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Faculty of Vehicle and Energy EngineeringHo Chi Minh city University of Technology and Education 14145165 Lê Minh Phú 14145196 Msc Nguyễn Trung Hiếu CAPSTONE PROJECT BUILDING ELECTRIC VE

Faculty of Vehicle and Energy Engineering

Ho Chi Minh city University of Technology and Education

14145165

Lê Minh Phú 14145196

Msc Nguyễn Trung Hiếu

CAPSTONE PROJECT

BUILDING ELECTRIC VEHICLE MODEL FOR MOTION

CONTROL PURPOSES

Trung-Hieu Nguyen

• Introduction

• System Theory Approach

• Design & Build The Electric Vehicle

• Simulation

• Experimental Result & Evaluation

• Conclusion & Recommendation

Outline

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4

Introduction

• Reduce emission from ICE( internal combustion Engine)

• Use green and clean fuel sources

• Reduce mechanical components in vehicle

• Increase Efficiency

Motivations

5

History & Development of Electric Vehicle

Introduction

Project Overview

• 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 to Electronic Differential

Introduction

Project Overview

8

Project goals

Introduction

• 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

Trung-Hieu Nguyen

• Choosing Motor

• Building control algorihtm

System Theory Approach

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• Works almost no friction

• Wide speed range

• Can control wheel

• : 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)

Trung-Hieu Nguyen

• Design The Electric Vehicle in CATIA

• Build the Electric Vehicle

Design & Build The Electric Vehicle

12

Design & Build The Electric Vehicle

Design The Electric Vehicle in CATIA

• Design standards:

 Size & Price

 Easy to Processing

 Easy to Replace

 Materials & durability

 Stability & high accuracy

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General Design

Design & Build The Electric Vehicle

Design The Electric Vehicle in CATIA Sofware

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Frame Design

Design & Build The Electric Vehicle

Design The Electric Vehicle in CATIA Sofware

16

Experimental Vehicle

Design & Build The Electric Vehicle

Build The Electric Vehicle

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Design & Build The Electric Vehicle

Build The Electric Vehicle

Wiring Diagram

EDS Control in SimulinkSimulation

Malab/Simulink Programming

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Simulation

Set-up CarSim Enviroment

Dry Road (φ = 0.85)

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Simulation

Set-up CarSim Enviroment

Dry Road (φ = 0.85)

Experimental Result & Evaluation

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Cornering

Experimental Result & Evaluation

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Cornering

Experimental Result & Evaluation

Conclusion & Recommendation

• Use Matlab/Simulink programming software for STM32 boards

• Collect data on the car sent to the computer through the UART module

• Complete design of electronic differential using PID for control

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Restriction

Conclusion & Recommendation

• Unfinished body vehicle

• The control has not been optimized

• Energy use is limited

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Oriented Development

Conclusion & Recommendation

• Use a new algorithm that improves the controller so that the electric differential is even better

• Design ABS, ESC, TCS,… Systems

• Through UART module designed remote control car through Bluetooth module, WIFI module to collect data on the car

• Use electric power steering to develop autonomous vehicle

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Experiment Vehicle Video

Thank you for your attention !