Abstract

In electric vehicles and plug-in hybrid electric vehicles, the utility grid charges the vehicle battery through a battery charger. Different solutions have been proposed to reduce the size and cost of the charger. One solution to achieve this is to include the devices used in the traction circuit in the charger circuit; this is called an integrated motor drive and battery charger. A split-phase PM motor, a motor with double set of windings, gives the opportunity to implement different winding configurations to keep the motor at stand-still when it is connected to the grid. The motor will act as inductors in the charging process. This is an advantageous chance in order to use the motor in an integrated battery charger. In the current thesis, a non-isolated battery charger based on some of these special configurations is tested. Two different PM motors are utilized in proposed chargers. Different windings configurations have been practically tested. The main challenge is to keep the motor in stand-still during charge operation. Practical results show that with proposed schemes, the motors are in stand-still. A National Instrument CompactRIO system is used to perform the control of the integrated charger in the practical implementation. A brief explanation of the practical setup and a user guide for running the experimental system is included as well. Ingeniería Industrial

Abstract

Decarbonization is one of the biggest challenges of our time. The European Union, as other organizations have already designed the strategies to achieve a more sustainable future. The integration of renewable energy sources is not a technical challenge anymore. However, due to the variability of these type of technologies some actions should be implemented so the conventional ones are not needed any more. One crucial solution is the implementation of demand side management actions which focus on controlling the demand rather than the generation. This thesis identifes the diferent actions on diferent demand side management actions and their performance in Spain. Also, an analysis regarding implemented policies in other European countries is performed to identify successful actions that could be later implemented in Spain. Ingeniería de la Energí

Abstract

Mención Internacional en el título de doctor The technological advances in the Intelligent Transportation Systems (ITS) are exponentially improving over the last century. The objective is to provide intelligent and innovative services for the different modes of transportation, towards a better, safer, coordinated and smarter transport networks. The Intelligent Transportation Systems (ITS) focus is divided into two main categories; the first is to improve existing components of the transport networks, while the second is to develop intelligent vehicles which facilitate the transportation process. Different research efforts have been exerted to tackle various aspects in the fields of the automated vehicles. Accordingly, this thesis is addressing the problem of multiple automated vehicles cooperation and coordination. At first, 3DCoAutoSim driving simulator was developed in Unity game engine and connected to Robot Operating System (ROS) framework and Simulation of Urban Mobility (SUMO). 3DCoAutoSim is an abbreviation for "3D Simulator for Cooperative Advanced Driver Assistance Systems (ADAS) and Automated Vehicles Simulator". 3DCoAutoSim was tested under different circumstances and conditions, afterward, it was validated through carrying-out several controlled experiments and compare the results against their counter reality experiments. The obtained results showed the efficiency of the simulator to handle different situations, emulating real world vehicles. Next is the development of the iCab platforms, which is an abbreviation for "Intelligent Campus Automobile". The platforms are two electric golf-carts that were modified mechanically, electronically and electrically towards the goal of automated driving. Each iCab was equipped with several on-board embedded computers, perception sensors and auxiliary devices, in order to execute the necessary actions for self-driving. Moreover, the platforms are capable of several Vehicle-to-Everything (V2X) communication schemes, applying three layers of control, utilizing cooperation architecture for platooning, executing localization systems, mapping systems, perception systems, and finally several planning systems. Hundreds of experiments were carried-out for the validation of each system in the iCab platform. Results proved the functionality of the platform to self-drive from one point to another with minimal human intervention. Los avances tecnológicos en Sistemas Inteligentes de Transporte (ITS) han crecido de forma exponencial durante el último siglo. El objetivo de estos avances es el de proveer de sistemas innovadores e inteligentes para ser aplicados a los diferentes medios de transporte, con el fin de conseguir un transporte mas eficiente, seguro, coordinado e inteligente. El foco de los ITS se divide principalmente en dos categorías; la primera es la mejora de los componentes ya existentes en las redes de transporte, mientras que la segunda es la de desarrollar vehículos inteligentes que hagan más fácil y eficiente el transporte. Diferentes esfuerzos de investigación se han llevado a cabo con el fin de solucionar los numerosos aspectos asociados con la conducción autónoma. Esta tesis propone una solución para la cooperación y coordinación de múltiples vehículos. Para ello, en primer lugar se desarrolló un simulador (3DCoAutoSim) de conducción basado en el motor de juegos Unity, conectado al framework Robot Operating System (ROS) y al simulador Simulation of Urban Mobility (SUMO). 3DCoAutoSim ha sido probado en diferentes condiciones y circunstancias, para posteriormente validarlo con resultados a través de varios experimentos reales controlados. Los resultados obtenidos mostraron la eficiencia del simulador para manejar diferentes situaciones, emulando los vehículos en el mundo real. En segundo lugar, se desarrolló la plataforma de investigación Intelligent Campus Automobile (iCab), que consiste en dos carritos eléctricos de golf, que fueron modificados eléctrica, mecánica y electrónicamente para darle capacidades autónomas. Cada iCab se equipó con diferentes computadoras embebidas, sensores de percepción y unidades auxiliares, con la finalidad de transformarlos en vehículos autónomos. Además, se les han dado capacidad de comunicación multimodal (V2X), se les han aplicado tres capas de control, incorporando una arquitectura de cooperación para operación en modo tren, diferentes esquemas de localización, mapeado, percepción y planificación de rutas. Innumerables experimentos han sido realizados para validar cada uno de los diferentes sistemas incorporados. Los resultados prueban la funcionalidad de esta plataforma para realizar conducción autónoma y cooperativa con mínima intervención humana. Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y Automática Presidente: Francisco Javier Otamendi Fernández de la Puebla.- Secretario: Hanno Hildmann.- Vocal: Pietro Cerri

Abstract

Road transport is one of the main sources of atmospheric emissions especially in urban areas where exceedances of NO2 or PM limit values are common. This has evident implications regarding health effects and justifies the need to design and apply effective measures to reduce emissions from mobile sources in urban areas. The methodologies to estimate emissions from road transport require, among other relevant factors, a detailed characterization of the actual fleet composition within the city that vehicle registration databases cannot provide. This contribution presents an experimental campaign to characterise the fleet of vehicles moving in the city of Madrid (Spain). The field campaign made use of different types of already available traffic cameras in the city to record nearly 5 million license plate readings from 1.3 million different vehicles. This information was used to estimate emissions with the COPERT model in the area of study. According to results obtained, passenger cars are responsible for 80.7% of the total mileage made in the city and are also the main contributors in terms of emissions (65%, 73% and 72% of NOx, CO2 and PM2.5, within mobile sources respectively), mainly due to diesel vehicles that represent 68.2% of total passenger cars mileage. The study also provided relevant information on average age and other policy-relevant details such as average emission factors that should be considered to propose effective emission abatement strategies in Madrid City. A comparison with the information obtained from official registration statistics illustrates the need to perform similar studies to gather accurate information of the actual fleet within a city and thus, design sound measures and policies.