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Energy-Saving Impact and Optimized Control Scheme of Vertical Load on Distributed Electric Wheel Loader 分布式电动轮式装载机垂直负载的节能影响和优化控制方案
IF 2.3 Q2 Engineering Pub Date : 2024-03-30 DOI: 10.3390/wevj15040141
Wenlong Shen, Yunwu Han, Xiaotao Fei, Changying Ji
During the operation of a wheel loader, the external load acting on the bucket undergoes many changes, resulting in significant changes in the load ratio on the front and rear axles. For this reason, controlling a standard wheel loader is not trivial. In addition, in the case of a distributed electric wheel loader (DEWL), the operating control algorithm is often complex and is, therefore, the subject of optimization studies. This study compared the electric power consumption across different vertical loads, speeds, and travel directions for single-front, single-rear, and dual-motor configurations, both during transporting and pre-shoveling operations. The analysis led to the development of control rules based on energy-saving objectives. Under the shoveling condition, it was observed that vertical loads can lead to an insufficient driving force and skidding, necessitating the proposal of a new optimized control scheme. The results revealed that the optimal solution for transporting is the single-motor drive control scheme without a mechanical connection between the front and rear motor. With the single-motor control scheme, comparing the preferred controlled motor with the unselected motor under different loads, the average electrical power savings for forward, backward, and circling were at least 3.51%, 3.12%, and 0.34%, respectively. Under the pre-shoveling condition, the optimal control scheme was identified as the single rear motor control scheme, effectively reducing electrical power consumption. In response to the issues encountered during the shoveling condition, an economical solution involving the modification of the front axle transmission ratio has been proposed, along with an optimized control scheme based on vertical load variations.
在轮式装载机的运行过程中,作用在铲斗上的外部负载会发生许多变化,从而导致前后轴的负载率发生显著变化。因此,控制标准轮式装载机并非易事。此外,就分布式电动轮式装载机(DEWL)而言,操作控制算法通常比较复杂,因此也是优化研究的主题。本研究比较了单前置、单后置和双电机配置在运输和铲土前作业时不同垂直负载、速度和行进方向的电力消耗。通过分析,制定了基于节能目标的控制规则。在铲土条件下,观察到垂直负载会导致驱动力不足和打滑,因此有必要提出新的优化控制方案。结果表明,运输的最佳方案是单电机驱动控制方案,前后电机之间没有机械连接。采用单电机控制方案后,在不同负载条件下,将优先选择的受控电机与未选择的电机进行比较,前进、后退和绕行的平均节电率分别至少为 3.51%、3.12% 和 0.34%。在铲土前工况下,最优控制方案被确定为单后电机控制方案,有效降低了电能消耗。针对铲土工况下遇到的问题,提出了一种经济的解决方案,包括修改前轴传动比,以及基于垂直负载变化的优化控制方案。
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引用次数: 0
Designing a Reverse Logistics Network for End-of-Life Vehicles in an Uncertain Environment 在不确定环境中为报废汽车设计逆向物流网络
IF 2.3 Q2 Engineering Pub Date : 2024-03-29 DOI: 10.3390/wevj15040140
Meiling He, Qipeng Li, Tianhe Lin, Jiangyang Fan, Xiaohui Wu, Xun Han
The strategic development of reverse logistics networks is crucial for addressing the common challenge of low recovery rates for end-of-life vehicles (ELVs) in China. To minimize the total cost of the reverse logistics network for ELVs, this paper proposes a mixed-integer linear programming (MILP) model. The model considers the recycling volume of different vehicle types, facility processing capacity, and the proportions of parts and materials. Building on this foundation, a fuzzy mixed-integer nonlinear programming (FMINLP) model is developed to account for the inherent uncertainty associated with recycling volumes and facility processing capacities. The model was solved using Lingo, and its effectiveness was validated using Jiangsu Province of China as a case study, followed by a sensitivity analysis. The results indicate that dismantling and machining centers incur the highest processing costs. Variations in recycling volume and facility handling capacity significantly impact total costs and site selection, with the former having a more pronounced effect. Increasing facility processing capacity effectively increases the recovery rate. Moreover, a higher confidence level corresponds to higher total costs and a greater demand for facilities.
逆向物流网络的战略发展对于解决中国报废汽车(ELV)回收率低这一共同挑战至关重要。为了使报废汽车逆向物流网络的总成本最小化,本文提出了一个混合整数线性规划(MILP)模型。该模型考虑了不同类型车辆的回收量、设施处理能力以及零部件和材料的比例。在此基础上,开发了一个模糊混合整数非线性编程(FMINLP)模型,以考虑与回收量和设施处理能力相关的内在不确定性。该模型使用 Lingo 进行求解,并以中国江苏省为案例对其有效性进行了验证,随后进行了敏感性分析。结果表明,拆解和加工中心的处理成本最高。回收量和设施处理能力的变化对总成本和选址有显著影响,前者的影响更为明显。提高设施处理能力可有效提高回收率。此外,置信度越高,总成本越高,对设施的需求也越大。
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引用次数: 0
Design of a Modularization-Based Automation Performance Simulation Framework for Multi-Vehicle Interaction System 为多车交互系统设计基于模块化的自动化性能仿真框架
IF 2.3 Q2 Engineering Pub Date : 2024-03-28 DOI: 10.3390/wevj15040138
Qifeng Qian, Ronghui Xiang, Xiaohua Zeng, D. Song, Xuanming Zhang
With the electrification and connectivity of vehicles in transportation, traditional vehicles with single drivetrains are being replaced by pure electric or hybrid electric vehicles (HEVs). This evolution has given rise to diverse electromechanical coupling drivetrains. There is a pressing need to update simulation software to assess the economic performance of vehicles in various environments, and promote sustainable development and energy conservation. This paper presents a unified framework for the construction and automated operation of large-scale automated vehicle simulations with multiple drivetrain types, facilitating synchronous information exchange among vehicles. Central to the framework is the development of a plug-and-play vehicle model based on a modular component design, facilitating the rapid assembly of vehicles with varied drivetrain configurations and standardizing simulation file management. Additionally, a standardized simulation process construction is established to accommodate the automated operation of simulations. Furthermore, a data scheduling method among vehicles is introduced to achieve multi-vehicle interconnection simulation. Finally, the effectiveness of the framework is demonstrated through a case study involving queue-following control for HEVs. This framework aims to provide a comprehensive solution for quickly establishing automated simulation environments for multi-vehicle interaction, enhancing model reusability and scalability.
随着交通领域车辆的电气化和互联化,传统的单一动力传动系统车辆正被纯电动或混合动力电动汽车(HEV)所取代。这种演变催生了多种机电耦合传动系统。目前迫切需要更新仿真软件,以评估车辆在各种环境下的经济性能,促进可持续发展和节能减排。本文提出了一个统一的框架,用于构建和自动运行具有多种传动系统类型的大规模自动驾驶车辆模拟,促进车辆之间的同步信息交换。该框架的核心是开发基于模块化组件设计的即插即用车辆模型,便于快速组装具有不同动力传动系统配置的车辆,并实现仿真文件管理的标准化。此外,还建立了标准化的模拟流程结构,以适应模拟的自动化操作。此外,还引入了车辆间的数据调度方法,以实现多车辆互联仿真。最后,通过一个涉及混合动力汽车队列跟随控制的案例研究,证明了该框架的有效性。该框架旨在为快速建立多车交互自动仿真环境提供全面的解决方案,提高模型的可重用性和可扩展性。
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引用次数: 0
Stochastic Optimization of an Electric Bus Dynamic Wireless Charging System 电动巴士动态无线充电系统的随机优化
IF 2.3 Q2 Engineering Pub Date : 2024-03-28 DOI: 10.3390/wevj15040137
Xingzheng Zhu, Hua Fan, Shiyao Zhang, Jiao Du
The Electric Bus Dynamic Wireless Charging (EB-DWC) system is a bus charging system that enables electric buses to receive power wirelessly from ground-based electromagnetic induction devices. In this system, how to optimally configure the charging infrastructures while considering the unpredictable nature of bus movement is a great challenge. This paper presents an optimization problem for an EB-DWC system in urban settings, addressing stochastic elements inherent in the vehicle speed, initial charging state, and dwell time at bus stops. We formulate a stochastic planning problem for the EB-DWC system by integrating these uncertainties and apply Monte Carlo sampling techniques to effectively solve this problem. The proposed method can improve the system’s robustness effectively.
电动巴士动态无线充电(EB-DWC)系统是一种巴士充电系统,可使电动巴士从地面电磁感应装置无线接收电力。在这一系统中,如何优化配置充电基础设施,同时考虑到公共汽车移动的不可预测性,是一个巨大的挑战。本文针对城市环境中的 EB-DWC 系统提出了一个优化问题,解决了车辆速度、初始充电状态和公交车站停留时间中固有的随机因素。通过整合这些不确定性,我们为 EB-DWC 系统提出了一个随机规划问题,并应用蒙特卡罗采样技术有效地解决了这一问题。所提出的方法能有效提高系统的鲁棒性。
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引用次数: 0
The Design and Optimization of a Novel Hybrid Excitation Generator for Vehicles 新型车用混合励磁发电机的设计与优化
IF 2.3 Q2 Engineering Pub Date : 2024-03-28 DOI: 10.3390/wevj15040139
Jianwei Ma, Fengyi Gu, Liwei Wang, Shilun Ma, Amir-Mohammad Golmohammadi, Shaohang Zhang
Silicon rectifier generators, which are single-excitation generators, are commonly used in vehicles. However, a traditional single-excitation generator cannot satisfy the requirements of modern vehicles due to its low efficiency, high failure rate and large excitation loss; a hybrid excitation generator is more suitable for a wide range of applications in vehicles because of its many advantages. In this study, a novel, high-efficiency and energy-saving hybrid excitation generator with a claw-pole series magnetic circuit for vehicles was designed. The magnetic circuit and principle of operation were analyzed. The structure parameters of the hybrid excitation generator were initially designed according to motor design theory. The model of the hybrid excitation generator was built based on the finite element method, and the no-load characteristic was analyzed. Furthermore, the influences of the permanent magnet thickness and core slot width on the performance of the generator were analyzed. According to the results, the structural parameters were optimized. The no-load output characteristics and load characteristics were compared between the generator and a silicon rectifier generator, and the test results show that the design, simulation and optimization methods were reasonable. This provides theoretical support and research methods for the development of a hybrid excitation generator.
硅整流发电机是一种单励磁发电机,通常用于汽车。然而,传统的单励磁发电机效率低、故障率高、励磁损耗大,无法满足现代汽车的要求;混合励磁发电机因其诸多优点,更适合在汽车中广泛应用。本研究设计了一种新型、高效、节能的车用爪极串联磁路混合励磁发电机。对其磁路和工作原理进行了分析。根据电机设计理论,初步设计了混合励磁发电机的结构参数。根据有限元法建立了混合励磁发电机的模型,并分析了其空载特性。此外,还分析了永磁体厚度和铁芯槽宽对发电机性能的影响。根据分析结果,对结构参数进行了优化。比较了该发电机和硅整流发电机的空载输出特性和负载特性,试验结果表明设计、仿真和优化方法是合理的。这为开发混合励磁发电机提供了理论支持和研究方法。
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引用次数: 0
Research Progress and Prospects of Transit Priority Signal Intersection Control Considering Carbon Emissions in a Connected Vehicle Environment 考虑车联网环境下碳排放的公交优先信号交叉口控制研究进展与展望
IF 2.3 Q2 Engineering Pub Date : 2024-03-27 DOI: 10.3390/wevj15040135
Xinghui Chen, Xinghua Hu, Ran Wang, Jiahao Zhao
Transit priority control is not only an important means for improving the operating speed and reliability of public transport systems, but it is also a key measure for promoting green and sustainable urban transportation development. A review of signal intersection transit priority control strategy in a connected vehicle environment is conducive to discovering important research results on transit priority control at home and abroad and will promote further developments in urban public transport. This study analyzed and reviewed signal intersection transit priority control at four levels: traffic control sub-area divisions, transit signal priority (TSP) strategy, speed guidance strategy, and the impacts of intersection signal control on carbon emissions. In summary, the findings were the following: (1) In traffic control sub-area divisions, the existing methods were mainly based on the similarity of traffic characteristics and used clustering or search methods to divide the intersections with high similarity into the same control sub-areas. (2) The existing studies on the TSP control strategy have mainly focused on transit priority control based on fixed phase sequences or phase combinations under the condition of exclusive bus lanes. (3) Studies on speed guidance strategy were mainly based on using constant bus speeds to predict bus arrival times at intersection stop lines, and it was common to guide only based on bus speed. (4) The carbon emissions model for vehicles within the intersection mainly considered two types of vehicles, namely, fuel vehicles and pure electric vehicles. Finally, by analyzing deficiencies in the existing studies, future development directions for transit priority control are proposed.
公交优先控制不仅是提高公共交通系统运行速度和可靠性的重要手段,也是促进城市交通绿色可持续发展的关键措施。对车联网环境下信号交叉口公交优先控制策略进行综述,有利于发现国内外公交优先控制的重要研究成果,促进城市公共交通的进一步发展。本研究从交通控制子区域划分、公交信号优先(TSP)策略、速度引导策略以及交叉口信号控制对碳排放的影响四个层面对信号交叉口公交优先控制进行了分析和评述。总之,研究结果如下(1)在交通控制子区域划分方面,现有方法主要基于交通特征的相似性,采用聚类或搜索的方法将相似性较高的交叉口划分为相同的控制子区域。(2)现有的 TSP 控制策略研究主要集中在公交专用道条件下基于固定相序或相位组合的公交优先控制。(3)关于速度引导策略的研究主要是利用恒定的公交车速度来预测公交车到达交叉口停车线的时间,仅根据公交车速度进行引导的情况比较普遍。(4)交叉口内车辆碳排放模型主要考虑燃油车和纯电动车两类车辆。最后,通过分析现有研究的不足,提出了公交优先控制的未来发展方向。
{"title":"Research Progress and Prospects of Transit Priority Signal Intersection Control Considering Carbon Emissions in a Connected Vehicle Environment","authors":"Xinghui Chen, Xinghua Hu, Ran Wang, Jiahao Zhao","doi":"10.3390/wevj15040135","DOIUrl":"https://doi.org/10.3390/wevj15040135","url":null,"abstract":"Transit priority control is not only an important means for improving the operating speed and reliability of public transport systems, but it is also a key measure for promoting green and sustainable urban transportation development. A review of signal intersection transit priority control strategy in a connected vehicle environment is conducive to discovering important research results on transit priority control at home and abroad and will promote further developments in urban public transport. This study analyzed and reviewed signal intersection transit priority control at four levels: traffic control sub-area divisions, transit signal priority (TSP) strategy, speed guidance strategy, and the impacts of intersection signal control on carbon emissions. In summary, the findings were the following: (1) In traffic control sub-area divisions, the existing methods were mainly based on the similarity of traffic characteristics and used clustering or search methods to divide the intersections with high similarity into the same control sub-areas. (2) The existing studies on the TSP control strategy have mainly focused on transit priority control based on fixed phase sequences or phase combinations under the condition of exclusive bus lanes. (3) Studies on speed guidance strategy were mainly based on using constant bus speeds to predict bus arrival times at intersection stop lines, and it was common to guide only based on bus speed. (4) The carbon emissions model for vehicles within the intersection mainly considered two types of vehicles, namely, fuel vehicles and pure electric vehicles. Finally, by analyzing deficiencies in the existing studies, future development directions for transit priority control are proposed.","PeriodicalId":38979,"journal":{"name":"World Electric Vehicle Journal","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140374198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Towards Sustainable Transport in the Moroccan Context: The Key Determinants of Electric Cars Adoption Intention 在摩洛哥实现可持续交通:电动汽车采用意向的关键决定因素
IF 2.3 Q2 Engineering Pub Date : 2024-03-27 DOI: 10.3390/wevj15040136
Omar Boubker, Marwan Lakhal, Youssef Ait Yassine, Hicham Lotfi
In recent years, many countries have actively promoted sustainable mobility as part of their efforts to decarbonize transportation through automotive electrification. Therefore, identifying the factors that influence individuals’ interest in using electric cars (ECs) is crucial for guiding public opinion toward choosing this sustainable mode of transportation. Consequently, the present study mobilized the theory of planned behavior and the technology acceptance model to interpret the various factors influencing the intention to adopt ECs in a developing country. Following the developed model, data were collected from individuals using cars in Morocco through an online questionnaire. Data analysis using structural equation modeling revealed a positive influence of relative advantage on both the perceived ease of use and green perceived usefulness. Furthermore, the perceived ease of use, green perceived usefulness, environmental concern, and social influence positively affected attitudes toward using ECs. Similarly, these results confirmed that green perceived usefulness and individual attitudes positively enhance ECs adoption intention. These findings contribute to the literature related to ECs adoption and offer guidance to policymakers on promoting ECs adoption in developing countries.
近年来,许多国家积极推广可持续交通,通过汽车电气化实现交通脱碳。因此,确定影响个人使用电动汽车兴趣的因素对于引导公众选择这种可持续交通方式至关重要。因此,本研究利用计划行为理论和技术接受模型来解释影响发展中国家采用电动汽车意向的各种因素。根据所建立的模型,研究人员通过在线问卷向摩洛哥的汽车使用者收集了数据。利用结构方程模型进行的数据分析显示,相对优势对感知易用性和绿色感知有用性均有积极影响。此外,感知易用性、绿色感知有用性、环境关注度和社会影响力也对使用电子汽车的态度产生了积极影响。同样,这些结果证实,绿色感知有用性和个人态度会积极增强采用电子设备的意向。这些研究结果为有关采用电子产品的文献做出了贡献,并为政策制定者促进发展中国家采用电子产品提供了指导。
{"title":"Towards Sustainable Transport in the Moroccan Context: The Key Determinants of Electric Cars Adoption Intention","authors":"Omar Boubker, Marwan Lakhal, Youssef Ait Yassine, Hicham Lotfi","doi":"10.3390/wevj15040136","DOIUrl":"https://doi.org/10.3390/wevj15040136","url":null,"abstract":"In recent years, many countries have actively promoted sustainable mobility as part of their efforts to decarbonize transportation through automotive electrification. Therefore, identifying the factors that influence individuals’ interest in using electric cars (ECs) is crucial for guiding public opinion toward choosing this sustainable mode of transportation. Consequently, the present study mobilized the theory of planned behavior and the technology acceptance model to interpret the various factors influencing the intention to adopt ECs in a developing country. Following the developed model, data were collected from individuals using cars in Morocco through an online questionnaire. Data analysis using structural equation modeling revealed a positive influence of relative advantage on both the perceived ease of use and green perceived usefulness. Furthermore, the perceived ease of use, green perceived usefulness, environmental concern, and social influence positively affected attitudes toward using ECs. Similarly, these results confirmed that green perceived usefulness and individual attitudes positively enhance ECs adoption intention. These findings contribute to the literature related to ECs adoption and offer guidance to policymakers on promoting ECs adoption in developing countries.","PeriodicalId":38979,"journal":{"name":"World Electric Vehicle Journal","volume":null,"pages":null},"PeriodicalIF":2.3,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140374054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Assessing the Nationwide Benefits of Vehicle–Grid Integration during Distribution Network Planning and Power System Dispatching 在配电网络规划和电力系统调度过程中评估全国范围内的车网融合效益
IF 2.3 Q2 Engineering Pub Date : 2024-03-27 DOI: 10.3390/wevj15040134
G. Rancilio, Alessia Cortazzi, G. Vigano, F. Bovera
The diffusion of electric vehicles is fundamental for transport sector decarbonization. However, a major concern about electric vehicles is their compatibility with power grids. Adopting a whole-power-system approach, this work presents a comprehensive analysis of the impacts and benefits of electric vehicles’ diffusion on a national power system, i.e., Italy. Demand and flexibility profiles are estimated with a detailed review of the literature on the topic, allowing us to put forward reliable charging profiles and the resulting flexibility, compatible with the Italian regulatory framework. Distribution network planning and power system dispatching are handled with dedicated models, while the uncertainty associated with EV charging behavior is managed with a Monte Carlo approach. The novelty of this study is considering a nationwide context, considering both transmission and distribution systems, and proposing a set of policies suitable for enabling flexibility provision. The results show that the power and energy demand created by the spread of EVs will have localized impacts on power and voltage limits of the distribution network, while the consequences for transmission grids and dispatching will be negligible. In 2030 scenarios, smart charging reduces grid elements’ violations (−23%, −100%), dispatching costs (−43%), and RES curtailment (−50%).
电动汽车的普及对于交通部门的去碳化至关重要。然而,电动汽车的一个主要问题是与电网的兼容性。本研究采用全电力系统方法,全面分析了电动汽车的推广对意大利国家电力系统的影响和益处。通过对相关文献的详细审查,我们估算了需求和灵活性曲线,从而提出了可靠的充电曲线和由此产生的灵活性,并与意大利的监管框架相兼容。配电网络规划和电力系统调度采用专用模型进行处理,而与电动汽车充电行为相关的不确定性则采用蒙特卡罗方法进行管理。这项研究的新颖之处在于考虑了全国范围内的情况,同时考虑了输电和配电系统,并提出了一套适用于提供灵活性的政策。研究结果表明,电动汽车的普及带来的电力和能源需求将对配电网的功率和电压极限产生局部影响,而对输电网和调度的影响则微乎其微。在 2030 年的情景中,智能充电可减少电网元件违规(-23%、-100%)、调度成本(-43%)和可再生能源削减(-50%)。
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引用次数: 0
Optimal Sizing of a Battery-Supported Electric Vehicle Charging Hub with a Limited-Capacity Grid Connection 容量有限的电网连接下电池支持电动汽车充电枢纽的优化选型
IF 2.3 Q2 Engineering Pub Date : 2024-03-27 DOI: 10.3390/wevj15040133
Edward Heath, Rick Wolbertus, Renée Heller
The ever-increasing electrification of society has been a cause of utility grid issues in many regions around the world. With the increased adoption of electric vehicles (EVs) in the Netherlands, many new charge points (CPs) are required. A common installation practice of CPs is to group multiple CPs together on a single grid connection, the so-called charging hub. To further ensure EVs are adequately charged, various control strategies can be employed, or a stationary battery can be connected to this network. A pilot project in Amsterdam was used as a case study to validate the Python model developed in this study using the measured data. This paper presents an optimisation of the battery energy storage capacity and the grid connection capacity for such a P&R-based charging hub with various load profiles and various battery system costs. A variety of battery control strategies were simulated using both the optimal system sizing and the case study sizing. A recommendation for a control strategy is proposed.
随着社会电气化程度的不断提高,全球许多地区都出现了公用电网问题。随着电动汽车(EV)在荷兰的普及,需要新建许多充电点(CP)。常见的 CP 安装方式是将多个 CP 集中在一个电网连接上,即所谓的充电中心。为进一步确保电动汽车获得充足充电,可采用各种控制策略,或将固定电池连接到该网络。阿姆斯特丹的一个试点项目被用作案例研究,利用测量数据验证了本研究中开发的 Python 模型。本文针对这种基于 P&R 的充电枢纽,提出了电池储能容量和电网连接容量的优化方案,其中包括各种负载情况和各种电池系统成本。使用最优系统尺寸和案例研究尺寸模拟了各种电池控制策略。提出了控制策略建议。
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引用次数: 0
Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays 具有通信延迟的车辆线控转向系统的快速有限时间复合控制器
IF 2.3 Q2 Engineering Pub Date : 2024-03-26 DOI: 10.3390/wevj15040132
Kamal Rsetam, Jasim Khawwaf, Yusai Zheng, Zhenwei Cao, Zhihong Man
The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter variations, and exterior disturbance with input and output time delays as the generalized state, a scaling finite-time extended state observer (SFTESO) is constructed with a scaling gain for quickly estimating the unmeasured velocity and the generalized disturbances within a finite time. With the aid of the SFTESO, the robust FFTCC with the scaling gain is designed not only for ensuring finite-time convergence and strong robustness against time delays and disturbances but also for improving the speed of the convergence as a main novelty. Based on the Lyapunov theorem, the closed-loop stability of the overall SBW system is proven as a global uniform finite-time. Through examination across three specific scenarios, a comprehensive evaluation is aimed to assess the efficiency of the suggested controller strategy, compared with active disturbance rejection control (ADRC) and scaling ADRC (SADRC) methods across these three distinct driving scenarios. The simulated results have confirmed the merits of the proposed control in terms of a fast-tracking rate, small tracking error, and strong system robustness.
现代线控转向(SBW)系统是对传统汽车设计的革命性突破,用电子控制机制取代了机械连接。然而,这种尖端技术的集成并非没有挑战,其中一个需要全面考虑的关键方面是非线性动力学和通信网络时延的存在。因此,为了应对时间延迟带来的跟踪误差,克服参数不确定性和外部扰动,本文提出了一种鲁棒快速有限时间复合控制器(FFTCC),以提高 SBW 系统的性能和安全性。通过将不确定性、参数变化以及带有输入和输出时间延迟的外部扰动归结为广义状态,构建了具有缩放增益的缩放有限时间扩展状态观测器(SFTESO),用于在有限时间内快速估计未测量的速度和广义扰动。借助 SFTESO,设计出了具有比例增益的鲁棒 FFTCC,不仅确保了有限时间收敛性以及对时间延迟和干扰的强大鲁棒性,还提高了收敛速度,这也是其主要创新之处。基于 Lyapunov 定理,整个 SBW 系统的闭环稳定性被证明是全局均匀有限时间的。通过对三个具体场景的研究,旨在评估建议的控制器策略的效率,并与这三个不同驾驶场景中的主动干扰抑制控制(ADRC)和缩放 ADRC(SADRC)方法进行比较。模拟结果证实了所建议的控制在快速跟踪率、较小的跟踪误差和较强的系统鲁棒性方面的优点。
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引用次数: 0
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World Electric Vehicle Journal
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