这项研究提出了在墨西哥国家塞拉亚校区开发的实验性电动汽车。决定使用高尔夫球车类型的汽油车作为起点。最初,尸体被移走了,车辆被电气化了,这意味着它的发动机被电动发动机取代了。随后,放置了用于测量车辆状态的传感器,已校准,和仪器。此外,建立了数学模型,并提出了该模型的参数识别策略。实现了由负责控制加速器的四个从设备组成的通信方案,制动器,方向盘,并测量与里程计相关的传感器。主设备负责与从属设备通信,在屏幕上显示信息,创建日志,并实现基于经典的轨迹跟踪技术,几何,和预测控制。最后,在实验原型上实现的控制算法的性能在跟踪误差和控制输入方面进行了比较,跨越三种不同类型的轨迹:车道变换,直角曲线,掉头。
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.