Journal Article
Onboard Sensor and Actuator Calibration of a Tripod Electric Vehicle Using Circular, Linear, and Cornering Motion Tests
2022-08-09
Abstract This article aims at the calibration of an onboard sensor and actuator parameters as well as the identification of the open-loop transfer function of the steering and traction control systems of tripod electric vehicles (EVs). Tripod EVs are commonly used as forklifts and automatic guided vehicles in a factory or wheelchairs in a hospital. A test procedure called the circular, linear, and cornering motions (CLCM) test is introduced in this article for making the corrections which are caused by many factors including the potentiometer of the steering angle error, hall sensor error of the traction speed, the backlash of the steering system, and the tire slip angle that can lead the tripod EV to deviate from the path. The CLCM test is subdivided into circular, linear, and cornering motion subtasks for each individual identification and calibration purposes.