Đồ án tốt nghiệp - Research and modeling Vinfast impes electric motorcycle

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

RESEARCH AND MODELING VINFAST IMPES
ELECTRIC MOTORCYCLE
LE TRUNG
Student ID: 18145072
TRINH HONG Y
Student ID: 19145004
Major: AUTOMOTIVE ENGINEERING
Supervisor: NGUYEN TRUNG HIEU, M.Sc.

Ho Chi Minh City, January 2024

ACKNOWLEDGEMENTS
The first word I knew that the support of my family, my friends and teachers was
the inspiration and strength for me to complete my graduation project. I hope that in the
future I will be able to continue to uphold the faith and support of my family and make
my family proud of what I have achieved. I would also like to thank all the teachers and
students at Ho Chi Minh city University of Technology and Education for teaching me a
lot of valuable knowledge and guiding me through many things during my studies.
Thanks to these, it helped me to complete the thesis well.
In particular, I would like to express my sincere gratitude to Mr. Nguyen Trung
Hieu – Lecturer at Ho Chi Minh City University of Technology and Education for
directly guiding, helping and creating many conditions for me in the process project
implementation. His knowledge and experience not only helped me to complete the topic
well, but also set an example for me to study and follow in the future.
Once again, I would like to thank the teachers, and wish them always happy, good
health and more successful in his work to lead the next generations to a better day.

i

DISCLAIMER
Le Trung and Trinh Hong Y, the writers, affirm that the work presented in this thesis is
our own.
All of the information and figures in the thesis are correct and have not been previously
published in studies or study. I confirm that information obtained from other sources is
mentioned in the thesis.

ii

TABLE OF CONTENTS

ACKNOWLEDGEMENTS ................................................................................ i
DISCLAIMER ................................................................................................... ii
TABLE OF CONTENTS .................................................................................. iii
List of Tables .................................................................................................... xi
List of Equation ................................................................................................ xii
List of Acronym ................................................................
...

...
, 36.5, 36.4,
36.0, 35.1, 34.1, 33.5, 31.4, 29.0, 25.7, 23.0, 20.3, 17.5, 14.5, 12.0, 8.7, 5.4, 2.1, 0.0,
111

0.0, 0.0, 0.0, 0.0, 0.0, 2.6, 5.9, 9.2, 12.5, 15.8, 19.1, 22.4, 25.0, 25.6, 27.5, 29.0, 30.0,
30.1, 30.0, 29.7, 29.3, 28.8, 28.0, 25.0, 21.7, 18.4, 15.1, 11.8, 8.5, 5.2, 1.9, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.3, 6.6,
9.9, 13.2, 16.5, 19.8, 23.1, 26.4, 27.8, 29.1, 31.5, 33.0, 33.6, 34.8, 35.1, 35.6, 36.1,
36.0, 36.1, 36.2, 36.0, 35.7, 36.0, 36.0, 35.6, 35.5, 35.4, 35.2, 35.2, 35.2, 35.2, 35.2,
35.2, 35.0, 35.1, 35.2, 35.5, 35.2, 35.0, 35.0, 35.0, 34.8, 34.6, 34.5, 33.5, 32.0, 30.1,
28.0, 25.5, 22.5, 19.8, 16.5, 13.2, 10.3, 7.2, 4.0, 1.0, 0.0 }

void setup() {
//// PWM /////////
dac.begin(0x60)

////// Encoder ////
pinMode(encoderPinA, INPUT_PULLUP)
attachInterrupt(0, encoderISR, FALLING)

////// Initialize /////
Serial.begin(9600)
lastTime = millis()
start_time_cycle = millis()
}

void loop() {

for (int i = 0 i = 280 i++) {
setpointSpeed = ftp_75[i]
Serial.println(distance)
112

Serial.print(inputSpeed)
Serial.print(,)
Serial.println(setpointSpeed)
if (setpointSpeed = 43) {
setpointSpeed = 42
}

while (millis() - start_time_cycle 1000) //process in 1s
{
if (millis() - lastTime 300) {
//// Đọc tốc độ hiện tại của xe ////
inputSpeed = read_spd()
PID_program()
pwm_pulse_abs = abs(pwm_pulse)
//Serial.println(inputSpeed)
dac.setVoltage((uint16_t)(abs(pwm_pulse_abs) * 4096 / 3.58), false) // lay mau
2^12
lastTime = millis()
}
}
start_time_cycle = millis()
}
}
//PID program
void PID_program(void) {
e_speed = setpointSpeed - inputSpeed
pwm_pulse += e_speed * kp + e_speed_sum * ki + (e_speed - e_speed_pre) * kd
if (pwm_pulse 3.58) {
113

pwm_pulse = 3.58
}
if (pwm_pulse -3.58) {
pwm_pulse = -3.58
}
e_speed_pre = e_speed //save last (previous) error
e_speed_sum += e_speed //sum of error
if (e_speed_sum 4000) e_speed_sum = 4000
if (e_speed_sum -4000) e_speed_sum = -4000
}
double read_spd(void) {

double speed1 = (double)encoderPos * 200 / 32
speed1 *= (1.466 / 60)
speed1 *= 3.6

double length1 = (double)encoderPos / 32
length1 *= 1.466
distance += length1

encoderPos = 0
return speed1
}
double read_length(void) {
//pre_encoderPos += encoderPos
double length1 = (double)encoderPos / 30
length1 *= 1.4665
distance += length1
114

return length1
}

void encoderISR() {
encoderPos++
}

115

S

K

L

0

0

2

1

5

4