Delft University of Technology
Faculty Mechanical, Maritime and Materials Engineering
Transport Technology

O.J. Gietelink Simulatie van de aandrijving en de regeling van de robottrailer in Matlab/Simulink.
Computer program, Report 99.3.TT.5158B, Transport Engineering and Logistics.

This assignment describes the drive and control of the robottrailer (RT), which are modelled and simulated with Matlab/Simulink.
First of all the fundamental equations of motion are deducted for the RT and converted to a parametrized model. Then the necessary theory will be presented with regard to the various drive line components, such as the generator, the battery system, the voltage source inverter and the asynchronous machine (AM). Also the methods for controlling the RT and the AM are treated, which are respectively the cascade control and the field oriented control. All components and control systems are then implemented in one integrated model.
This model is then simulated and verified. The results show that the RT can be controlled in an efficient and flexible way. Furthermore the various vehicle and motor parameters can be optimized using the simulations. With these parameters given, the design of the RT can be taken to the construction phase.

Reports on Transport Engineering and Logistics (in Dutch)
Modified: 2007.01.03; , TU Delft / 3mE / TT / LT.