Merge branch 'main' of https://git.etud.insa-toulouse.fr/taban/PIR_MadMax
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11 changed files with 175 additions and 509 deletions
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Article_Scientifique/Figures/Motor_currents.pdf
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|
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|
|
|
|||
Binary file not shown.
|
|
@ -180,10 +180,26 @@ FOC provides faster response times and better load disturbance rejection \cite{j
|
|||
|
||||
|
||||
\section{Research gap}
|
||||
Despite this progress, limited research has examined the adaptation of open-source motor controllers to LowTech and
|
||||
repairability constraints. To date, researchers have not addressed the challenge of designing a controller that can
|
||||
be locally fabricated, repaired with standard components, and secured against unauthorised wireless access requirements
|
||||
that are critical for decentralised, community-operated fleets.
|
||||
|
||||
The literature presented in the previous sections shows that significant work has been carried out on BLDC
|
||||
motor control strategies, especially for torque ripple reduction, efficiency improvement, and dynamic performance
|
||||
optimisation. Open-source projects such as VESC also provide high-performance and flexible solutions for electric
|
||||
mobility systems.
|
||||
|
||||
However, most existing works mainly focus on control performance and do not consider low-tech constraints such as
|
||||
local manufacturing, hardware repairability, or component accessibility. In many existing controllers, the hardware
|
||||
design remains difficult to reproduce or repair without specialized equipment or advanced electronic knowledge.
|
||||
|
||||
In addition, the integration of wireless communication introduces new security concerns. While BLE connectivity
|
||||
simplifies configuration and monitoring, unauthorized access to controller parameters could create safety risks,
|
||||
especially for electric cargo bikes operating in public spaces.
|
||||
|
||||
To the best of our knowledge, there is currently no open-source motor controller that simultaneously addresses
|
||||
high-performance control, local manufacturability, repairability, and BLE security for decentralized cargo bike
|
||||
applications.
|
||||
|
||||
This project therefore aims to explore a modular and repair-oriented motor controller architecture compatible
|
||||
with VESC while remaining adapted to the constraints of the Manufacture Autonome Décentralisée (MAD).
|
||||
|
||||
|
||||
\section{Aim and Research Objectives}
|
||||
|
|
@ -279,7 +295,7 @@ assistance based on system dynamics.
|
|||
microcontroller.
|
||||
|
||||
The initial idea was to make this tile \textit{pluggable} into our
|
||||
carrier board, similar to an Arduino shield. This would allow :
|
||||
carrier board, similar to an Arduino shield. This would allow:
|
||||
\begin{itemize}
|
||||
\item Easy replacement of the computing core without re-soldering.
|
||||
\item Modular upgrades of the microcontroller.
|
||||
|
|
@ -525,6 +541,56 @@ where $e_{\text{ref}} = \SI{-0.5}{\meter}$ represents the desired equilibrium of
|
|||
|
||||
|
||||
\subsection{Control Architecture Exploration}
|
||||
Beyond the standard PI control structure simulated in the previous sections, this project explores a more sophisticated
|
||||
control law: the Cascaded Loop Architecture. This approach is envisioned as a high-level software enhancement to meet
|
||||
the robustness and safety requirements inherent to electric cargo mobility. This means that our control law includes two
|
||||
feedback loops that use two different physical parameters.
|
||||
|
||||
The selected cascaded structure is a well-established industry standard, particularly in high-performance motion control
|
||||
and robotics. Similar architectures are widely employed in Automated Guided Vehicles (AGVs) and platooning systems,
|
||||
where a “follower” unit must synchronize its dynamics with a “leader” unit through precise feedback loops.
|
||||
|
||||
The proposed approach decomposes the complex task of “cart following” into manageable sub-tasks by nesting control
|
||||
loops:
|
||||
\begin{itemize}
|
||||
\item Outer loop: Position control layer.
|
||||
Using a linear encoder or distance sensor mounted on the trailer’s hitch, the system measures the relative
|
||||
displacement (error) between the bicycle and the cargo cart. This error is processed by a Proportional (P)
|
||||
Controller. The primary goal of this stage is to translate physical distance into a target velocity setpoint. By
|
||||
saturating the output of this loop, we can prevent the cargo cart from ever exceeding the bicycle’s speed, thereby
|
||||
ensuring it never “pushes” the cyclist.
|
||||
|
||||
\item Inner loop: Velocity control layer.
|
||||
The velocity setpoint generated by the outer loop is fed into this internal layer, the inner loop is responsible for
|
||||
commanding the motor torque directly to compensate for immediate mechanical disturbances. Because this loop operates
|
||||
at a higher frequency, it can reject disturbances such as sudden changes in rolling resistance or friction, before
|
||||
they significantly impact the overall position error.
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[!h]
|
||||
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{./Figures/Schema_Autom_PIR.pdf}
|
||||
\caption{Cascaded control architecture for the bicycle-cargo system.}
|
||||
\label{fig:cascaded-loop}
|
||||
|
||||
\end{figure}
|
||||
|
||||
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
|
||||
torque reference $\tau_{\text{ref}}$.
|
||||
This command is processed by the motor/actuator block, which delivers the actual torque $\tau$.
|
||||
The model of the plant maps this torque to velocity $v$, and the integrator $1/s$ reconstructs the position $x$.
|
||||
|
||||
The adoption of a cascaded loop architecture offers decisive advantages but comes with disadvantages. This precision
|
||||
introduces increased complexity: the multiplication of tuning parameters and the requirement for high-resolution
|
||||
feedback sensors, such as encoders, raise hardware costs and must come with high-performance software. These technical
|
||||
constraints represent a significant challenge and may raise other issues.
|
||||
|
||||
|
||||
% ******************************** RESULTS **************************************************************************
|
||||
|
|
@ -592,7 +658,7 @@ cargo cart. The motor current measured during these experiments is shown in Fig.
|
|||
|
||||
\begin{figure}[!h]
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{./Figures/Motor_currents.png}
|
||||
\includegraphics[width=\linewidth]{./Figures/Motor_currents.pdf}
|
||||
\caption{Measured motor current under three loading conditions.}
|
||||
\label{fig:motor-currents}
|
||||
\end{figure}
|
||||
|
|
@ -684,6 +750,14 @@ 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}
|
||||
|
|
|
|||
|
|
@ -71,7 +71,7 @@ sudo su -c "echo 'message' > /dev/rfcomm0"
|
|||
sudo rfcomm release 0
|
||||
```
|
||||
|
||||
# Après avoir connecé une fois:
|
||||
# Après être connecté une fois:
|
||||
|
||||
```
|
||||
sudo rfcomm release 0
|
||||
|
|
|
|||
|
|
@ -1,432 +0,0 @@
|
|||
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[]\OT1/ptm/m/n/8 ------, ``lispbm in vesc,'' $https : / / github . com / vedder
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b / bldc / tree / master /
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[]
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** Conference Paper **
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Before submitting the final camera ready copy, remember to:
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1. Manually equalize the lengths of two columns on the last page
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of your paper;
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2. Ensure that any PostScript and/or PDF output post-processing
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uses only Type 1 fonts and that every step in the generation
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process uses the appropriate paper size.
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[4
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Here is how much of TeX's memory you used:
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1141 hyphenation exceptions out of 8191
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Output written on main.pdf (4 pages, 110930 bytes).
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32 compressed objects within 1 object stream
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1 words of extra memory for PDF output out of 10000 (max. 10000000)
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Reference in a new issue