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Current Collector for Heavy Vehicles on Electrified Roads: Motion Control
Örebro University, School of Science and Technology. (AASS MRO Lab)
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0002-5925-1379
Örebro University, School of Science and Technology. (AASS MRO Lab)
2015 (English)In: Journal of Asian Electric Vehicles, ISSN 1348-3927, Vol. 13, no 2, 1725-1732 p.Article in journal (Refereed) Published
Abstract [en]

We present the adopted motion control schemes of a novel current collector manipulator to be mounted beneath a heavy hybrid electric vehicle to collect electric power from road embedded power lines. We describe our approach of power line detection and tracking based on an array of inductive proximity sensors. The emphasis is on the adopted motion control logic for sequential and closed loop motions to detect and track the power line respectively. We implement the sliding mode control approach for the closed loop control scheme as straightforward solution given the binary nature of the inductive proximity sensors being used. The overall architecture of the entire motion control system is presented. Finally, the implementation of the entire control logic in a form of a state machine is discussed.

Place, publisher, year, edition, pages
Osaka, Japan: Asian Electric Vehicle Society , 2015. Vol. 13, no 2, 1725-1732 p.
Keyword [en]
current collector, electrified road, hybrid electric vehicle, motion control, sliding mode control
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-46966OAI: oai:DiVA.org:oru-46966DiVA: diva2:876459
Available from: 2015-12-03 Created: 2015-12-03 Last updated: 2017-10-18Bibliographically approved

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Aldammad, MohamadAnaniev, AnaniKalaykov, Ivan

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CiteExportLink to record
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