Seite - 340 - in Emerging Technologies for Electric and Hybrid Vehicles

Energies 2017,10, 315 LP= { left, if LPtotal> threshold right, if LPtotal< threshold (12) where threshold is acertainfixedvalueusedasareference tocomparewithLPtotal. The leftor right positionof thevehiclecanbeclearlydistinguishedwhenLPtotal isgreateror lower thanthe threshold, respectively. Figure24illustrates therecordedDCvoltageandcurrentvaluesasthevehiclewasmoved from left to right. Thesevalueshavea trendsimilar to thedata shown inFigure20,wherepower decreasedsignificantlywith increasingmisalignment. Thedata fromFigure24wereusedtodetermine therelationshipbetweenvoltageandmisalignmentdistance, f(VL), showninEquation(10),which cameoutasy = −0.1834x2 − 0.055x + 6.7756. In theequation,x is themeasuredvoltage,andyis thedeterminedmisalignmentrangeoutput. Figure24.Voltageandcurrentmeasuredat the load,anditscalculatedpower,anditscalculatedpower (secondexperiment: experimentalvehicle load). Figure25showsthedataacquiredfromtheexperimentalvehicle fromthesecondexperiment, indicatingtheestimatedlateralmisalignmentbasedonvoltagereadings fromthedigitalvoltmeter, andthedeterminedleft/right regionfromthesensorcoil. Thenegativevaluesandpositivevalueson themisalignmentrangeaxisare the leftandright lateralmisalignment locationvalues, respectively. It canbeobservedthat thevehicle’sposition isalwaysaboveorbelowtheoriginpoint (0cm). This is becausea tolerancerangehasbeenassignedin the fuzzysteeringcontroller,which is±1.7cmat the originpoint. If thedesiredpositionwassetat theoriginpoint (0cm), itcanbeexpectedthatcontinuous steeringoscillationswilloccur,which isundesirable forboth thevehicle’s safetyandcomfort. Figure25.Estimatedmisalignmentrange fromtheACAScontrollerbasedonvoltagereadingsandthe left/rightpositiongivenbythesensorcoil. 340