chgt hyperref et placement paragraphes
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6 changed files with 368 additions and 161 deletions
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\relax
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\providecommand\hyper@newdestlabel[2]{}
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\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
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\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
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\global\let\oldcontentsline\contentsline
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\gdef\contentsline#1#2#3#4{\oldcontentsline{#1}{#2}{#3}}
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\global\let\oldnewlabel\newlabel
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\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
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\AtEndDocument{\ifx\hyper@anchor\@undefined
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\let\contentsline\oldcontentsline
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\let\newlabel\oldnewlabel
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\fi}
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\fi}
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\global\let\hyper@last\relax
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\gdef\HyperFirstAtBeginDocument#1{#1}
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\providecommand\HyField@AuxAddToFields[1]{}
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\providecommand\HyField@AuxAddToCoFields[2]{}
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\citation{patil_analysis_2025}
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\citation{li_quantitative_2019}
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\citation{mohammd_taher_new_2021}
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\@writefile{toc}{\contentsline {section}{\numberline {I}Introduction}{1}{}\protected@file@percent }
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\@writefile{toc}{\contentsline {subsection}{\numberline {\mbox {II-A}}Modeling of BLDC Motor}{1}{subsection.2.1}\protected@file@percent }
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\citation{gieras_modern_2023}
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\citation{gieras_modern_2023,gasc_conception_2004}
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\citation{bhatiya_bldc_2024}
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@ -20,40 +37,45 @@
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\citation{li_quantitative_2019}
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\citation{lee_advanced_2001}
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\citation{jomsa-nga_torque_2024}
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\citation{b1}
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\citation{b1}
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\citation{b2}
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\newlabel{fig:tracking_error}{{2}{4}}
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\newlabel{subsec:Simulink_model}{{\mbox {VIII-B}}{4}{PI-Based Control Strategy}{subsection.8.2}{}}
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\newlabel{fig:simulink-closedloop}{{1}{4}{Closed-loop model of the bicycle–cargo system with PI control}{figure.1}{}}
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\newlabel{fig:tracking-error}{{2}{4}{Position tracking error between bicycle and cargo cart}{figure.2}{}}
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\bibstyle{IEEEtran}
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\bibdata{PIR_MadMax3}
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\bibcite{patil_analysis_2025}{1}
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@ -66,7 +88,6 @@
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\bibcite{lee_advanced_2001}{8}
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\gdef \@abspage@last{5}
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Binary file not shown.
|
|
@ -5,6 +5,7 @@
|
|||
\usepackage{amsmath,amssymb,amsfonts}
|
||||
\usepackage{algorithmic}
|
||||
\usepackage{url}
|
||||
\usepackage{hyperref}
|
||||
\usepackage{placeins}
|
||||
\usepackage{siunitx}
|
||||
\usepackage{graphicx}
|
||||
|
|
@ -79,13 +80,13 @@ attention to repairability, component sourcing, and community-centred sustainabi
|
|||
design, assemble, and develop a functional, low-tech and open-source motor controller for electric cargo bikes. The
|
||||
current model uses an open-source motor control called VESC (Vedder Electronic Speed Controller) that allows precise
|
||||
control of electric motors. The controller needs to be compatible with a VESC controller and easily locally repairable
|
||||
by the MAD. By exploring the inner workings of the VESC project, modelling of the physical systems and the Printed Circuit
|
||||
Board (PCB) we investigated the ways we could do it in another way. We acquired a VESC controller to compare our system
|
||||
and a commercial product. Preliminary results demonstrate that the adapted VESC-based controller successfully drives
|
||||
the target motor under both commutation strategies, and that positional control is achievable with the current hardware
|
||||
configuration. Security vulnerabilities related to open Bluetooth access were identified. These findings suggest that
|
||||
open-source, locally fabricated motor controllers can meet the functional requirements of electric cargo bikes while
|
||||
significantly improving repairability.
|
||||
by the MAD. By exploring the inner workings of the VESC project, modelling of the physical systems and the Printed
|
||||
Circuit Board (PCB) we investigated the ways we could do it in another way. We acquired a VESC controller to compare our
|
||||
system and a commercial product. Preliminary results demonstrate that the adapted VESC-based controller successfully
|
||||
drives the target motor under both commutation strategies, and that positional control is achievable with the current
|
||||
hardware configuration. Security vulnerabilities related to open Bluetooth access were identified. These findings
|
||||
suggest that open-source, locally fabricated motor controllers can meet the functional requirements of electric cargo
|
||||
bikes while significantly improving repairability.
|
||||
\end{abstract}
|
||||
|
||||
\begin{IEEEkeywords}
|
||||
|
|
@ -209,8 +210,10 @@ The objective is to minimize the perceived additional effort when towing a cargo
|
|||
PID-based (Proportional–Integral–Derivative) control strategy combined with distance sensing, allowing adaptive
|
||||
assistance based on system dynamics.
|
||||
|
||||
|
||||
\section{Hardware-Based Six-Step Commutation Controller}
|
||||
|
||||
|
||||
\section{STM32-Based Field-Oriented Control Motor Drive}
|
||||
|
||||
|
||||
|
|
@ -294,9 +297,10 @@ for the the MAD associates.
|
|||
|
||||
% ************************************ DYNAMIC MODELLING ***************************************************************
|
||||
|
||||
|
||||
\section{Dynamic Modelling and Control of the Bicycle–Cargo System}
|
||||
|
||||
\subsection{System Modelling and Simulation}
|
||||
\subsection{Dynamic System Modelling}
|
||||
|
||||
The studied system consists of a bicycle towing a cargo cart through a rigid mechanical linkage. This link is only used
|
||||
for steering guidance and does not contribute to the traction force. The main objective is to ensure that the rider
|
||||
|
|
@ -306,8 +310,6 @@ From a control perspective, the rider provides a reference motion in terms of sp
|
|||
is expected to follow this reference with minimal delay. The position error between the bicycle and the cargo cart is
|
||||
computed using a distance sensor, which provides feedback relative to an equilibrium state.
|
||||
|
||||
\subsubsection{Dynamic Modelling}
|
||||
|
||||
The cargo cart is modelled as the plant of the system. Its rotational dynamics are described using the fundamental
|
||||
equation of rotational motion:
|
||||
|
||||
|
|
@ -347,15 +349,15 @@ Thus, the transfer function between motor torque and linear velocity is:
|
|||
\end{equation*}
|
||||
|
||||
|
||||
\subsubsection{Simulation and Control}
|
||||
|
||||
\subsection{PI-Based Control Strategy}
|
||||
\label{subsec:Simulink_model}
|
||||
Based on this model, a Simulink representation of the system was developed. The controlled system includes a feedback
|
||||
loop using a PI controller in order to regulate the position error between the bicycle and the cargo cart.
|
||||
loop using a PI (Proportional-Integral) controller in order to regulate the position error between the bicycle and the cargo cart.
|
||||
|
||||
Since the reference input is a ramp signal (representing the bicycle position over time), an integral action is required
|
||||
to ensure zero steady-state error and accurate tracking of the reference trajectory.
|
||||
|
||||
The closed-loop Simulink model of the system is shown in Fig.~\ref{fig:simulink_closedloop}.
|
||||
The closed-loop Simulink model of the system is shown in Fig.~\ref{fig:simulink-closedloop}.
|
||||
|
||||
The control error is defined as the difference between a desired relative position and the measured displacement between
|
||||
the bicycle and the cargo cart:
|
||||
|
|
@ -363,29 +365,43 @@ the bicycle and the cargo cart:
|
|||
e(t) = e_{\text{ref}} - (x_{\text{bike}} - x_{\text{cart}})
|
||||
\end{equation*}
|
||||
where $e_{\text{ref}} = \SI{-0.5}{\meter}$ represents the desired equilibrium offset between both systems.
|
||||
The resulting position error between the bicycle and the cargo cart is shown in Fig.~\ref{fig:tracking_error}.
|
||||
|
||||
\FloatBarrier
|
||||
|
||||
\begin{figure}[!h]
|
||||
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{./Figures/sys_dyn_matlab.png}
|
||||
\caption{Closed-loop model of the bicycle–cargo system with PI control.}
|
||||
\label{fig:simulink_closedloop}
|
||||
\label{fig:simulink-closedloop}
|
||||
|
||||
\end{figure}
|
||||
|
||||
|
||||
\subsection{Control Architecture Exploration}
|
||||
|
||||
|
||||
% ******************************** RESULTS **************************************************************************
|
||||
|
||||
|
||||
\section{Results}
|
||||
|
||||
\subsection{Bicycle-Cargo System Control Results}
|
||||
|
||||
\subsubsection{Simulation Results}
|
||||
The closed-loop Simulink model presented in the subsection~\ref{subsec:Simulink_model} was used to evaluate the
|
||||
performance of the proposed PI-based (Proportional-Integral) control strategy.
|
||||
|
||||
Figure~\ref{fig:tracking-error} shows the evolution of the tracking error between the bicycle and the cargo cart during
|
||||
simulation. The response exhibits an initial transient phase followed by a progressive convergence toward the desired
|
||||
equilibrium position, demonstrating stable closed-loop behaviour and satisfactory tracking performance.
|
||||
\begin{figure}[!h]
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{./Figures/error_fig.png}
|
||||
\caption{Position tracking error between bicycle and cargo cart.}
|
||||
\label{fig:tracking_error}
|
||||
\label{fig:tracking-error}
|
||||
\end{figure}
|
||||
|
||||
\subsection{Control Architecture Exploration}
|
||||
\subsubsection{Experimental Load Characterization}
|
||||
|
||||
\subsection{Experimental Characterization Under Different Loads}
|
||||
|
||||
% ******************************** DISCUSSION **************************************************************************
|
||||
|
||||
|
|
@ -419,7 +435,6 @@ What should be a clear conclusion from our test with the jammer is that a contro
|
|||
avoided when possible and practical. Examples where this could be relevant include electric skateboards, as cables could
|
||||
impose a tripping hazard. There, an encapsulation of an encrypted control frame could be an thought.
|
||||
|
||||
\section{Results}
|
||||
|
||||
\section{Conclusion/Summary}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue