The main objective of this work is to design and implement a Vehicle Control System (VCS) model oriented to a prototype of a competitive solar four-wheeled vehicle with an independent rear powertrain and front-wheel steering. This model adopts two permanent magnet synchronous machines embedded directly in the vehicle's drive wheels, making it unnecessary to integrate a conventional mechanical gear-based drive train, which provides a decentralized configuration and greater flexibility. Additionally, part of the Vehicle Driver Mode System (DMS).
Which is in charge of providing the interaction environment between the driver and the vehicle, is composed of the Vehicle Finite State Machine (VFSM) and a Graphical User Interface (GUI). Regarding the Stability Control System (SCS), a Direct Yaw Moment Control (DYC) is based on Sliding Mode Control (SMC). It allows selecting the tracking error (tracking yaw rate or lateral slip angle or a combination of both) and the type of control (Proportional or Proportional-Integral). As Electric Machine Control System (EMCS), a controller from the Kelly Controller line is selected, and together a Revolutions Acquisition System (RAS) is implemented that allows the acquisition of the revolutions of the electric machine through a Raspberry PI using a Client-Server architecture. The implementation uses the Python programming language and the Matlab-Simulink development environment.
Simon Bolivar University, USB-SOLAR
email: 13-10673@usb.ve
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