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\usepackage{amsmath,amssymb,amsfonts}
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\usepackage{amsmath,amssymb,amsfonts}
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\usepackage{algorithmic}
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@ -71,15 +72,15 @@ taban@insa-toulouse.fr}
|
||||||
Electric bikes are becoming an increasingly attractive solution for transporting goods between short distances,
|
Electric bikes are becoming an increasingly attractive solution for transporting goods between short distances,
|
||||||
especially in city-wide infrastructures. However, most commercially available controllers rely on complex integrated
|
especially in city-wide infrastructures. However, most commercially available controllers rely on complex integrated
|
||||||
circuits making repair and local manufacturing difficult, particularly for organisations operating in
|
circuits making repair and local manufacturing difficult, particularly for organisations operating in
|
||||||
resource-constrained or low-tech environments. La Manufacture Autonome Décentralisée (LaMAD) is developing products
|
resource-constrained or low-tech environments. The Manufacture Autonome Décentralisée (MAD) is developing products
|
||||||
and solutions, particularly e-bikes, which are more repairable and sustainable. Previous studies have predominantly
|
and solutions, particularly e-bikes, which are more repairable and sustainable. Previous studies have predominantly
|
||||||
focused on performance optimisation of Field Oriented Control (FOC) and trapezoidal commutation strategies, with limited
|
focused on performance optimisation of Field Oriented Control (FOC) and trapezoidal commutation strategies, with limited
|
||||||
attention to repairability, component sourcing, and community-centred sustainability criteria. This project aims to
|
attention to repairability, component sourcing, and community-centred sustainability criteria. This project aims to
|
||||||
design, assemble, and develop a functional, low-tech and open-source motor controller for electric cargo bikes. The
|
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
|
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
|
control of electric motors. The controller needs to be compatible with a VESC controller and easily locally repairable
|
||||||
by LaMAD. By exploring the inner workings of the VESC project, modelling of the physical systems and the Printed Circuit
|
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
|
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
|
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
|
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
|
configuration. Security vulnerabilities related to open Bluetooth access were identified. These findings suggest that
|
||||||
|
|
@ -102,11 +103,13 @@ they often introduce vulnerabilities. Open-source projects, in particular, must
|
||||||
developers with the need to secure the vehicle.
|
developers with the need to secure the vehicle.
|
||||||
|
|
||||||
We also argue the need for general public's safety when it comes to these bikes, as it could be a danger to the traffic.
|
We also argue the need for general public's safety when it comes to these bikes, as it could be a danger to the traffic.
|
||||||
This is especially true when it comes to vehicules carrying a substantial load. This needs to be considered by laMAD,
|
This is especially true when it comes to vehicules carrying a substantial load. This needs to be considered by the MAD,
|
||||||
where their responsibility and control begins and ends. Should there be a difference between the firmware loaded on a
|
where their responsibility and control begins and ends. Should there be a difference between the firmware loaded on a
|
||||||
product from laMAD than what is publicly available?
|
product from the MAD than what is publicly available?
|
||||||
|
|
||||||
|
|
||||||
|
% ********************************************* RELATED WORK ***********************************************************
|
||||||
|
|
||||||
\section{Related Work}
|
\section{Related Work}
|
||||||
|
|
||||||
\subsection{Modeling of BLDC Motor}
|
\subsection{Modeling of BLDC Motor}
|
||||||
|
|
@ -206,6 +209,13 @@ 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
|
PID-based (Proportional–Integral–Derivative) control strategy combined with distance sensing, allowing adaptive
|
||||||
assistance based on system dynamics.
|
assistance based on system dynamics.
|
||||||
|
|
||||||
|
\section{Hardware-Based Six-Step Commutation Controller}
|
||||||
|
|
||||||
|
\section{STM32-Based Field-Oriented Control Motor Drive}
|
||||||
|
|
||||||
|
|
||||||
|
% ************************************** SOFTWARE AND CONNECTIVITY *****************************************************
|
||||||
|
|
||||||
\section{Software and Connectivity}
|
\section{Software and Connectivity}
|
||||||
|
|
||||||
\subsection{BLE Compatibility With the VESC}
|
\subsection{BLE Compatibility With the VESC}
|
||||||
|
|
@ -243,15 +253,15 @@ have in mind the maximum speed permitted and the power available to the motors.
|
||||||
\subsubsection{LispBM extraction}
|
\subsubsection{LispBM extraction}
|
||||||
We caugth word that the lisp code for the VESC used by Maillon mobility was easy to extract. By building an older
|
We caugth word that the lisp code for the VESC used by Maillon mobility was easy to extract. By building an older
|
||||||
firmware with the Maillon mobility software, we observed this by going to the lispBM tab and clicking read. It's up to
|
firmware with the Maillon mobility software, we observed this by going to the lispBM tab and clicking read. It's up to
|
||||||
laMAD if they would like to reinforce this mechanism. A modification on a parameter and then clicking upload allowed
|
the MAD if they would like to reinforce this mechanism. A modification on a parameter and then clicking upload allowed
|
||||||
us to easily change the speed limit. This could bring up a public danger. This raises questions on the use of laMADs
|
us to easily change the speed limit. This could bring up a public danger. This raises questions on the use of the MAD's
|
||||||
equipment which is in a traffic friendly manner.
|
equipment which is in a traffic friendly manner.
|
||||||
|
|
||||||
\subsubsection{LispBM Code}
|
\subsubsection{LispBM Code}
|
||||||
When we flashed newer firmware from the project made by Benjamin Vedder\cite{b1}, we also observed some difficulties in
|
When we flashed newer firmware from the project made by Benjamin Vedder\cite{b1}, we also observed some difficulties in
|
||||||
uploading the lispBM script taken from the one on firmware version 6.06. This could indicate that there needs to be
|
uploading the lispBM script taken from the one on firmware version 6.06. This could indicate that there needs to be
|
||||||
further maintenance of the code in order to get the software up to speed. This needs to be documented better for someone
|
further maintenance of the code in order to get the software up to speed. This needs to be documented better for someone
|
||||||
to continue the project. This could be a good investment for laMAD as well in the context of training for the people
|
to continue the project. This could be a good investment for the MAD as well in the context of training for the people
|
||||||
working on the motor control part of the e-bike.
|
working on the motor control part of the e-bike.
|
||||||
|
|
||||||
This documentation could be as simple as referencing the relevant parts of the lispBM documentation \cite{b2}
|
This documentation could be as simple as referencing the relevant parts of the lispBM documentation \cite{b2}
|
||||||
|
|
@ -259,9 +269,9 @@ This documentation could be as simple as referencing the relevant parts of the l
|
||||||
\subsubsection{Proposed Solution}
|
\subsubsection{Proposed Solution}
|
||||||
This risk could be patched by developing a VESC application for the VESC controller or using a binary. This is a
|
This risk could be patched by developing a VESC application for the VESC controller or using a binary. This is a
|
||||||
solution which is less open source, but which is make unlawful use of the material harder. The application could be
|
solution which is less open source, but which is make unlawful use of the material harder. The application could be
|
||||||
created using C and use an algorithm known by laMAD in order to securise the access to someone to change the parameters
|
created using C and use an algorithm known by the MAD in order to securise the access to someone to change the parameters
|
||||||
only if they are laMAD certified personnel. This encryption would preferably be reduced to the most essential settings
|
only if they are the MAD certified personnel. This encryption would preferably be reduced to the most essential settings
|
||||||
in order to align with what our impression of the philosophy of laMAD would be.
|
in order to align with what our impression of the philosophy of the MAD would be.
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -272,20 +282,118 @@ summarise what we have learned for you and propose some additional work for the
|
||||||
were the following: The lack of bluetooth capabilities. We did not have a module with BLE either. We had access to a
|
were the following: The lack of bluetooth capabilities. We did not have a module with BLE either. We had access to a
|
||||||
HC-05 module, but that only allows for a normal bluetooth protocol and would require further work on a bridge to UART
|
HC-05 module, but that only allows for a normal bluetooth protocol and would require further work on a bridge to UART
|
||||||
by using an esp8622 that we had as well. We propose that the next group has access to a VESC controller from the
|
by using an esp8622 that we had as well. We propose that the next group has access to a VESC controller from the
|
||||||
beginning, as well as a motor we could control. This could be in cooperation with laMAD, as laMAD could propose
|
beginning, as well as a motor we could control. This could be in cooperation with the MAD, as the MAD could propose
|
||||||
some models they're interested in.
|
some models they're interested in.
|
||||||
|
|
||||||
We also found that the information on the VESC is scattered around the internet. The ressources is also sometimes
|
We also found that the information on the VESC is scattered around the internet. The ressources is also sometimes
|
||||||
based on a debian-based linux system which adds more work for someone using another distribution of linux. This could
|
based on a debian-based linux system which adds more work for someone using another distribution of linux. This could
|
||||||
hinder the implementation facility for new users. We struggeled particularly with the Qt packages for positioning and
|
hinder the implementation facility for new users. We struggeled particularly with the Qt packages for positioning and
|
||||||
gamepad. We would therefore recommend the use of a debian-based linux system for the computer working with the VESC
|
gamepad. We would therefore recommend the use of a debian-based linux system for the computer working with the VESC
|
||||||
for the laMAD associates.
|
for the the MAD associates.
|
||||||
|
|
||||||
|
|
||||||
|
% ************************************ DYNAMIC MODELLING ***************************************************************
|
||||||
|
|
||||||
|
\section{Dynamic Modelling and Control of the Bicycle–Cargo System}
|
||||||
|
|
||||||
|
\subsection{System Modelling and Simulation}
|
||||||
|
|
||||||
|
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
|
||||||
|
perceives minimal additional effort, such that the overall behaviour remains similar to riding a standard bicycle.
|
||||||
|
|
||||||
|
From a control perspective, the rider provides a reference motion in terms of speed and position, while the cargo cart
|
||||||
|
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:
|
||||||
|
|
||||||
|
\begin{equation*}
|
||||||
|
\sum \tau = J_{\Delta} \times \dot{\omega}
|
||||||
|
\end{equation*}
|
||||||
|
where $\tau$ is the total torque applied to the system, $J_{\Delta}$ is the equivalent moment of inertia, and $\omega$
|
||||||
|
is the angular velocity.
|
||||||
|
|
||||||
|
The total torque is composed of the motor torque $\tau_m$ and a friction torque modelled as:
|
||||||
|
|
||||||
|
\begin{equation*}
|
||||||
|
\tau_f = -f \times \omega
|
||||||
|
\end{equation*}
|
||||||
|
where $f$ is the viscous friction coefficient.
|
||||||
|
|
||||||
|
The resulting dynamic equation becomes:
|
||||||
|
|
||||||
|
\begin{equation*}
|
||||||
|
J_{\Delta} \dot{\omega} = \tau_m - f \omega
|
||||||
|
\end{equation*}
|
||||||
|
|
||||||
|
In the Laplace domain, this leads to:
|
||||||
|
\begin{equation*}
|
||||||
|
\omega(s) = \frac{\tau_m(s)}{J_{\Delta} s + f}
|
||||||
|
\end{equation*}
|
||||||
|
|
||||||
|
Since the linear velocity is related to angular velocity by the wheel radius $R$, we obtain:
|
||||||
|
|
||||||
|
\begin{equation*}
|
||||||
|
v(s) = R \times \omega(s)
|
||||||
|
\end{equation*}
|
||||||
|
|
||||||
|
Thus, the transfer function between motor torque and linear velocity is:
|
||||||
|
\begin{equation*}
|
||||||
|
\frac{v(s)}{\tau_m(s)} = \frac{R}{J_{\Delta} s + f}
|
||||||
|
\end{equation*}
|
||||||
|
|
||||||
|
|
||||||
|
\subsubsection{Simulation and Control}
|
||||||
|
|
||||||
|
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.
|
||||||
|
|
||||||
|
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 control error is defined as the difference between a desired relative position and the measured displacement between
|
||||||
|
the bicycle and the cargo cart:
|
||||||
|
\begin{equation*}
|
||||||
|
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}
|
||||||
|
|
||||||
|
\end{figure}
|
||||||
|
|
||||||
|
\begin{figure}[!h]
|
||||||
|
\centering
|
||||||
|
\includegraphics[width=\linewidth]{./Figures/error_fig.png}
|
||||||
|
\caption{Position tracking error between bicycle and cargo cart.}
|
||||||
|
\label{fig:tracking_error}
|
||||||
|
\end{figure}
|
||||||
|
|
||||||
|
\subsection{Control Architecture Exploration}
|
||||||
|
|
||||||
|
\subsection{Experimental Characterization Under Different Loads}
|
||||||
|
|
||||||
|
% ******************************** DISCUSSION **************************************************************************
|
||||||
|
|
||||||
|
|
||||||
\section{Discussion}
|
\section{Discussion}
|
||||||
This project could be seen as an introduction to the VESC project for someone who don't know about it from beforehand,
|
This project could be seen as an introduction to the VESC project for someone who don't know about it from beforehand,
|
||||||
the challenges the new users face during setup, as well as a demand for clear expectations concerning documentation
|
the challenges the new users face during setup, as well as a demand for clear expectations concerning documentation
|
||||||
on the subject. The project laMAD is leading should probably not be a fork of the project, as the project is still
|
on the subject. The project the MAD is leading should probably not be a fork of the project, as the project is still
|
||||||
in development.
|
in development.
|
||||||
|
|
||||||
As a final note, this proved to be a project which could easily be developed into several different projects in
|
As a final note, this proved to be a project which could easily be developed into several different projects in
|
||||||
|
|
@ -333,12 +441,21 @@ impose a tripping hazard. There, an encapsulation of an encrypted control frame
|
||||||
|
|
||||||
\section*{Acknowledgment}
|
\section*{Acknowledgment}
|
||||||
|
|
||||||
The preferred spelling of the word ``acknowledgment'' in America is without
|
The authors acknowledge the use of generative AI tools during this project, both for the development work and for
|
||||||
an ``e'' after the ``g''. Avoid the stilted expression ``one of us (R. B.
|
writing this paper.
|
||||||
G.) thanks $\ldots$''. Instead, try ``R. B. G. thanks$\ldots$''. Put sponsor
|
|
||||||
acknowledgments in the unnumbered footnote on the first page.
|
|
||||||
|
|
||||||
%\section*{References}
|
AI was used as a helper in several parts of the project. This includes support for understanding and structuring
|
||||||
|
technical ideas, and giving suggestions during the development of different subsystems. It was also used to help with
|
||||||
|
writing, rephrasing, and improving clarity in the report.
|
||||||
|
|
||||||
|
However, all final decisions, implementations, and validations were done by the authors. The AI outputs were always
|
||||||
|
checked, corrected when needed, and adapted based on reliable technical sources and our own experiments and
|
||||||
|
understanding of the system.
|
||||||
|
|
||||||
|
We consider AI as a useful tool to speed up thinking and writing, but not as a source of final technical truth.
|
||||||
|
Everything related to design choices, analysis, and results was verified and fully controlled by the authors.
|
||||||
|
|
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