Title: Unified modelling and real-time simulation of an electric vehicle

Authors: Henning S. Vogt, Chad C. Schmitke, Kiumars Jalali, John J. McPhee

Addresses: Hamburg University of Technology (TUHH), Schwarzenbergstrasse 95, 21073 Hamburg, Germany. ' Motion Research Group, University of Waterloo, 200 University Ave. W., Waterloo, Ontario N2L 3G1, Canada. ' Motion Research Group, University of Waterloo, 200 University Ave. W., Waterloo, Ontario N2L 3G1, Canada. ' Motion Research Group, University of Waterloo, 200 University Ave. W., Waterloo, Ontario N2L 3G1, Canada

Abstract: This paper describes the unified modelling of a mechatronic system by a single, graph-theoretic representation, with specific application to an electric vehicle with in-wheel motors. Using linear graph theory and symbolic computing, we present a systematic approach to formulating and simplifying the governing equations. An optimised computational sequence is generated in Maple/DynaFlexPro and exported to Matlab/Simulink to perform real-time dynamics simulations. Although applied to a vehicle model, the general methodology presented here is applicable to a wide range of mechatronic systems.

Keywords: real-time simulation; dynamic modelling; electric vehicles; in-wheel motors; mechatronics; symbolic computing; linear graph theory.

DOI: 10.1504/IJVAS.2008.023582

International Journal of Vehicle Autonomous Systems, 2008 Vol.6 No.3/4, pp.288 - 307

Published online: 02 Mar 2009 *

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