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Energy Management for an Autonomous Solar Vehicle


J. Cupic

Diploma/Master Thesis, WS 09/10

In a first part of the project a model based comparison of two topologies for the energy management of the ASV was performed. An issue that was particularly covered are the losses that are induced by the current ripple in the motor and the inverter. In this context model of the current ripple and an expression for the ohmic losses its generates was derived. In order to carry out the measurements that allow verifying the model, the motor control hardware and software were developed. A PCB that serves as drive module for the ASV was designed and realized. The platform consists of three interconnected ARM7 microcontrollers that perform cascaded control of two motors of the ASV. The versatile design of the PCB also allows the implementation of other ASV modules. The software realized for the microcontrollers consists of torque controller for the permanent magnet synchronous motors and a communication interface. The main challenges were the implementation of the motor state observer with the limited computational capabilities of the employed microcontroller. In order to enable monitoring and data exchange with the motor control a MATLAB software that communicates trough the microcontrollers USART interface was developed. The projected measurements of the motor losses also required a test environment for the motors. For this purpose a brake based on the eddy current principle was designed and manufactured. The brake allows test runs of the motor under repeatable conditions and at different operating points. The complete setup then was used to perform measurements of the current ripple. These measurements have principally verified the elaborated model of the motor current ripple. The observed deviation from the proposed model is caused by the fact that the inductance experienced by the current ripple significantly deviates from the inductance of the fundamental current which the model is based on.


Type of Publication:

(12)Diploma/Master Thesis

S. Mariéthoz

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_3627
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