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Current collector for heavy vehicles on electrified roads: kinematic analysis
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)
2014 (English)In: International journal of electric and hybrid vehicles, ISSN 1751-4088, E-ISSN 1751-4096, Vol. 6, no 4, p. 277-297Article in journal (Refereed) Published
Abstract [en]

We present a prototype of a novel current collector manipulator to be be mounted beneath a heavy vehicle to collect electric power from road-embedded power lines. We describe the concept of the ground-level power supply system for heavy vehicles and its main components. The main requirements and constraints, such as safety, robustness to harsh road and weather operational conditions, ambient environment aspects and dynamic properties, are introduced. The emphasis is on the developed kinematic model, which provides the base for further development of the control system. We propose and derive an alternative approach for representing the inverse kinematics by a two-dimensional polynomial approximation that avoids the usage of complicated non-linear equations. Its simplicity is demonstrated by a numerical example with the basic parameters of the prototype. The basic motion sequences of the current collector and the way to control them are outlined. 

Place, publisher, year, edition, pages
InderScience Publishers, 2014. Vol. 6, no 4, p. 277-297
Keywords [en]
current collector, electrified roads, hybrid vehicles, HEVs, hybrid electric vehicles, ground–level power supply, 2DOF manipulators, kinematic modelling, heavy vehicles, road embedded power lines, inverse kinematics, motion control
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-41285DOI: 10.1504/IJEHV.2014.067602Scopus ID: 2-s2.0-84924266982OAI: oai:DiVA.org:oru-41285DiVA, id: diva2:780303
Available from: 2015-01-14 Created: 2015-01-14 Last updated: 2022-09-12Bibliographically approved

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Aldammad, MohamadAnaniev, AnaniKalaykov, Ivan

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CiteExportLink to record
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