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Robust Fault-Tolerant Cruise Control of Electric Vehicles based on Second-order Sliding Mode Observer |
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Suneel Kumar Kommuri, Jagat Jyoti Rath, Kalyana Chakravarthy Veluvolu(Kyungpook National University, Republic of Korea), Michael Defoort(Univ. Lille Nord de France, France) |
| This paper presents fault-tolerant cruise control of an electric vehicle based on the permanent magnet synchronous motor (PMSM). A higher-order sliding mode observer is designed to estimate the unknown back electro motive forces (EMFs) in the plant dynamics. With the estimated back EMFs, an accurate speed estimate of PMSM can be algebraically computed. The estimated speed is provided as a feedback whenever fault occurs in the measurement speed. The corresponding torque output drives vehicle to maintain the vehicle speed to a desired vehicle speed reference. |
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Running Experiments of Small Single-Operator Electric Vehicle using 20W Hydrogen Fuel Cell |
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Yoshihiko Takahashi(Kanagawa Institute of Technology, Japan) |
| Running Experiments of Small Single-Operator Electric Vehicle Using 20W Hydrogen Fuel Cell
Yoshihiko Takahashi (Kanagawa Institute of Technology)
We have developed a small, lightweight, single operator fuel cell vehicle with a 20 W fuel cell and a 5.8 L hydrogen gas tank for university education purposes, named the pico FCV. The control system was designed using a PIC microcomputer which controls the drive motor speed, the drive current, and purging of the non-active gas from the fuel cell. |
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Development of Small Compact Electric Motor Tricycle for shopping |
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Takeharu Hayashi(Tokyo National College of Technology, Japan), Yoshihiko Takahashi(Kanagawa Institute of Technology, Japan) |
| We are developing a small compact electric motor tricycle with a low powered battery as the electric power source for shopping purposes. The reduction ratio should be adjusted per the driving situation because of the use of a low powered battery. We designed an actuator system with speed change mechanism for the electric motor tricycle. Running experiments were conducted to observe the performance of the fabricated vehicle. We confirmed that the fabricated vehicle was able to operate over 30 minutes at a speed of over 3 km/h. Longer running duration must be addressed in future research. |
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Trajectory Generation for an Automated Excavator |
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Bongju Lee, H.Jin Kim(Seoul National University, Republic of Korea) |
| For autonomous excavating, the trajectories should be generated for specific tasks for an excavator. We generate the trajectory using virtual motion camouflage (VMC). For trajectory generation, kinematics of the target excavator are derived and VMC method is formulated. Two simulations are conducted. One is trajectory generation for a manipulator of the excavator to avoid obstacles, and the other is to excavate. From the results of simulations, we can obtain sub-optimized trajectories and show that VMC can be used to generate the trajectory for an excavator. |
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A Study about Curve Extraction and Lane Departure Determination of Linear Curved Road |
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Da-Ni Joo, Soon-Geul Lee, Sang-Chan Moon, Min-Woo Kim, Bui Quang Tan(Kyunghee University, Republic of Korea) |
| In this study, which has extracted curve road segments from line information of GIS with alignment of road. This algorithm are based modified Bezier curve method to detect curve lines from straight lines. Extracted line information are formally analyzed with lane departure warning system (LDWS) that was robust curves. For performance evaluation, the system has installed DGPS with 20cm RMS and WAVE communication with 5.8GHz, and implemented vehicle test in road environment with groups of curves and straight lines. Curvature LDWS improve correctness criterion by applying to predicted trajectory |
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A Precision Stopping Measurement Device for Data Acquisition of Urban Trains |
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Manh-Tuan Ha, Chul-Goo Kang(Konkuk University, Republic of Korea) |
| Precision stopping of an urban train at a station is prerequisite before starting revenue service due to screen doors. Regulation for precision stopping of the urban train requires 30 cm in general in Korea. Since there is no device to detect stopping error automatically, it takes long time to gather stopping error data at each station due to manual measurement using a ruler. In this paper, we present a principle and design of a precision stopping measurement device (PSMD) which can be easily used for error detection of precision stopping of urban trains. |
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