Modelado y control multivariable del vehículo urbano eléctrico UAL-eCARM

  1. Mañas-Álvarez, F. J. 1
  2. Blanco-Claraco, J. L. 1
  3. Torres-Moreno, J. L. 1
  4. Giménez-Fernández, A.G. 1
  1. 1 Universidad de Almería
    info

    Universidad de Almería

    Almería, España

    ROR https://ror.org/003d3xx08

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2020

Volumen: 17

Número: 2

Páginas: 144-155

Tipo: Artículo

DOI: 10.4995/RIAI.2019.12679 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Objetivos de desarrollo sostenible

Resumen

This work presents the modeling and complete control of the Drive-by-Wire system of an electric urban vehicle. This system includes the steering mechanism, acceleration and brake of the vehicle. The modeling has been performed using low-order transfer functions using “black box” models. In regards to control, all developed controllers are of the PID type in their different configurations. The direct current actuators coupled to the steering and brake are controlled by a cascade control system while the acceleration is controlled by a gain scheduling system. The project source code is freely available on Github. Experimental results demonstrate the validity of the models obtained, as well as the effectiveness of the developed controllers.

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Fuente de los datos: Dialnet