diff --git a/Article_Scientifique/main.aux b/Article_Scientifique/main.aux index a54204f..7bb7d43 100644 --- a/Article_Scientifique/main.aux +++ b/Article_Scientifique/main.aux @@ -92,8 +92,8 @@ \@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Position tracking error between bicycle and cargo cart.}}{6}{figure.3}\protected@file@percent } \newlabel{fig:tracking-error}{{3}{6}{Position tracking error between bicycle and cargo cart}{figure.3}{}} \@writefile{toc}{\contentsline {subsubsection}{\numberline {\mbox {IX-B}2}Experimental Load Characterization}{6}{subsubsection.9.2.2}\protected@file@percent } -\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces Measured motor current under three loading conditions.}}{6}{figure.4}\protected@file@percent } -\newlabel{fig:motor-currents}{{4}{6}{Measured motor current under three loading conditions}{figure.4}{}} +\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces Measured motor current under three loading conditions.}}{7}{figure.4}\protected@file@percent } +\newlabel{fig:motor-currents}{{4}{7}{Measured motor current under three loading conditions}{figure.4}{}} \@writefile{toc}{\contentsline {subsection}{\numberline {\mbox {IX-C}}FOC Controller Validation}{7}{subsection.9.3}\protected@file@percent } \@writefile{toc}{\contentsline {subsubsection}{\numberline {\mbox {IX-C}1}Current Status Summary}{7}{subsubsection.9.3.1}\protected@file@percent } \@writefile{lot}{\contentsline {table}{\numberline {III}{\ignorespaces FOC controller development status}}{7}{table.3}\protected@file@percent } @@ -101,6 +101,7 @@ \@writefile{toc}{\contentsline {section}{\numberline {X}Discussion}{7}{section.10}\protected@file@percent } \@writefile{toc}{\contentsline {section}{\numberline {XI}Perspectives and Future Work}{7}{section.11}\protected@file@percent } \@writefile{toc}{\contentsline {subsection}{\numberline {\mbox {XI-A}}Hardware Completion and Testing}{7}{subsection.11.1}\protected@file@percent } +\@writefile{toc}{\contentsline {subsection}{\numberline {\mbox {XI-B}}Control Strategy Enhancement}{7}{subsection.11.2}\protected@file@percent } \@writefile{toc}{\contentsline {section}{\numberline {XII}Conclusion/Summary}{7}{section.12}\protected@file@percent } \bibstyle{IEEEtran} \bibdata{PIR_MadMax3} diff --git a/Article_Scientifique/main.log b/Article_Scientifique/main.log index e36b289..324e953 100644 --- a/Article_Scientifique/main.log +++ b/Article_Scientifique/main.log @@ -1,4 +1,4 @@ -This is pdfTeX, Version 3.141592653-2.6-1.40.22 (TeX Live 2022/dev/Debian) (preloaded format=pdflatex 2026.3.16) 14 MAY 2026 15:24 +This is pdfTeX, Version 3.141592653-2.6-1.40.22 (TeX Live 2022/dev/Debian) (preloaded format=pdflatex 2026.3.16) 14 MAY 2026 15:41 entering extended mode restricted \write18 enabled. %&-line parsing enabled. @@ -557,31 +557,34 @@ Underfull \hbox (badness 1509) in paragraph at lines 432--439 [] [4] -<./Figures/sys_dyn_matlab.png, id=261, 430.2474pt x 226.6869pt> +<./Figures/sys_dyn_matlab.png, id=265, 430.2474pt x 226.6869pt> File: ./Figures/sys_dyn_matlab.png Graphic file (type png) Package pdftex.def Info: ./Figures/sys_dyn_matlab.png used on input line 520. (pdftex.def) Requested size: 252.0pt x 132.77559pt. [5 <./Figures/sys_dyn_matlab.png>] -<./Figures/Schema_Autom_PIR.pdf, id=272, 610.21573pt x 143.36761pt> +<./Figures/Schema_Autom_PIR.pdf, id=276, 610.21573pt x 143.36761pt> File: ./Figures/Schema_Autom_PIR.pdf Graphic file (type pdf) Package pdftex.def Info: ./Figures/Schema_Autom_PIR.pdf used on input line 557 . (pdftex.def) Requested size: 252.0pt x 59.20549pt. -<./Figures/error_fig.png, id=277, 509.7444pt x 328.5876pt> +<./Figures/error_fig.png, id=281, 509.7444pt x 328.5876pt> File: ./Figures/error_fig.png Graphic file (type png) -Package pdftex.def Info: ./Figures/error_fig.png used on input line 620. +Package pdftex.def Info: ./Figures/error_fig.png used on input line 623. (pdftex.def) Requested size: 252.0pt x 162.44328pt. -<./Figures/Motor_currents.pdf, id=279, 501.875pt x 329.23pt> +<./Figures/Motor_currents.pdf, id=283, 501.875pt x 329.23pt> File: ./Figures/Motor_currents.pdf Graphic file (type pdf) -Package pdftex.def Info: ./Figures/Motor_currents.pdf used on input line 642. +Package pdftex.def Info: ./Figures/Motor_currents.pdf used on input line 645. (pdftex.def) Requested size: 252.0pt x 165.31287pt. - [6 <./Figures/Schema_Autom_PIR.pdf> <./Figures/error_fig.png (PNG copy)> <./Fi -gures/Motor_currents.pdf>] [7] -(./main.bbl + + +LaTeX Warning: `!h' float specifier changed to `!ht'. + +[6 <./Figures/Schema_Autom_PIR.pdf> <./Figures/error_fig.png (PNG copy)>] +[7 <./Figures/Motor_currents.pdf>] (./main.bbl Underfull \hbox (badness 1490) in paragraph at lines 97--99 []\OT1/ptm/m/n/8 ------, ``lispbm in vesc,'' []$https : / / github . com / vedd erb / bldc / tree / master / @@ -606,13 +609,13 @@ Before submitting the final camera ready copy, remember to: LaTeX Warning: There were multiply-defined labels. Package rerunfilecheck Info: File `main.out' has not changed. -(rerunfilecheck) Checksum: 4DF27D054EB6179EF4DF0FC61FEDCAAE;9611. +(rerunfilecheck) Checksum: 1B0691BDF79A8E2D30C428C51B091248;9817. ) Here is how much of TeX's memory you used: - 14924 strings out of 478287 - 283713 string characters out of 5849289 + 14926 strings out of 478287 + 283745 string characters out of 5849289 567663 words of memory out of 5000000 - 32863 multiletter control sequences out of 15000+600000 + 32864 multiletter control sequences out of 15000+600000 508470 words of font info for 101 fonts, out of 8000000 for 9000 1141 hyphenation exceptions out of 8191 70i,10n,79p,470b,830s stack positions out of 5000i,500n,10000p,200000b,80000s @@ -633,10 +636,10 @@ fonts/type1/public/amsfonts/cm/cmti8.pfb> -Output written on main.pdf (8 pages, 676579 bytes). +Output written on main.pdf (8 pages, 677088 bytes). PDF statistics: - 455 PDF objects out of 1000 (max. 8388607) - 392 compressed objects within 4 object streams - 76 named destinations out of 1000 (max. 500000) - 405 words of extra memory for PDF output out of 10000 (max. 10000000) + 459 PDF objects out of 1000 (max. 8388607) + 396 compressed objects within 4 object streams + 77 named destinations out of 1000 (max. 500000) + 413 words of extra memory for PDF output out of 10000 (max. 10000000) diff --git a/Article_Scientifique/main.out b/Article_Scientifique/main.out index a42444a..3717fd8 100644 --- a/Article_Scientifique/main.out +++ b/Article_Scientifique/main.out @@ -44,5 +44,6 @@ \BOOKMARK [1][-]{section.10}{\376\377\000D\000i\000s\000c\000u\000s\000s\000i\000o\000n}{}% 44 \BOOKMARK [1][-]{section.11}{\376\377\000P\000e\000r\000s\000p\000e\000c\000t\000i\000v\000e\000s\000\040\000a\000n\000d\000\040\000F\000u\000t\000u\000r\000e\000\040\000W\000o\000r\000k}{}% 45 \BOOKMARK [2][-]{subsection.11.1}{\376\377\000H\000a\000r\000d\000w\000a\000r\000e\000\040\000C\000o\000m\000p\000l\000e\000t\000i\000o\000n\000\040\000a\000n\000d\000\040\000T\000e\000s\000t\000i\000n\000g}{section.11}% 46 -\BOOKMARK [1][-]{section.12}{\376\377\000C\000o\000n\000c\000l\000u\000s\000i\000o\000n\000/\000S\000u\000m\000m\000a\000r\000y}{}% 47 -\BOOKMARK [1][-]{section*.3}{\376\377\000R\000e\000f\000e\000r\000e\000n\000c\000e\000s}{}% 48 +\BOOKMARK [2][-]{subsection.11.2}{\376\377\000C\000o\000n\000t\000r\000o\000l\000\040\000S\000t\000r\000a\000t\000e\000g\000y\000\040\000E\000n\000h\000a\000n\000c\000e\000m\000e\000n\000t}{section.11}% 47 +\BOOKMARK [1][-]{section.12}{\376\377\000C\000o\000n\000c\000l\000u\000s\000i\000o\000n\000/\000S\000u\000m\000m\000a\000r\000y}{}% 48 +\BOOKMARK [1][-]{section*.3}{\376\377\000R\000e\000f\000e\000r\000e\000n\000c\000e\000s}{}% 49 diff --git a/Article_Scientifique/main.pdf b/Article_Scientifique/main.pdf index 036e1bd..0fe4cf3 100644 Binary files a/Article_Scientifique/main.pdf and b/Article_Scientifique/main.pdf differ diff --git a/Article_Scientifique/main.tex b/Article_Scientifique/main.tex index 8b29724..6518155 100644 --- a/Article_Scientifique/main.tex +++ b/Article_Scientifique/main.tex @@ -560,7 +560,10 @@ loops: \end{figure} -Fig.~\ref{fig:cascaded-loop} illustrates the cascade architecture for the dynamics of the cargo bike. +Fig.~\ref{fig:cascaded-loop} illustrates the cascade architecture for the dynamics of the cargo cart. +In this scheme, $x_{\text{ref}}$ denotes the desired position of the bicycle, whereas $x$ represents the measured +position of the cargo cart. + An outer Proportional Controller $K_{p,x}$ converts the position error $e_x = x_{\text{ref}} - x$ into a velocity reference $v_{\text{ref}}$, which serves as the set-point for the inner loop. The inner Proportional Controller $K_{p,v}$ then transforms the velocity error $e_v = v_{\text{ref}} - v$ into a @@ -731,6 +734,14 @@ The VESC-based FOC PCB requires routing completion and prototype manufacturing. Once fabricated, the board must be tested under real operating conditions (varying loads, road profiles, and battery voltage). +\subsection{Control Strategy Enhancement} +Future work includes the implementation and comparison of the PI controller and the cascaded control structure on the +cargo cart, in order to evaluate their performance under different conditions (load variations, road profiles, etc.). + +In addition, the lack of direct velocity measurements limited the ability to fully characterise the system dynamics. +Adding a speed measurement or improving state estimation would allow a more complete analysis of the model. + + % ******************************** CONCLUSION ************************************************************************** \section{Conclusion/Summary}