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Onboard Sensor and Actuator Calibration of a Tripod Electric Vehicle Using Circular, Linear, and Cornering Motion Tests
- Hasan Ismail - National Yang Ming Chiao Tung University, Department of Mechanical Engineering, Taiwan ,
- Chien-Hsun Chiang - National Yang Ming Chiao Tung University, Department of Mechanical Engineering, Taiwan ,
- Wei-Hua Chieng - National Yang Ming Chiao Tung University, Department of Mechanical Engineering, Taiwan
Journal Article
02-16-01-0006
ISSN: 1946-391X, e-ISSN: 1946-3928
Sector:
Topic:
Citation:
Ismail, H., Chiang, C., and Chieng, W., "Onboard Sensor and Actuator Calibration of a Tripod Electric Vehicle Using Circular, Linear, and Cornering Motion Tests," SAE Int. J. Commer. Veh. 16(1):87-109, 2023, https://doi.org/10.4271/02-16-01-0006.
Language:
English
Abstract:
This article aims at the calibration of an onboard sensor and actuator parameters
as well as the identification of the open-loop transfer function of the steering
and traction control systems of tripod electric vehicles (EVs). Tripod EVs are
commonly used as forklifts and automatic guided vehicles in a factory or
wheelchairs in a hospital. A test procedure called the circular, linear, and
cornering motions (CLCM) test is introduced in this article for making the
corrections which are caused by many factors including the potentiometer of the
steering angle error, hall sensor error of the traction speed, the backlash of
the steering system, and the tire slip angle that can lead the tripod EV to
deviate from the path. The CLCM test is subdivided into circular, linear, and
cornering motion subtasks for each individual identification and calibration
purposes. The effect of the CLCM test has been verified by both simulation and
experiment via an 8-shape navigation path consisting of all linear, circular,
and cornering motions. After the CLCM test, the motor control unit (MCU) was
coded with the calibrated transfer function of the tripod EV. As a result, the
shift of the rotation center with a radius of 1200 mm during circular motion has
been reduced to 50 mm. The deviation of the linear motion test has been confined
to 20 mm/10 m at a constant speed. The tripod EV is able to perform a 90°
cornering motion with a maximum error θ within 10°. The
experimental results show that the CLCM test is applicable to identify the error
sources of the tripod EV and estimate the wheel slip angle as well as the
backlash.