Traction Control for Off-Road Full Electric Vehicle
Typ
Examensarbete för masterexamen
Program
Automotive engineering (MPAUT), MSc
Publicerad
2021
Författare
Bharadwaj, Nishanth
Pandu, Nithin
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
In this Master thesis a traction control for the construction equipment wheel loader
is developed and analysed for the vehicle motion control system. The wheel loader is
a articulated vehicle used for different application in various environmental terrains.
The machine was undergoing some drawbacks with the current system, this lead to
study and development of the new system. There are many research work performed
in this industry related to this subject, by considering them as reference the work was
initiated. The vehicle considered and studied in the work is an under development
vehicle in Volvo Construction Equipment.
The tire is the contact patch of the complete vehicle with the ground. The tire
characteristics and the dynamics are very important for the vehicle performance.
Study and analysis on tire shows, the tire power efficiency is directly connected with
the slip ratio. The slip should be maintained with the optimal value irrespective
of the environmental conditions. This optimal value should be maintained in all
the wheels to keep the vehicle stable and energy efficient. The input signals are
used to maintain the optimal slip value according to the ground condition and the
application performed. Study shows that, controlling these values results in the
stability and better performance in the vehicle.
During the study of controller it is noticed that, torque and wheel speed at individual
wheel plays a major role in the process of control action. By using both the signal
together in the PID controller the control strategy to the proposed controller is
developed. In this action individual torque and wheel speed controller are designed.
They are connected in series. The working cycle of the wheel loader are divided into
torque and speed mode depending on the type of driver request. The working of
the both the controller also depends on the mode of operation.The simulation are
performed in both the modes in different environmental condition on wheel loader
model. These results are compared with the current or baseline controller used in
the vehicle. Finally along with the development of new controller strategy, it is
compared with current controller to obtain the drawbacks during its performance.
The comparison includes some limitations considered throughout the project. Hence
future work is required to tune the controller for the wheel loader productivity.
Beskrivning
Ämne/nyckelord
Wheel loader , Traction control , vehicle model , slip , Modes , Torque controller , Speed controller , Proposed controller , current controller