Electric Vehicle
Apps.ElectricVehicle History
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APMonitor Modeling Language
https://www.apmonitor.com
Electric Vehicle Model
Model car
Parameters ! motor parameters (dc motor) v = 36 ! input voltage to the motor (volts) rm = 0.1 ! motor resistance (ohm) lm = 0.01 ! motor inductance (henrys) kb = 6.5e-4 ! back emf constant (volt-sec/rad) kt = 0.1 ! torque constant (N-m/a) jm = 1.0e-4 ! rotor inertia (kg m^2) bm = 1.0e-5 ! mechanical damping (linear model of friction: bm * dth) ! automobile parameters jl = 1000*jm ! vehicle inertia (1000 times the rotor) bl = 1.0e-3 ! vehicle damping (friction) k = 1.0e2 ! spring constant for connection rotor/drive shaft b = 0.1 ! spring damping for connection rotor/drive shaft rl = 0.005 ! gearing ratio between motor and tire (meters travelled ! per radian of motor rotation) tau = 2 ! time constant of a lag between motor torque and car ! velocity. this lag is a simplified model of the power ! train. (sec) End Parameters Variables i = 0 ! motor electrical current (amps) dth_m = 0 ! rotor angular velocity sometimes called omega (radians/sec) th_m = 0 ! rotor angle, theta (radians) dth_l = 0 ! wheel angular velocity (rad/sec) th_l = 0 ! wheel angle (radians) dth_v = 0 ! vehicle velocity (m/sec) th_v = 0 ! distance travelled (m) End Variables Equations lm*$i - v = -rm*i - kb *$th_m jm*$dth_m = kt*i - (bm+b)*$th_m - k*th_m + b *$th_l + k*th_l jl*$dth_l = b *$th_m + k*th_m - (b+bl)*$th_l - k*th_l tau * $dth_v = rl * dth_l - dth_v dth_m = $th_m dth_l = $th_l dth_v = $th_v End Equations
End Model
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The principal input to the model is the voltage to the motor. Motor parameters include resistance (ohm), motor inductance (henrys), back emf constant (volt-sec/rad), torque constant (N-m/a), rotor inertia (kg m^2), and mechanical damping. The automotive parameters include vehicle inertia, vehicle damping (friction), transmission dynamics, gearing ratios, and a simplified model of tire friction on the paved surface. The electric vehicle models tracks system including:
- motor electrical current (amps)
- rotor angular velocity sometimes called omega (radians/sec)
- rotor angle, theta (radians)
- wheel angular velocity (rad/sec)
- wheel angle (radians)
- vehicle velocity (m/sec)
- distance travelled (m)
The principal input to the model is the voltage to the motor. Motor parameters include resistance (ohm), motor inductance (henrys), back emf constant (volt-sec/rad), torque constant (N-m/a), rotor inertia (kg m^2), and mechanical damping. The automotive parameters include vehicle inertia, vehicle damping (friction), transmission dynamics, gearing ratios, and a simplified model of tire friction on the paved surface. The electric vehicle models tracks system including motor electrical current (amps), rotor angular velocity (radians/sec), rotor angle (radians), wheel angular velocity (rad/sec), wheel angle (radians), vehicle velocity (m/sec), and distance travelled (m).
Simplified Electric Vehicle
The principal input to the model is the voltage to the motor. Motor parameters include resistance (ohm), motor inductance (henrys), back emf constant (volt-sec/rad), torque constant (N-m/a), rotor inertia (kg m^2), and mechanical damping. The automotive parameters include vehicle inertia, vehicle damping (friction), transmission dynamics, gearing ratios, and a simplified model of tire friction on the paved surface. The electric vehicle models tracks system including:
- motor electrical current (amps)
- rotor angular velocity sometimes called omega (radians/sec)
- rotor angle, theta (radians)
- wheel angular velocity (rad/sec)
- wheel angle (radians)
- vehicle velocity (m/sec)
- distance travelled (m)
- electric.apm