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# project#2 - EE 4002 Project 2 Cruise Control Designed for...

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EE 4002: Project # 2 Cruise Control Designed for the Operation of a Four DC Motor Electric Vehicle By Derek Scott November 12, 2004 1

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With the our limited natural resources and rising cost of fossil fuels, the need for alternative methods for personal transportation is on the rise. One technology being developed is the use of electric power to propel automobiles. This renewable resource was been restricted in the past by limited battery life and inefficient mechanical systems. With the increasing advances being developed in battery technology, supporting electrical systems for this vehicles must be designed and built. These systems include a control system to vary motor speeds when traveling around a turn and a power transfer system to return unused mechanical power back to the battery source. One of these systems is a cruise control to maintain highway speed reducing unnecessary acceleration. The design of the electric car given uses four electric motors placed in line with the wheels. Permanent magnet DC motors are being used. This gives the car all-wheel drive capability and eliminates the need for a single large, heavy electric motor. The lack of a rear axial gives the vehicle a higher ground clearance useful in off road situations. Figure 1 shows the motor placement. The motor parameters given are found in Table 1 while the car parameters are found in Table 2. Table 1. Table 2. A current-controller and speed-controller will be designed for the motors to drive the car at a constant speed of 50 km/h across various road conditions. Assumptions made during the design phase will be discussed at that time. The PWM converter has a switching frequency, f s , of 33kHz. The gain constant, k PWM , is 12. This means that the average output voltage of the converter is linearly proportional to the control voltage by a factor of 12. The current-controller is a proportional-integral (PI) error amplifier. It is designed neglecting the effect of the back emf due to the large inertia of the mechanical system. To avoid inference in the control loop a crossover frequency of approximately one to two orders of magnitude smaller than the switching frequency of the PWM converter. The current loop has a crossover frequency, f cI , of 1kHz. The phase margin, Φ pmI , is 90°.
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project#2 - EE 4002 Project 2 Cruise Control Designed for...

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