Modeling and multivariable control of the urban electric vehicle UAL-eCARM

Abstract

This work presents the modeling and complete control of the Drive-by-Wire system of an electric urban vehicle. This system includes the steering mechanism, acceleration and brake of the vehicle. The modeling has been performed using low-order transfer functions using “black box” models. In regards to control, all developed controllers are of the PID type in their different configurations. The direct current actuators coupled to the steering and brake are controlled by a cascade control system while the acceleration is controlled by a gain scheduling system. The project source code is freely available on Github. Experimental results demonstrate the validity of the models obtained, as well as the effectiveness of the developed controllers.