Proposal of Automatic Power Plug Insertion Control for Electric Vehicle with In-Wheel-Motors

Electric Vehicles (EVs) have attracted significant attention, and users are enjoying increasing opportunities to recharge EVs by themselves in parking lots. However, the task of power plug insertion is a heavy burden for users particularly with weak power, because the power supply cables for EVs, ca...

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Bibliographic Details
Published in2020 IEEE 16th International Workshop on Advanced Motion Control (AMC) pp. 227 - 232
Main Authors Kusuyama, Daiki, Emmei, Tomoki, Fujimoto, Hiroshi, Hori, Yoichi
Format Conference Proceeding
LanguageEnglish
Published IEEE 14.09.2020
Subjects
Electric vehicle
Electric vehicles
Force
force control
force estimation
in-wheel-motor
non-holonomic system
Observers
peg-in-hole
Plugs
Task analysis
Torque
Vehicle dynamics
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Summary:Electric Vehicles (EVs) have attracted significant attention, and users are enjoying increasing opportunities to recharge EVs by themselves in parking lots. However, the task of power plug insertion is a heavy burden for users particularly with weak power, because the power supply cables for EVs, carrying a large amount of electricity, are heavy and thick. In this paper, we propose a control method of automatic power plug insertion by applying the reaction force/moment control. The reaction force/moment is estimated with a driving force observer and a yaw-moment observer. These estimates are fed back to regulate the reaction force to the desired value and the reaction moment from the power plug to 0. Simulation and experimental results show that the proposed method can accurately estimate the reaction force/moment and control them appropriately. These results demonstrate that proposed method can achieve automatic power plug insertion.
ISSN:1943-6580
DOI:10.1109/AMC44022.2020.9244332