Alan Odaklı Vektör Kontrol Yaklaşımı ile Elektrikli Scooter BLDCM için Kayan Kip Tabanlı Çekiş Kontrol Sistemi Tasarımı

Abstract

Günümüzde fırçasız doğru akım motorlar (FDAM'ler), mobilite endüstrisinde elektrifikasyon devrimi yaşanırken vazgeçilmez bileşenler haline gelmektedir. Bu motorlarla çalışan mikro-mobilite araçları arasında e-scooter olarak adlandırılan elektrikli kick scooter'lar da yer almaktadır. Yol ve sürüş koşullarına sonucu oluşan belirsiz ve doğrusal olmayan şartlar nedeniyle, bu motorlar için geliştirilen kontrolcülerin performansları düşmektedir. Bu sebeple, iç döngüdeki tork dalgalanmalarını ortadan kaldırmak ve dış döngüdeki referans motor hızını etkin bir şekilde izlemek için kesikli geçiş (chattering) azaltılmış kademeli Kayan Kip Kontrolü (KKK) şeması döngü akım kontrolü tasarlanmıştır. KKK'yi FDAM'ye uygulamak için Alan Odaklı Kontrol (AOK) metodolojisi kullanılmıştır. İç ve dış döngü kontrolcülerin kayan yüzeyleri için üstel erişim yasası algoritması önerilmiştir. Elektrikli scooter-hub motorlarının çekiş kontrolü açısından uygunluğu ve performansı analiz edilmiştir. Söz konusu çalışmada geliştirilen kademeli hız ve tork kontrolcüler, geniş bir hız aralığında minimum tork ve akım dalgalanmalarını temsil eden benzetim senaryoları için olumlu sonuçlar üretmiştir.

Keywords

• Alan Odaklı Vektör Kontrolü
• Elektrik Skuter
• Elektrik Motor Kontrolü
• Kayan Kipli Kontrol

Sliding Mode-based Traction Control System Design for Electric Scooter BLDCM through Field-Oriented Vector Control Approach

Abstract

Nowadays brushless DC motors (BLDCMs) are becoming indispensable components as the electrification revolution in the mobility industry is happening. Electric kick scooters, so-called e-scooters, are among these micro-mobility vehicles which are powered by these motors. Due to the uncertain and nonlinear features, the controller performance developed for these motors degrades. For these reasons, a chattering-reduced cascaded Sliding Mode Control (SMC) scheme to effectively track reference motor speed in the outer loop by eliminating torque ripples in the inner loop current control was designed. Field-oriented Control (FOC) methodology was used to implement the SMC in the BLDCM. An exponential reaching law algorithm was proposed for sliding surfaces of the inner and outer loop controllers. The suitability and performance of electric scooter-hub motors were analyzed in terms of traction control. A cascaded speed and torque controller produced significantly favorable results representing minimized torque and current ripples, and operation over a wide speed range.

Keywords

• Field Oriented Control
• Electric Scooter
• Traction Motor Control System
• Sliding Mode Control

Supporting Institution

Micro-Mobility Department, FİGES AŞ., Bursa, Turkey

Thanks

The authors would like to acknowledge the support of software and hardware infrastructures rendered by FIGES Inc.

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