.1.3. Setting data for the EV in BIKESIM

36

4.1.1.4. Simulate Traction Control System

40

4.1.1.5. Design controller for TCS on electric scooter

43

4.2.

Results from experiment the controller of TCS on MATLAB Simulink

46

4.3.

Comparison between electric scooter with TCS and without TCS

48

4


Chapter 5: TRACTION CONTROL SYSTEM (TCS) ON THE ELECTRIC SCOOTER
51
5.1.

Control strategies
5.1.1.

5.2.

Control methods

Control algorithm

5.2.1.

Estimate wheel speed and vehicle speed

Chapter 6: EXECUTION AND EXPERIMENT ON REAL MODEL
6.1.

6.2.

6.3.

Investigation of BLDC 2000W motor

51
53
54
56
56

6.1.1.

Yuma motor 2000W

56

6.1.2.

QS – motor 205 50H V1

57

6.1.3.

QS – motor 205 50H V2

58

6.1.4.

QS - motor 205 45H V3

59

6.1.5.

Conclusion

59

6.1.6.

Characteristics of QS – motor 205 50H V2

60

Investigation of BLDC 2000W controller

63

6.2.1.

Kelly Controller QSKBS48151E

63

6.2.2.

QS Controller QSKBS48181E

64

6.2.3.

Kelly Controller QSKBS72181E

65

6.2.4.

Votol Controller EM 100

66

6.2.5.

Conclusion

67

6.2.6.

Votol EM 100 instruction

67

6.2.6.1. Wiring diagram

67

6.2.6.2. Connect controller to motor and computer

72

6.2.6.3. Debugging software (only support win 7/10)

72

Testing BLDC motor:

79

6.3.1.
6.4.

51

Operation principle:

80

Assembling electric scooter

80

6.4.1.

Chassis and powertrain system

81

6.4.2.

Suspension system

83
5


6.4.3.

Brake system

85

6.4.4.

Power supply location

87

6.4.5.

Throttle

88

6.4.6.

Controller’s placement

88

6.5.

Design Traction Control System

89

6.6.

Set up and experience Traction Control controller

96

6.6.1.

Experience in wet condition with TCS

96

6.6.2.

Result of experience in wet road condition

97

6.6.3.

Experience in icy road condition with TCS

99

6.6.4.

Result of experience in icy road condition

99

6.6.5.

Test run in icy road condition without TCS

101

6.6.6.

Comparison between electric scooter with TCS and without TCS

102

Chapter 7: CONCLUSION AND RECOMMENDATIONS

105

7.1.

Conclusion:

105

7.2.

Recommendations:

105

REFERENCES LIST

106

APPENDICES

108

6


TABLE OF FIGURES
Figure 2.1 PEGA electric motorbike models

5

Figure 2.2 Yadea electric motorbike models

7

Figure 2.3 Vinfast electric motorbike models

9

Figure 2.4 Anbico electric motorbike models

11

Figure 2.5 Block diagram of the proposed traction control system

13

Figure 2.6 Schematic view of the overall TC problem

14

Figure 2.7 Whole block diagram

15

Figure 2.8 Block diagram of Traction Control System

15

Figure 3.1 Brushless DC motor construction

17

Figure 3.2 Basic construction of BLDC

18

Figure 3.3 Types of rotor in BLDC

18

Figure 3.4 Stator’s winding of a BLDC motor

19

Figure 3.5 Trapezoidal back EFM

20

Figure 3.6 Sinusoidal back EMF

20

Figure 3.7 Position of Hall sensor in BLDC motor

21

Figure 3.8 Diagram of power supply for the winding of the stator

22

Figure 3.9 Voltage flow through each coils diagram

23

Figure 3.10 Force affect to the wheel

25

Figure 3.11 The reference slip ratio for TCS

26

Figure 4.1 User interface of BIKESIM

30

Figure 4.2 Area for setting parameters of vehicles and operating conditions

30

Figure 4.3 Algorithm solver

31

Figure 4.4 Simulation setting section

31

Figure 4.5 Block diagram of algorithm solver

32

Figure 4.6 3D animation

33

Figure 4.7 Plotter tool in BIKESIM

33

Figure 4.8 SYM Attila Elizabeth 2010

34
7


Figure 4.9 Remove components to measure dimension

35

Figure 4.10 Chose vehicle box

36

Figure 4.11 Adjust Powertrain

36

Figure 4.12 Dimension of animation scooter

37

Figure 4.13 Parameters of driver’s body

37

Figure 4.14 Steering system's parameters

38

Figure 4.15 Setting tire’s parameters

38

Figure 4.16 Input road coefficient for the simulation process

39

Figure 4.17 Generate events and procedures for simulation process

39

Figure 4.18 Time and Output channels box

40

Figure 4.19 The vehicle code of the EV in MATLAB Simulink

40

Figure 4.20 Run control option

40

Figure 4.21 Supported simulation system on BIKESIM

41

Figure 4.22 Input and Output channels

41

Figure 4.23 Graphical block diagramming of TCS EV

42

Figure 4.24 Import parameters box

43

Figure 4.25 Input spin moment

44

Figure 4.26 Output signal

44

Figure 4.27 Slip ratio calculation

45

Figure 4.28 Controller of TCS

45

Figure 4.29 Comparison function

46

Figure 4.30 Throttle opening percentage

46

Figure 4.31 Cut off signal from throttle to make spin moment equal to five

47

Figure 4.32 Slip ratio

47

Figure 4.33 Velocity of two EV

48

Figure 4.34 Slip ratio of two electric scooters

48

Figure 4.35 Front wheel speed and rear wheel speed of the two EV

49

Figure 4.36 Steering Torque

49

Figure 4.37 Velocity of the two EV with TCS and without TCS

50
8


Figure 5.1 A block diagram of a PID controller in a feedback loop.

51

Figure 5.2 Structure of a fuzzy logic controller

52

Figure 5.3 Block diagram of the Bang – Bang controller

52

Figure 5.4 Block diagram of the Bang - Bang TCS controller

53

Figure 6.1 Yuma motor

56

Figure 6.2 QS - motor 2000W 205 50H V1

57

Figure 6.3 QS - motor 2000W 205 50H V2

58

Figure 6.4 QS - motor 205 45H V3

59

Figure 6.5 Graph of rpm according to torque

60

Figure 6.6 Graph of efficiency according to torque

60

Figure 6.7 Graph of current according to torque

61

Figure 6.8 Graph of current according to torque

61

Figure 6.9 Graph of output power according to torque

62

Figure 6.10 Graph of input power according to torque

62

Figure 6.11 2D drawing of the QS – motor 205 50H V2

63

Figure 6.12 The design of Kelly controller

63

Figure 6.13 QS Controller QSKBS48181E

64

Figure 6.14 Kelly Controller QSKBS72181E

65

Figure 6.15 Votol EM 100

66

Figure 6.16 Main function connecting diagram

68

Figure 6.17 Hall sensor connector

68

Figure 6.18 Anti-theft connector

69

Figure 6.19 Front view of the main function connector

69

Figure 6.20 Front view of the hall sensor connector

70

Figure 6.21 Front view of the anti - theft connector

71

Figure 6.22 Wiring diagram to motor and computer

72

Figure 6.23 User interface of debugging software

73

Figure 6.24 Battery option

74

Figure 6.25 Voltage protection adjust

74
9


Figure 6.26 Battery current and phase current limited adjust

75

Figure 6.27 Throttle voltage adjust interface

75

Figure 6.28 Temperature protection interface

76

Figure 6.29 Downhill electric braking assist interface

76

Figure 6.30 Motor setting interface

77

Figure 6.31 Speedometer output option

77

Figure 6.32 Moving assist and cruise control function adjust interface

77

Figure 6.33 Safety function and reverse setting interface

78

Figure 6.34 Controller status interface

78

Figure 6.35 Electric motor dynamometer

79

Figure 6.36 Swingarm for EV

81

Figure 6.37 Steel round bar screw

82

Figure 6.38 Top view of powertrain system

82

Figure 6.39 Side view of powertrain system

83

Figure 6.40 Rear suspension

84

Figure 6.41 Front suspension

84

Figure 6.42 Rear brake

85

Figure 6.43 Brake fluid tank for rear brake system

86

Figure 6.44 Front brake

86

Figure 6.45 Battery compartment

87

Figure 6.46 Electric scooter throttle

88

Figure 6.47 EV controller placement

89

Figure 6.48 Hall sensor

90

Figure 6.49 Reluctor wheel

90

Figure 6.50 Location of Hall sensor in front wheel

91

Figure 6.51 Location of Hall sensor in rear wheel

91

Figure 6.52 Distance between Hall sensor and reluctor wheel

92

Figure 6.53 Arduino UNO REV3

93

Figure 6.54 DAC module MCP4725

94
10


Figure 6.55 TCS circuit

96

Figure 6.56 Wet road condition

97

Figure 6.57 Graph of testing in wet road with TCS

98

Figure 6.58 Ice road condition

99

Figure 6.59 Graph of testing in icy road with TCS

100

Figure 6.60 Slip ratio of icy road

101

Figure 6.61 Graph of testing in icy road without TCS

102

Figure 6.62 Testing path

103

Figure 6.63 Graph of vehicle speed with TCS and w/o TCS

103

Figure 6.64 Graph of rear wheel speed with TCS and w/o TCS

104

Figure 6.65 Graph of slip ratio with TCS and w/o TCS

104

11


LIST OF TABLES

Table 2.1 PEGA electric vehicle specification table

4

Table 2.2 Yadea electric vehicle specification table

6

Table 2.3 Vinfast electric vehicle specification table

8

Table 2.4 Anbico electric vehicle specification table

10

Table 2.5 Comparison table of electric motorcycles

12

Table 4.1 Dimension after measured

35

Table 6.1 Yuma motor specification table

56

Table 6.2 QS - Motor V1 specification

57

Table 6.3 QS - Motor V2 specification

58

Table 6.4 QS - Motor V3 specification

59

Table 6.5 Properties table of Kelly controller QSKBS48151E

64

Table 6.6 Properties table of QS controller

65

Table 6.7 Properties table of Kelly controller QSKBS72181E

66

Table 6.8 Properties table of Votol EM 100

67

Table 6.9 Main function pin definition

70

Table 6.10 Hall sensor pin definition

71

Table 6.11 Anti - theft pin definition

71

Table 6.12 Battery current controller setting Range

75

12


LIST OF ABBREVIATION
TCS: Traction control system
BLDC: Brushless DC Motor
MATLAB: Matrix laboratory
WHO: World Health organization
PMSM: Permanent magnet synchronous motor
EMF: Electromotive force
ESC: Electronic stability control
UMTRI: University of Michigan Transportation Research Institute
EV: Electric vehicle
SAE: Society of automotive engineers
PID: Proportional – Integral – Derivative controller
TIC: Taylor instrumental company
ICS: Industrial control systems
IDE: Integrated development environment

RPM: Revolution per minute
EBS: Electronic brake system
GUI: Graphical user interface
FWS: Front wheel speed
RWS: Rear wheel speed
W/o: Without

13


ABSTRACT
The main objectives of this thesis are to research theoretically, simulate the 3D
models on BIKESIM simulation software and conduct reality experiment on safety system
on the electric vehicle, in this case, the electric scooter and traction control system. This is
to increase the safety on the electric vehicle as this is the future type of transportation due
to many advantages compared to conventional, or internal combustion engine vehicles:
environmental-friendly, high torque and power output, multi-terrain operation… The
authors also want to have a deep research into electric vehicle field in order to apply
anything currently available into reality, turning this research into a fundament for any
further research on the topic.
This paper was divided into 5 chapters. The first chapter was the detail introduction
about the problem statements, proposed solution for the topic, research method and the
purpose of the research. The second chapter was about the literature review by the authors
on the structure of electric scooter, brushless DC motor, related components, and physics
laws. The authors applied the MATLAB Simulink and BIKESIM to simulate the digital
electric scooter model on the simulation environment in the third chapter. The fourth
chapter was all about the traction control in the conventional vehicle and in the electric
scooter. Finally, the reality experiment was conducted and reported in the last chapter,
chapter five.
Keyword: electric scooter, traction control, electric vehicle, modeling, simulation, electric

motor, brushless motor.

14


Chapter 1: INTRODUCTION
1.1.

Problem statement

The world is witnessing a tremendous change in technology development and
industrial production thanks to the application of the achievements of the scientific and
technological revolution. At the same time, air pollution has become an urgent problem
that the world needs to solve. There are many causes to air pollution such as emissions
from industrial plants, emissions from road vehicles, waterways, and railways, etc. As a
result, it causes the greenhouse effect, global warming, and depletion of ozone. This has a
significant impact on the environment and health of all living creatures on earth, including
humans.
According to the WHO annual air pollution report that kills approximately 7 million
people worldwide each year, WHO data collected shows that for every 10 people, 9 will
breathe air containing high levels of pollutants. As reported by WHO, six main substances
causing air pollution that affect human health include: Nitrous oxide (NOx), Sulfur oxide
(Sox), Carbon monoxide (CO), Carbon dioxide (CO2), Lead, Ozone ground layer,
suspended particulate matter particles. In the face of the above situation, governments
around the world have come up with many solutions in order to cut down and overcomes
air pollution such as inspire people to use public transport, clarify exhaust from industrial
plants and vehicles, plant more tree, etc.
In the automobile industrial field to solve the issue of air pollution, manufacturers
have given a solution that is to switch to using electric motors instead of using a
conventional internal combustion engine. When an internal combustion engine working,

the product released outside the environment includes CO, CO2, NOx, HC, Pb, CFC, and
sulfur compounds. But these products are on the list of main substances that cause air
pollution. According to statistics of the Ministry of Transport of Vietnam, the number of
motorcycles in circulation in Vietnam has reached 60 million vehicles by the end of 2019
and the number of cars has reached 4 million between the end of 2016 and 2020.
Motorcycles accounted for 93.75% of all vehicles in Viet Nam. According to research
results of the Institute of Environment and Resources (National University of Ho Chi Minh
City), emissions from two wheels vehicles are the largest source of air pollution. In
particularly, motorcycles only consume about 56% of the fuel but exhaust up to 94% HC,
87% CO and 57% NOx in the total emissions of all vehicles. These data above show that
the internal combustion engine is one of the biggest causes of air pollution in the world.
Therefore, this is the first reason that car and motorbike manufacturers gradually switch to
use the electric motor to be more friendly to the environment. Besides, one of the main
drawbacks of internal combustion engines compared to electric motors is performance.
Internal combustion engines convert heat energy into mechanical energy but during the
1


converting process, the loss of power in heat energy is very large. Therefore, the efficiency
of the internal combustion engine is about 35%. For electric motors working based on the
phenomenon of electromagnetic induction, in which electrical energy will be transformed
into mechanical energy. When electric motor working, it also generates heat (heated due to
conductors’ resistance and friction), but compared to the internal combustion engine, this
temperature is negligible. Therefore, the efficiency of electric motors is approximately
90%. In addition, the electric motor achieves the maximum torque at the lowest speed and
has the motor characteristic line like the real human desire without any powertrain. This is
the second reason that car and motorbike manufacturers in the world decide to replace
conventional internal combustion engines. Thus, electric motor is becoming a trend in the
world because of its advanced features such as higher efficiency than traditional,
environmentally friendly. However, the torque characteristics of the electric motor at a

minimum speed are very high. When crossing the road surface with minimal friction or
rapid acceleration will cause a wheel skid can lead to a dangerous accident for the driver.
Therefore, in order to contribute to increasing the safety of electric motorbikes for
drivers, the team decided to select the topic "Research, simulation, and construction of
electric motorbike models with traction control using the BIKESIM and MATLAB
Simulink software" to carry out.
1.2.

Proposed methods

● Survey method: Find out information about electric motorbikes available in Vietnam
and foreign markets. Investigate the types of electric motors and control methods
used by manufacturers.
● Documents research method: find out and research science articles of the Traction
Control controller to understand the operating principle and control methods of the
controller. Read the documentation to learn how to simulate two wheels vehicle and
Traction Control by BIKESIM and MATLAB Simulink software.
● Refer to the instructor's advice.
● After the survey, research and collect all the necessary data for the topic. Simulate
on the software. After the simulation on the software, implement and build a real
model.
1.3.

Dissertation purposes

● Strengthen old knowledge and collect new experiences during the implementation.
● Know how to simulate electric scooters and Traction Control on BIKESIM and
MATLAB Simulink software.
● Acquire the principles and structure of electric scooters and Traction Control.
● Research and build electric scooters model and apply the Traction Control feature to

electric scooters.
2


1.4.

Dissertation content

This dissertation consists of 6 chapters:
●
●
●
●

Chapter 1: Introduction
Chapter 2: Literature review
Chapter 3: Theoretical basic
Chapter 4: Apply BIKESIM and MATLAB Simulink software to simulate electric
scooter.
● Chapter 5: Research traction control system on the electric scooter
● Chapter 6: Execute and experiment on real models
● Chapter 7: Recommendation and suggestion

3


Chapter 2: LITERATURE REVIEW
2.1. Investigate electric motorbikes currently available:
2.1.1. PEGA
2.1.1.1.

Introduction about PEGA
PEGA (formerly known as HK bike) is known as the leading electric vehicle brand
in Vietnam, emerging with a series of self-designed electric vehicles with luxurious,
beautiful designs and superior quality compared to other models. Other electricity on the
market. PEGA is a Vietnamese brand, researched and produced by Vietnamese. Entered
the market with only 1 small showroom in Hanoi on 12/12/2012. In 2014 PEGA built its
research, design, and assembly rooms in Bac Giang.
2.1.1.2.

PEGA electric motorbike models
Table 2.1 PEGA electric vehicle specification table

Specifications

PEGA – S

Newtech

Aura 9

X-men
9

Maximum power

4000W

2250W

1200W

1200W

Motor types

PSMS

BLDC

Torque

140N.m

20.7N.m

89N.m

Maximum velocity

65Km/h

60Km/h

45 –
50Km/h

50Km/h

Voltage

72V

72V

60V

60V

Battery capacity

32Ah

20Ah

20Ah

20Ah

120Km

90Km

100Km

100Km

8h

8 – 10h

6 – 8h

6 – 8h

37A  1A

30A

35A

Distances traveled in 1time charge
Charging time
Overcurrent protection
Vehicle weight (include
battery)

155Kg

123Kg

90Kg

90Kg

Load

250Kg

250Kg

180Kg

230Kg

Belt

Direct

Direct

Direct

Transmission

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Other features

Bluetooth, charger,
smart key

2.1.2. Figure
Yadea STYLEREF 1 \s 2. SEQ Figure \* ARABIC \s 1 1 PEGA electric
2.1.2.1.
Introduction about Yadea
Yadea is a brand from Hong Kong. Known as the world's leading manufacturer and
distributor of two-wheel electric scooters. Yadea electric scooters are now available in 77
countries around the globe, including key markets such as the US, Japan, Europe, and
many other countries.

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