From 29d62b0493a4b7b74cb9a696feafa5a01982cd03 Mon Sep 17 00:00:00 2001 From: Nolan Date: Thu, 14 May 2026 15:43:14 +0200 Subject: [PATCH] ajout future work autom --- Article_Scientifique/main.aux | 5 +++-- Article_Scientifique/main.log | 41 ++++++++++++++++++---------------- Article_Scientifique/main.out | 5 +++-- Article_Scientifique/main.pdf | Bin 676579 -> 677088 bytes Article_Scientifique/main.tex | 13 ++++++++++- 5 files changed, 40 insertions(+), 24 deletions(-) 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. 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+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}