Conference papers and presentations
Journal papers

Tavernini, D., Vacca, F., Metzler, M., Savitski, D., Ivanov, V., Gruber, P., Karci, A.E.H., Dhaens, M. and Sorniotti, A., 2019. An explicit nonlinear model predictive ABS controller for electro-hydraulic braking systems. IEEE Transactions on Industrial Electronics.

Dissemination events
Deliverables (public documents and/or publishable executive summaries)
D1.1: Hardware components specifications in connection with cost and industrialisations

The integration strategy of the TELL project starts from the powertrain approach. Two different solutions, respectively based on two technologies have been conceived: a 4WD powertrain featuring Si-MOSFETS thin-wafer inverters paired with two SynRMaPM motors; a 2WD powertrain adopting a GaN switching FETS inverter coupled with a DMG motor. The selected DC link are 48 V and 100 V nominal to find the best possible compromise among: complexity, reduced series in the battery, reduced number of electronic components by the elimination of the DC-DC converter; weight as a compromise of the elimination of the DC-DC converter and the increased weight of the motor; cost and efficiency, thanks to the use of low cost and efficient MOSFET technology. The layout of the battery pack is conceived to assure the maximum level of fail-safe operation and reduced length of the high power cables. The integration of motor and gearbox considers several typologies of motors.

D1.2: Control software specifications

This deliverable covers the control software specifications for the two electric vehicles (EVs) platforms to be developed within the TELL project. The two platforms to be developed are: i) a four-wheel drive (4WD) electric drivetrain system equipped with 100 V Si-MOSFET inverters and Synchronous Reluctance Motors assisted by Permanent Magnets (SynRMaPM) provided by GSME; ii) a two-wheel drive (2WD) electric drivetrain system equipped with a 48 V GaN inverter and a Synchronous Reluctance Motor with Commutated Windings (SynRMCW) provided by VEEM. With respect to the 2WD and 4WD drivetrains, the technical software specifications for the component integration and communication are defined by taking the whole vehicle architecture into account. The specifications for the controllers at the component (i.e. the inverters’ software) and vehicle level are presented herein. Furthermore, the overall control architecture of the TELL project, addressing both energy-efficient control allocation and drivability enhancements, is described. The aim is to accomplish a straightforward in-vehicle integration and implementation for a smooth interaction among the controllers. The control structure involves controllers for vehicle longitudinal dynamics such as: anti-jerk; wheel slip control (for traction); front-to-total torque distribution; regenerative braking. For each of the controllers listed above, the functionality, the list of inputs/outputs to be used and the procedure for control performance evaluation are provided in detail. A set of performance indicators is identified and explained. These aim at the objective quantification of the controller behaviour along the selected manoeuvres.

D1.3: Performance indicators

The present document overviews the various Key Performance Indicators for each feature of the hardware and software subsystems. Performances of specific components needs to be properly evaluated. This holds particularly for the angular sensors which will be employed in the development of the two powertrain systems of the project. These aspects are described in section 3. Such components are crucial for proper operation of the motor drivers of both systems. First the 2WD powertrain, operated at 48 V, is analysed in section 4.1 to provide performance indicators. The focus is put on proper operations of the inverter unit and the motor features. Then in section 4.2, focus is moved to the 4WD propulsion system powered at 100 V. Suitable figures of merit are analysed to assess the performance indicators of each subsystem, from the Si MOSFET inverter and the SynRMPM motor, up to the transmission stage and wheels. Section 5.1 regards the identification of good figures of merit to probe the performance of the prototype vehicle on the road in representative urban drive cycles. Performance indicators in real world operating conditions have been defined on the basis of D1.1. KPIs have been chosen in relation with the desired performance specifications to allow advancements with respect to the state of the art. Finally, in Section 5.2, the identification of the performance indicators for the controllers that will be integrated into the two vehicle demonstrators is given. Based on D1.2, where performance indicators have already been analysed, a deeper insight is provided, discussing the reasons and importance of those quantities for the evaluation of the controllers’ behaviour.

D1.4: Requirement of simulation models

This document describes the vehicle model specifically developed for the TELL project. The model herein described aims at the virtual assessment of performance and integration of the components and the control systems for the longitudinal dynamic of the vehicle prototype. Such simulation platform will be validated against in-vehicle tests carried out on the passive vehicle so that it can be used as a solid baseline for the controllers integration. The document is organised as follows: Chapter 2 describes the Matlab scripts needed for the simulation, providing a general overview of the virtual simulation environment. Chapter 3 provides the details of the main Simulink blocks involved in the simulation, such as the driver model, the chassis model, the wheels dynamics (together with the tyre characteristics) and the powertrain/drivetrains. Chapter 4 shows the simulation examples by means of the predefined set of manoeuvres which can be customised by the user. Finally, the conclusion is reported in Chapter 5.

D3.1: Definition of motor and mechanical transmission requirements

The present document reports simulations and data comparisons of the behaviour of SyRMPM motor and the related transmission system over a selection of driving cycles best representing urban mobility. The results will be used to define the operating conditions of the motor provided by GSME and implemented in the first project demonstrator vehicle. This work will be the basis of the optimisation activities of D3.2, aiming at minimising power losses while keeping high torque, power and energy-consumption performances of the motor. Together with the study of the motor itself, the study includes the transmission system, from the motor to the wheels of the vehicle. Starting from the characteristics of the motor the best range of transmission ratios has been identified. The possibility to select different transmission ratios leaves a degree of freedom to the design of the whole system which has to take into account other factors as well, like geometric, mechanical, and cost constraints. The first step was taken to fulfil the performance requirements, such as maximum speed, slope, acceleration, load etc.; then the energy consumption has been evaluated as a function of the transmission ratio, to provide optimisation guidelines, when considering real operations of the vehicle.

D5.5: Stray field immune magnetic sensing

There are more options available for stray-field robust magnetic angle measurement. One often used principle is a differential rotating field measurement using Hall sensors. This system however also has disadvantages compared to a new type of angle measurement invented by Infineon. This new system is called “integrated End-of-Shaft” (iEoS) and is integrated into the shaft end, which provides a very good shielding of external stray-fields. An additional advantage is the robustness against placement tolerances because of the large homogenous field. This large homogenous field can also be used for placement of more redundant silicon dies or sensor products inside the same constructed space to enable functional safety diagnostics. In this funding project this first idea will be adapted to the two new types of electric motors and additionally the angle sensing product shall be improved by angle calculation on-chip and high-speed interface on chip to speed up the angle measurement including data communication and to place the silicon chip into a small package to decrease the product-diameter and to enable smaller shaft diameters. The chip development has been started in parallel and it can cause a too long development time, so that existing sensor product have to be installed for the first demonstrators. However the status of chip-development will be reported in following reports.

D6.2: Data management plan

The document contains the first version of Data Management Plan (DMP) for the Horizon 2020 project TELL. The different aspects detailed in the document cover the whole life cycle of the research data that will be generated within the project. A paramount aspect of the DMP is to assure that the research data are as much as possible FAIR, i.e. findable, accessible, interoperable and re-usable, both within the project consortium and for the public users. The document is structured in a question/answer fashion and it follows the guidelines on data management for the Horizon 2020 framework. The main aspects covered in the DMP include: reasons to generate research data and to make them available in open-access, beneficiaries, data formats and standards for metadata, repositories and licenses, re-use, preservation, data transfer, security aspects and data management related costs. The DMP is meant to be kept as a living document. It will be revised and updated in different phases of the project, also based on the feedback from the TELL participants during the pilot testing of the interoperability of the produced research data using the selected repositories. This will be done before the data are finally made available to the public users, at the end of the project. An updated DMP will be created by M32 and detailed in the deliverable document D6.3.

D6.4: Dissemination strategy

This deliverable reports about the dissemination strategy that is adopted in the TELL project. The objectives and message to be conveyed are first identified together with a variegated target audience that covers the whole value chain for the components, control strategies and vehicles that will be developed/enhanced within TELL. The measures for dissemination and communication are presented on two levels: i) project level, including operations like the website, social media and logo; ii) individual level, in terms of measures that each project partner will adopt within their institution to communicate the updates and advances achieved during the project and attract the relevant stakeholders. The different phases of the project dissemination activity are presented with their relative objectives and specific dissemination measures. Clustering and community building activities with other European projects are enlisted and will be pursued during the project. The impact of the planned dissemination activities will be measured by means of clear performance indicators, which are indicated in the document. Finally, some practical guidance concerning the format of disclaimers and use of the EU logo in the publications are reported.