• Title/Summary/Keyword: In-Wheel Motor Systems

Search Result 69, Processing Time 0.032 seconds

Accelerated Life Test of In-Wheel Motor for Mobile Robot (이동로봇용 In-Wheel Motor의 가속수명시험)

  • Kim, Young-Ki;Kim, Sang-Hoon;Kim, Hag-Wone;Mok, Hyung-Soo
    • The Transactions of the Korean Institute of Power Electronics
    • /
    • v.15 no.6
    • /
    • pp.498-505
    • /
    • 2010
  • In-Wheel System is a high-efficiency system to supply a new concept of platform which raises the efficiency of motor drive system and applies it to an environment-friendly automobile by installing a highly efficient electric motor directly to wheels and removing factors of power train. The proliferation of these systems is directly related to the safety of our lives, so check the reliability of the part in the development phase and should be certified. Reliability is the ability of a system or component to perform its required functions under stated conditions for a specified period of time. This paper presents to the verification methods for durability, one of reliability assessments of the Motor, the study calculated acceleration and deceleration torque and the effective torque from driving conditions of In-Wheel Motor, and based on this, it reduced the test time and suggested the verification methods of In-Wheel Motor reliability through the accelerated life test.

Steering Wheel Torque Control of Electric Power Steering by PD-Control

  • Pang, Du-Yeol;Jang, Bong-Choon;Lee, Seong-Cheol
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2005.06a
    • /
    • pp.1366-1370
    • /
    • 2005
  • As the development of microprocessor technology, electric power steering (EPS) system which uses an electric motor came to use a few years ago. It can solve the problems associated with hydraulic power steering. The motor only operates when steering assistance is needed, so it can save fuel and can reduce weight and cost by eliminating hydraulic pump and piping. As one of performance criteria of EPS systems, the transmissibility from road wheel load to steering wheel torque is considered in the paper. The transmissibility can be studied by fixing the steering wheel and calculating the torque needed to hold the steering wheel from road wheel load. A proportion-plus-derivative control is needed for EPS systems to generate desired static torque boost and avoid transmissibility of fluctuation. A pure proportion control can't satisfy both requirements.

  • PDF

Reducing the Minimum Turning Radius of the 2WS/2WD In-Wheel Platform through the Active Steering Angle Generation of the Rear-wheel Independently Driven In-Wheel Motor (후륜 독립 구동 인 휠 모터의 능동적 조향각 생성을 통한 2WS/2WD In-Wheel 플랫폼의 최소회전 반경 감소)

  • Taehyun Kim;Daekyu Hwang;Bongsang Kim;Seonghee Lee;Heechang Moon
    • The Journal of Korea Robotics Society
    • /
    • v.18 no.3
    • /
    • pp.299-307
    • /
    • 2023
  • In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

A Study on the Torque Distribution for Improving the Turning Performance of a Vehicle with Torque Vectoring System (토크 벡터링 시스템이 적용된 차량의 선회 성능 향상을 위한 토크 분배에 관한 연구)

  • SeHyeoun Kim;TaeKue Kim;SoongKeun Lee;DongGun Choi;InGyu Choi;Gunpyoung Kwak
    • Journal of Korea Society of Industrial Information Systems
    • /
    • v.28 no.4
    • /
    • pp.35-43
    • /
    • 2023
  • In next-generation electric vehicles, research is being conducted on an in-wheel motor system that directly controls torque by each wheel to improve total cost and driving performance. Accordingly, in this paper, a study was conducted on an algorithm that distributes the torque applied to each wheel in a torque vectoring system applied to an in-wheel motor for driving an electric vehicle. In order to implement a vehicle model that applies actual vehicle characteristic parameters according to vehicle driving and steering, a simulation was conducted in the MATLAB Simulink environment, and it was confirmed that torque distribution was performed according to the proposed algorithm.

Kinematic Correction of n Differential Drive Mobile Robot and a Design for the Reference-Velocity Trajectory with Acceleration-Resolution Constraint on Motor Controllers (차동 구륜이동로봇의 기구학적 보정과 모터제어기의 가속도 해상도 제약을 고려한 기준속도궤적의 설계)

  • 문종우;김종수;박세승
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.8 no.6
    • /
    • pp.498-505
    • /
    • 2002
  • Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

Dynamic Analysis of Wheel-Rail High Speed Train Propelled by Superconducting Linear Synchronous Motor (초전도 선형동기전동기 추진 휠-레일 고속열차의 동특성 분석)

  • Lee, Jin-Ho;Lee, Chang-Young;Jo, Jeong-Min;Han, Young-Jae
    • Journal of the Korea Academia-Industrial cooperation Society
    • /
    • v.17 no.1
    • /
    • pp.119-125
    • /
    • 2016
  • This study examined the running dynamic characteristics of a hybrid type wheel-rail high speed train, in which the propulsion method of maglev is applied. A wheel-rail high speed train propelled by a superconducting linear synchronous motor (SC-LSM) is expected to be superior to a maglev train regarding economical and interoperable aspects, still having powerful thrust force as maglev. In this paper, regarding the two methods of applying the SC-LSM to an existing wheel-rail train, to investigate the influences of SC-LSM propulsion on the dynamic characteristics of wheel-rail high speed train, the dynamic model of train including interaction between the rotor and stator of SC-LSM is established. Through the simulation using the model, the influence of the interaction between the rotor and stator of SC-LSM on stability, ride comfort and the effect of guideway irregularity are investigated.

The Design of a Control & Measurement System for the Driving of Wheel-in Motor (휠인 모터 구동을 위한 제어 및 계측 시스템 설계)

  • Choi, Jung-Keyng
    • Journal of the Korean Institute of Intelligent Systems
    • /
    • v.25 no.4
    • /
    • pp.405-411
    • /
    • 2015
  • This paper sugg ests speed measurement and control system desig n methods to drive the Wheel-in Motor that is transfer rotational force to the hub of the wheel and drives it directly. The dsPIC30F2010 16 bit microprocessor specified to motion controller is used as a intelligent controller. The minimum functions of dsPIC30F2010, system clock, PWM output, I/O, timer, communication, applicable to motor control are used and operating characteristics of hall signal measurement and control software functions are tested. Also the algorithm including PDFF speed control program was implemented using this software functions and show the experimental results..

Highly Agile Actuator Development Status of an 800 mNm Control Moment Gyro (CMG)

  • Goo-Hwan Shin;Hyosang Yoon;Hyeongcheol Kim;Dong-Soo Choi;Jae-Suk Lee;Young-Ho Shin;Eunji Lee
    • Journal of Space Technology and Applications
    • /
    • v.3 no.4
    • /
    • pp.322-332
    • /
    • 2023
  • Satellite attitude-control actuators are equipped with a reaction wheel for three-axis attitude control. The reaction wheel rotates a motor inside the actuator to generate torque in the vector direction. When using the reaction wheel, there are restrictions on the torque values generated as the motor rotates. The torque value of the reaction wheels mounted on small satellites is approximately 10 mNm, and high values are not used. Therefore, three-axis attitude control of a small satellite is possible using a reaction wheel, but this method is not suitable for missions that require rapid attitude control at a specific time. As a technology to overcome the small torque value of the reaction wheel, the control moment gyro (CMG) is currently in wide use as a rapid attitude-control actuator in space satellites. The CMG has an internal gimbal mounted at a right angle to the rotation motor and generates a large torque value. In general, when the gimbal operates, a torque value approximately 100 times greater is generated, making it suitable for rapid posture maneuvering. Currently, we are developing a technology for mounting a controlled moment gyro on a small satellite, and here we share the development status of an 800 mNm CMG.

Analysis of Vibration Noise Spectrum in Motor-Driven Power Steering System (Motor-Driven Power Steering 시스템의 진동 소음 스펙트럼 분석)

  • Park, Han Young;Kim, Jin Young;Kang, Joonhee
    • Journal of Sensor Science and Technology
    • /
    • v.27 no.2
    • /
    • pp.126-131
    • /
    • 2018
  • Unlike the hydraulic power steering (HPS) system, which operates by the high pressure of a fluid obtained from the engine power, the motor-driven power steering (MDPS) system uses an electric motor to steer the wheel without consuming engine power. To steer the wheel with an electric motor, a worm wheel and a worm gear rotating between the steering shaft and motor are required. Any imperfection during the construction of an MDPS system or in a composing part creates noise and vibration, which can be sensed by a driver. To solve the noise and vibration problems, each part must be designed to not resonate with other parts. In this work, we developed the measurement and analysis systems to obtain the noise and the vibration of an automobile MDPS system. A signal analyzer was equipped with a 96 kHz, 24-bit ADC and a 150 MHz digital signal processor. The predetermined threshold value of the vibration in the MDPS system was used to determine the pass/fail, and the results were displayed on the screen. Our system can be used in the fabrication line to swiftly determine any imperfections in the MDPS system construction.

Improvement of the Yaw Motion for Electric Vehicle Using Independent Front Wheel Steering and Four Wheel Driving (독립 전륜 조향 및 4륜 구동을 이용한 전기 차량의 선회 운동 향상)

  • Jang, Jae-Ho;Kim, Chang-Jun;Kim, Sang-Ho;Kang, Min-Sung;Back, Sung-Hoon;Kim, Young-Soo;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.19 no.1
    • /
    • pp.45-55
    • /
    • 2013
  • With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.