Modeling and Simulation of an Electric Scooter Driven by a Single-Phase Induction Motor

Transcription

1 Poceeding of the 7th WSEAS Intenational Confeence on Powe Syte, Beijing, China, Septebe 5-7, Modeling and Siulation of an Electic Scoote Diven by a Single-Phae Induction Moto C. SUKCHAROEN &. KUWORAWANICHAPONG Powe and Enegy Reeach Unit, School of Electical Engineeing, Intitute of Engineeing, Suanaee Univeity of echnology Univeity Avenue, Nakhon Ratchaia, HAIAND 3 Coeponding autho: thanatchai@gail.co Abtact: - An electic vehicle diven by DC oto ha been widely ued fo eveal application. In thi pape, eplaceent of the DC oto by a ingle-phae induction oto on the electic vehicle i popoed. ow cot and le aintenance ake the ingle-phae induction oto oe ipeive although a coplicated invete onboad the vehicle i equied. hi pape invetigate thi poibility though a whole yte of electic vehicle oveent iulation. he whole yte iulation conit of thee ain pat: ) powe upply inteface 2) oto pefoance calculation and 3) vehicle oveent iulation. he electic coote of.26 kw ating wa eployed fo tet. A a eult, a ingle-phae induction oto howed ability to dive an electic coote caying with 8-kg load at alot contant peed of 2 kph. Key-Wod: - Electic Scoote, Single-phae Induction Moto, Battey, Speed Contol, Vehicle Moveent. Intoduction o date, thee-phae induction oto have been inceaingly ipotant fo indutial electic oto application []. It hould note that thee till exit DC oto in oe liited application, e.g. oto fo vehicle. Apat fo a lage-ize electic oto dive, ingle-phae induction oto ae widely ued in houehold electic oto application [2]. hi application typically conue powe of a factional hoe powe up to aound ten hoe powe. In geneal, ingle-phae oto ae contolled by a thyito-phae contolle o a vaiable eito. hi i quite iple, but it i not efficient in te of enegy conuption. o achieve thi goal, coplex contol tategy cannot be avoided a long a AC achine ae involved. One of widely-ued contol chee i vaiable-voltage, vaiable-fequency (VVVF) [,2]. It can be applied fo oto contol in any fo. With availability of it pefoance contol, low intallation cot and le aintenance, a ingle-phae induction oto can eplace an expenive DC oto fo electic vehicle application. In thi pape, a whole yte iulation of an electic coote dive yte i popoed in ection 2. It conit of thee ain pat: ) powe upply inteface 2) oto dive pefoance and 3) vehicle oveent iulation. Section 3 peent a iple ethod to egulate vehicle peed. Siulation eult and dicuion ae hown in ection 4 and 5 epectively. 2. A Whole Syte Siulation of An Electic Scoote Dive Syte A whole yte iulation of an electic coote dive yte conit of thee ain pat. he fit pat i powe upply inteface. Battey toage [3,4] and powe-electonic invete with it contolle [5] ae the heat of thi pat. It ain function i to povide a conditioned voltage wavefo to feed an onboad electic oto. he econd pat i oto dive pefoance. In thi pape, only the inglephae induction oto i focued. Adequate atheatical odel ae biefed [6,7]. hee odel ae eployed to iulate oto pefoance, e.g. peed of the oto haft, oto toque, etc. he thid pat i electic vehicle oveent iulation [8,9]. hi pat opeate by the oto toque geneated fo the oto pefoance. hi toque diectly applie to the vehicle wheel haft a diect coupling. All thee pat ae explained in oe detail a follow. 2. Powe Supply Inteface Battey i vital to enegize oveall enegy to the entie yte. In pactice, battey onboad a vehicle cannot be odeled by an idea ouce due to it Ah capacity [3]. hi chaacteitic i the ot ipotant auption to ake the iulato vitually ealitic. Howeve, a iple battey odel i not uch coplex. It ay be epeented by a hevenin equivalent cicuit [4] a hown in Fig.. hi odel can be ued togethe with battey

2 Poceeding of the 7th WSEAS Intenational Confeence on Powe Syte, Beijing, China, Septebe 5-7, 27 8 dichage cuve [3] to povide a pactical battey voltage chaacteitic a hown in equation. a) Battey tuctue b) Battey equivalent cicuit Fig. Battey odel V = E - IR () Anothe coponent in thi pat i equally ipotant. It i an electonic invete to povide contolled voltage wavefo to feed an onboad taction oto. Although a ingle-phae invete can be eithe half-bidge o full-bidge configuation, in thi pape only the full-bidge invete type [5-7] i choen a hown in Fig. 2. Fig. 2 Full-bidge invete configuation 2.2 Moto Pefoance Calculation A ingle-phae induction oto i elected a an enegy convete of the yte to convee electical enegy into echanical enegy. Singlephae induction oto can be chaacteized by eveal diffeent odel. he pace-phao appoach [] i the ethod ued in thi pape. With thi odel, oto cuent, toque and peed can be obevable. he pace-phao odel i vey coplicated and need oe pace fo explanation. Howeve, in thi pape only a bief deciption i peented a follow [6,7] Fig. 3 winding alignent of a ingle-phae oto. Fig. 3 decibe winding alignent of a inglephae induction oto coniting of ain and auxiliay winding with thei induced voltage and cuent. A hown in the figue, a tationay efeence fae which i along the axi of the ain tato winding i defined and ued fo atheatical analyi thoughout thi pape. It i eential to info that all quantitie epecially on the oto need to be tanfeed to the tato axi. hi can be pefoed by uing the following tanfo atix. V V q d coθ = inθ inθ v θ co v q d (2) he upecipt and indicate the efeence axi in which the vaiable belong to. Biefly, the induced voltage on the tato and oto winding ae uaized in Equation 3 and 4, epectively V V V V q d q d q+ pqq = pdq qq + dq q + p = pdq qq + dq qq qd dd qd dd d p + p i p i d i p i qd q d p + p q d qd dd dd i i q d i i q d (3) (4) By uing the tanfo atix entioned above, all tate vaiable can be tanfoed into the tato diect axi a follow. d [] i = [ A][] i + [ B][ v] (5) dt whee,

3 Poceeding of the 7th WSEAS Intenational Confeence on Powe Syte, Beijing, China, Septebe 5-7, 27 8 [ E] [ A] = [ D] [ E] [B] = [D] [] i = [ i, i, i, i ] q [ v] = [ v, v, v, v ] q = ω inθ ω coθ lq + = D coθ inθ [ ] q - d d q q d ω inθ ω coθ co in d ω θ ω θ ω co θ ω inθ q co θ inθ ( ld + ) inθ coθ inθ + q q coθ d ( ) l q ( + ) q i tato eitance of the ain winding d i tato eitance of auxiliay winding l i leakage inductance of the ain winding ls i leakage inductance of the auxiliay winding q i utual inductance on the tato q-axi i oto eitance l i leakage inductance of the oto q-axi A can be een, the two echanical quantitie, ω and θ, caue the need fo additional two equation which can be obtained fo Newton econd law of otion a hown in Equation 6. dω dt = dθ dt B J ω θ P + 2J l e q [ ] Cobine Equation 5 and 6, Equation 7 i foed. d[] i 4x [ A] dω dt 4x4 B = J dθ dt dt [ B] 4x4 + P 2J whee, J i oto oent of inetia B i daping coefficient [] i 4x ω θ [ v] 4 x e (6) (7) Applying a nueical tie-tepping ethod to olve a et of diffeential equation, oto cuent, angula peed and poition can be calculated nueically. Moeove, an induced toque e of a ingle-phae induction oto can be expeed a equation below. P e= iq -iq inq -id coq + id iq coq -id inq 2 ( ) ( ) (8) 2.3 Vehicle oveent iulation An induced toque geneated by the taction oto diectly dive an electic vehicle though an axial of the vehicle wheel. With a iple elation of linea and angula oveent by a diving foce, the oto toque can be tanfeed fo it oiginal otational quantity into it equivalent tanlational foce to puh the vehicle box a hown in Fig. 4. he toque-foce elation can be calculated by uing Equation 9. Moveent diection Fgad M Mg Fdag Fig. 4 Fee-body diaga of a vehicle box E w whee, E i a vehicle tactive effot F dag i a vehicle dynaic dag foce F gad i a gadient foce due to oad pofile F fic i a fiction between wheel and oad w i a vehicle wheel adiu M i a vehicle effective a g i the gavity contant (9.8 / 2 ) e = (9) o include the linea otion of the vehicle into the oto pefoance calculation, the vehicle a can be epeented by an effective oent of inetia added with the oto inetia a hown in Equation. In addition, any linea foce ultiplied by w ae effective toque coupled to the oto haft. J = J+ 2 wm () A can be een in the fee-body diaga, thee exit two vehicle eitance and gadient foce a follow [8,9,-3]. Dag foce (F dag ) i a vehicle aeodynaic dag foce to oppoe the vehicle oveent. It depend on E Ffic

4 Poceeding of the 7th WSEAS Intenational Confeence on Powe Syte, Beijing, China, Septebe 5-7, any facto uch a vehicle body hape o vehicle peed. F dag i given in Equation. 2 Fdag = ρ A Cd v () 2 whee, ρ i the ai denity A i a coectional aea of the vehicle C d i a dag coefficient v i a vehicle peed Fiction (F fic ) i a fiction between the vehicle wheel and oad uface to oppoe the vehicle oveent a hown in Fig. 5. It can be eithe tatic o dynaic fiction. hi foce can be calculated by uing Equation 2. o analyze an electic coote a hown in Fig. 6 a ou tet vehicle, two utually coupled et (linea and angula otion) can be foulated a hown in the fee-body diaga in Fig. 7 Fig. 7 inea and angula otion coupling o include effect of oto pefoance on the vehicle oveent, otational quantitie ut be tanfoed in to a linea otion equation a follow. F fic =µ Mg coθ (2) e Fdag Fglad Ffic a= J J J J Rw ( M+ ) ( M+ ) ( M+ ) ( M+ ) R R R R w w w w (5) When the acceleation (a k ) at tie k i coputed, vehicle peed and ditance can be updated with iple dicete tie updating equation a follow. Fig. 5 Fiction between the wheel and oad uface Gadient foce (F gad ) i a coponent of the vehicle weight that i pojected to the diection of oveent. hi foce exit only when the vehicle clibing up/down a hill. hi foce can be expeed by uing Equation 3. Fgad = Mg inθ (3) Fo the Newton econd law of otion, the vehicle acceleation can be coputed by the following equation. a F F F M M M M e gad fic dag = (4) w.8 Battey Pack.8 Fig. 6 Electic coote oto Diect coupling = (6) t tk tk vk = vk + ak t (7) ( ) 2 k = k + vk t+ ak t (8) 2 whee, t i the tie update inteval k i a vehicle taveling ditance at tie k v k i a vehicle peed at tie k a k i a vehicle acceleation at tie k 3. Vehicle Speed Contol Stategy o iulate vehicle otion, peed contol tategy of a vehicle i equied [8,9]. It can be achieved via iple ule. A long a the vehicle i acceleating and it peed i not eached the uppe peed liit, the voltage upply fully enegize to the taction oto. When the peed violate the uppe peed liit, jut witch the powe upply off o ue a educed voltage upply to enegize the oto. When the powe upply i off o educed, the vehicle peed i deceaed daatically. Wheneve it violate the lowe peed liit, the full powe upply ut be back to enegize the oto fo acceleation a hown in Fig. 8. hi peed-contol tategy i a o-called ON/OFF contol tategy that i widely ued in eveal dynaic contol yte, e.g. theal contol yte.

5 Poceeding of the 7th WSEAS Intenational Confeence on Powe Syte, Beijing, China, Septebe 5-7, Speed (k/h) Uppe peed liit owe peed liit Ditance () Fig. 8 ON/OFF vehicle peed contol tategy 4. Siulation Reult o iulate a coote dive yte, oad uface pofile a hown in Fig.9 and yte paaete a hown in able ae ituated fo tet. Fig. 9 Stato cuent of the taction oto Fig. 9 Road uface pofile able Syte paaete fo tet Invete voltage ( V) 23 V Supply fequency (Hz) 5 Hz Nube of pole (P) 4 Main winding eitance ( q ).3 Ω Auxiliay winding eitance ( d ) 2.6 Ω Roto eitance ( ) 2. Ω Main winding inductance ( iq ).2785H Auxiliay winding inductance ( id ).74 H Roto inductance ( i ).53 H Magnetizing inductance ( q ).74 H Roto inetia (J ). N-- 2 /ad Daping coefficient (B ).5 N--/ad Moto ating.26 kw Static fiction coefficient (µ ).7 Dynaic fiction coefficient (µ k ).2 Effective a (M) 8 kg Wheel adiu of the vehicle ( w ). Ai denity (ρ).29 Dag coefficient (C d ).2 Co-ectional aea of the vehicle (A ).3 2 Stat the iulation by etting the uppe and lowe peed liit a 8.72 kph and 7.28 kph, epectively. he iulation will be teinated when the vehicle ditance i geate than. o achieve the ON/OFF contol action, full voltage of 23 V and educed voltage of V ae choen to enegize the taction oto duing the jouney. Fig 9 2 how eult fo the oto pefoance calculation thoughout the jouney. Fig. 3 peent the tactive effot of the taction oto. Fig 4 8 give the pefoance of the vehicle oveent iulation. Fig. Roto cuent of the taction oto Fig. Angula peed of the taction oto Fig. 2 Induced toque of the taction oto Fig. 3 active effot of the taction oto Fig. 4 Regulated peed of the tet vehicle

6 Poceeding of the 7th WSEAS Intenational Confeence on Powe Syte, Beijing, China, Septebe 5-7, Fig. 5 Acceleation of the tet vehicle Fig. 6 avel ditance of the tet vehicle Fig. 7 Speed veu tavel ditance of the tet vehicle Fig. 8 Acceleation veu tavel ditance of the tet vehicle 5. Concluion In thi pape, odeling and iulation of a inglephae induction oto to dive an electic vehicle i popoed. Model of each pat ae illutated. Foulation of a whole yte iulato fo the electic coote dive yte i developed in fine detail and i the ain contibution of thi pape. In addition, an ON/OFF vehicle peed contol tategy i deontated to egulate the vehicle peed within the liit. he eult howed that the ingle-phae induction oto can be eployed to dive the electic coote with good pefoance. Refeence: [] Ba-thunya, A.S., Khopka, R., Wei, K., oliyat, H.A., Single-phae Induction Moto Dive-A iteatue Suvey, IEEE Intenational Confeence on Electic Machine and Dive (IEMDC2), 7 2 June 2, Maachuett, USA, 2, pp.9 96 [2] Coea, M.B., Jacobina, C.B., da Silva, E.R.C., ia, A.M.N., Vecto contol tategie fo ingle-phae induction oto dive yte, IEEE an. Indutial Electonic, Vol. 5, pp. 73 8, 24 [3] Gage,.B. ead-acid batteie: key to electic vehicle coecialization. expeience with deign, anufactue and ue of EV, he 5 th Annual Battey Confeence on Application and Advance, 2, pp [4] Oan, H., On-boad enegy and powe anageent on electic vehicle: effect of battey type, he 7 th Annual Digital Avionic Syte Confeence, Vol. 2, 998, pp. I43/ I43/6 [5] Kawaguchai, K., Godo, S., Kawabata,., Novel odulation ethod of ingle-phae bidge invete fo ipoved utilization of powe device, he 33 d IEEE Powe Electonic Specialit Confeence (PESC 2), 22, pp [6] Naewngendee, N., Sukchaoen, C., Kulwoawanichpong,., Siulation of inglephae induction oto dive with noninuoidal powe upply, he WSEAS anaction on Syte, Iue 5, Vol 5, pp [7] Naewngendee, N., Sukchaoen, C., Kulwoawanichpong,., Optiizing voltage fequency contol tategy fo inglephae induction oto dive, he 5 th WSEAS Intenational Confeence on Application of Electical Engineeing (AEE 6), Pague, Czech Republic, 2 4 Mach 26, pp , 26 [8] Kulwoawanichpong,., Goodan, C.J., Optial aea contol of AC ailway yte via PWM taction dive, IEE Poceeding Pat B: Electic Powe Application, Vol. 52, No., pp. 33 4, Januay 25 [9] Goodan, C.J., Oveview of electic ailway yte and the calculation of tain pefoance, he 9 th Intitution of Engineeing and echnology Pofeional Developent Coue on Electic action Syte, 6- Novebe 26, pp. -24 [] Kihnan, R., Electic oto dive odeling analyi and Contol, Pentice Hall, 2 [] Saa, M.S. Electic achine teady tate theoy and dynaic pefoance, Wet Publihing Copany, 994 [2] Giancalo, G., Moto vehicle dynaic odeling and iulation, Wold Scientific, 997 [3] Iqbal, H., Electic and hybid vehicle deign fundaental, New Yok, 23