10 July 2000 Analysis of electric machines and drive systems for unmanned ground vehicle applications
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The integration of electric machines and drive systems into Unmanned Ground Vehicle (UGV) applications depends largely on meeting requirements of drive power and speed control with the limited space of an in-wheel design. In addition, UGV drive systems must operate efficiently under all conditions so as to minimize the power consumption from limited power source. The concern for energy consumption and space limitations in UGV applications suggests the need for application specific motors and control systems that are integral part of the vehicle design. The performance of a design specific electric motor and control system for a UGV application in a simulated environment and on a laboratory test bench would provide much information about the motor's operating parameters and allow for optimization of the drive system for the specific UGV application. The parameters of concern here are the output power and torque of the motor over the speed range of interest and the overall efficiency of the drive system. The effects of speed control algorithms on motor performance are also of importance in determining the capabilities of the motor and control system as an integrated unit. This paper presents the development and initial testing of an integrated UGV drive system in the Power Electronics Lab (PEL) at the University of Alaska Fairbanks (UAF) in a joint effort with Utah State University (USU). The UGV drive system employs a custom designed axial-gap permanent magnet synchronous motor (AGPMSM) with scalar control.
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Richard W. Wies, Richard W. Wies, Jerias Mitchell, Jerias Mitchell, Stephen Daniels, Stephen Daniels, Joseph G. Hawkins, Joseph G. Hawkins, } "Analysis of electric machines and drive systems for unmanned ground vehicle applications", Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391637; https://doi.org/10.1117/12.391637

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