Master's Dissertation Defense Session No. 282 of PPGEE - Zero Moment Point Applied to Trajectory Control of In-Wheel Electric Vehicles

STUDENT: ROBSON JOSÉ NEVES MATTOS JUNIOR

 

DATE: 10/29/2024

 

TIME: 4:00 PM

 

LOCATION: https://us02web.zoom.us/j/82485199539?pwd=ZLE7HFP2zUlK2PFTa13s7HONoMbsxc.1

 

TITLE: Zero Moment Point Applied to Trajectory Control of In-Wheel Electric Vehicles

 

KEYWORDS: Electric vehicles; Energy transition; In-wheel motors; Collision avoidance; Torque control; ZMP;

 

ABSTRACT:

 

Although electric vehicles are no longer a novelty because they have existed for At least 100 years old, they are important in the energy transition currently underway in the world, since, given their nature, they do not directly emit greenhouse gases. There are different architectures for electric vehicles, and the use of in-wheel electric motors is one of the most promising technological possibilities, as it allows each wheel to have an electric motor, enabling individual torque control and freeing up more space in the vehicle. Vehicle safety is another fundamental issue in the development of vehicles today. Collision avoidance in the face of an obstacle is a safety feature to be considered. Individualized torque control in each wheel can be applied using the Zero Moment Point or (ZMP), which represents the point that maintains the dynamic balance of a chain of bodies. It can be used as a stability parameter to prevent the vehicle from rolling over in collision avoidance maneuvers. With the implementation of the proposed control, it was possible to maintain vehicle stability in collision avoidance maneuvers on flat and inclined terrain.

 

MEMBERS OF THE BOARD:

 

JES DE JESUS ​​FIAIS CERQUEIRA (UFBA) - Advisor

 

ANDRE ROSENDO (Worcester Polytechnic Institute - USA) - Advisor

 

TITO LUIS MAIA SANTOS (UFBA)

 

Taniel Silva Franklin (CIMATEC)

 

On 10/22/2024

Em 24/10/2024