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CAPSTONE PROJECT

BUILDING ELECTRIC VEHICLE MODEL FOR MOTION
CONTROL PURPOSES
 INSTRUCTOR: Msc Nguyễn Trung Hiếu
 STUDENT: Trần Lê Thanh Minh
14145165
Lê Minh Phú
14145196
Faculty of Vehicle and Energy Engineering
Ho Chi Minh city University of Technology and Education


Outline

• Introduction
• System Theory Approach
• Design & Build The Electric Vehicle
• Simulation
• Experimental Result & Evaluation
• Conclusion & Recommendation

Trung-Hieu Nguyen

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Introduction

• Motivations
• Project Overview

• Project Goals

Trung-Hieu Nguyen

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Introduction

Motivations

• Reduce emission from ICE( internal combustion Engine)
• Use green and clean fuel sources
• Reduce mechanical components in vehicle
• Increase Efficiency

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Introduction
Project Overview

History & Development of Electric Vehicle

• 1834, The first electric car was invented and commercialized
• 1899, The first electric car “La Jamais Contente” ran at speeds of over 100 km/h
• 2010, Development of California Tesla Motors
• 2017, Tesla Semi the first intelligent car.

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Introduction
Project Overview

Introduction to Electronic Differential

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Introduction
Project Overview

Tools for project

• Carsim 8.02
• Board STM32F4
• CATIA V5
• Matlab/Simulink

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Introduction

Project goals

• Learn to use CATIA, MATLAB / SIMULINK, CARSIM and Board STM32F4
• Understanding technology that controls motion on electric vehicle
• Design vehicle using CATIA

• Simulating in-wheel BLDC motors and Electronic Differential System(EDS) with
Matlab / Simulink
• Validate control algorithm on Carsim with EDS
• Doing experiments based on STM32F4 and Matlab/Simulink
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System Theory Approach
• Choosing Motor
• Building control algorihtm

Trung-Hieu Nguyen

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System Theory Approach

Choosing Motor

Advantages motor
• Longevity
• Works almost no friction
• Wide speed range
• Can control wheel

In-wheel Motor With BLDC
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Theory Research
Building Control Algorihtm

Control Scheme
•  : Steering wheel angle (rad)
• : Angular velocity (rad/s)
• : The desired wheel angular velocity (rad/s)
• : Angular velocity on each wheel (rad/s)
• : Voltage supply to DRIVER (volt)
• EDS: Electronic Differential System
• PID: Speed controller
• DRIVER: The actuator supply voltage for motor
• SENSOR: Hall Sensor

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Design & Build The Electric Vehicle
• Design The Electric Vehicle in CATIA
• Build the Electric Vehicle

Trung-Hieu Nguyen

12


Design & Build The Electric Vehicle
Design The Electric Vehicle in CATIA

Requirements

• Design standards:
 Size & Price
 Easy to Processing
 Easy to Replace
 Materials & durability
 Stability & high accuracy

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Design & Build The Electric Vehicle
Design The Electric Vehicle in CATIA Sofware

General Design

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Design & Build The Electric Vehicle
Design The Electric Vehicle in CATIA Sofware

Frame Design

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Design & Build The Electric Vehicle
Build The Electric Vehicle

Experimental Vehicle

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Design & Build The Electric Vehicle
Build The Electric Vehicle

Wiring Diagram

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Simulation
• Matlab/Simulink Programming
• Set-up CarSim Environment

Trung-Hieu Nguyen

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Simulation
Malab/Simulink Programming

EDS Control in Simulink

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Simulation

Set-up CarSim Enviroment

Size Parameter Settings

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Simulation
Set-up CarSim Enviroment

Specifications Setting

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Simulation
Set-up CarSim Enviroment

Control System Setting

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Simulation
Set-up CarSim Enviroment

Communication Between CarSim & Simulink

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Simulation
Set-up CarSim Enviroment

Dry Road Demonstration

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Simulation
Set-up CarSim Enviroment

Dry Road (φ = 0.85)

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