Simulatie van de aandrijving en de regeling van de robottrailer in
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)
, TU Delft