Morales Viscaya Joel Artemio, Barranco Gutiérrez Alejandro Israel, González Gómez Gilberto
Departamento de Estudios de Posgrado e Investigación, Tecnológico Nacional de México en Celaya (TecNM), Antonio García Cubas #600, Celaya 38010, Guanajuato, México.
Sensors (Basel). 2024 Apr 26;24(9):2769. doi: 10.3390/s24092769.
This research presents an experimental electric vehicle developed at the Tecnológico Nacional de México Celaya campus. It was decided to use a golf cart-type gasoline vehicle as a starting point. Initially, the body was removed, and the vehicle was electrified, meaning its engine was replaced with an electric one. Subsequently, sensors used to measure the vehicle states were placed, calibrated, and instrumented. Additionally, a mathematical model was developed along with a strategy for the parametric identification of this model. A communication scheme was implemented consisting of four slave devices responsible for controlling the accelerator, brake, steering wheel, and measuring the sensors related to odometry. The master device is responsible for communicating with the slaves, displaying information on a screen, creating a log, and implementing trajectory tracking techniques based on classical, geometric, and predictive control. Finally, the performance of the control algorithms implemented on the experimental prototype was compared in terms of tracking error and control input across three different types of trajectories: lane change, right-angle curve, and U-turn.
本研究展示了一辆在墨西哥国立理工学院塞拉亚校区研发的实验性电动汽车。决定以一辆高尔夫球车类型的汽油车作为起点。最初，拆除车身并对车辆进行电动化改造，即将其发动机替换为电动发动机。随后，放置、校准并安装了用于测量车辆状态的传感器。此外，还开发了一个数学模型以及该模型的参数识别策略。实施了一种通信方案，该方案由四个从设备组成，负责控制加速器、刹车、方向盘以及测量与里程计相关的传感器。主设备负责与从设备通信、在屏幕上显示信息、创建日志以及基于经典控制、几何控制和预测控制实施轨迹跟踪技术。最后，根据跟踪误差和控制输入，在三种不同类型的轨迹（变道、直角弯道和掉头）上比较了在实验原型上实现的控制算法的性能。
