Control system in electric tricycle focused on high dynamics of pedals load torque response
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2016
scientific article
english
- electric vehicle
- tricycle
- distributed control system
- pedaling by wire system
- CAN network
- electric drive
- BLDC motor
- power inverter
- STM32F4 MCU
EN In the article two different control system structures of electric driven tricycle are presented. The very specific feature of the vehicle is that it works with "pedaling by wire". It means, that there is no mechanical coupling between pedals and any of driven wheels. This structure gives an advantage of achieving wide range of the correlation between the pedals load torque and speed and the driven wheels electromagnetic torque and speed. The challenge is to provide a natural pedaling feels for the rider. Two different approaches for control system signal flow are compared for natural pedaling feel for cyclist. The system architecture bases on CAN network distributed control that links three independent wheel drives, dedicated HMI panel, generator inverter and centralized supervisory board. The modelling methods are presented in the paper with an appropriate analytical base. Simulation results of presented control structures follows experimental ones taken from the electric tricycle.
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