Upravljanje dinamikom skaliranog modela vozila na pokretnoj traci

master's thesis

• Title (english): Control of a scaled vehicle model on a treadmill
• Author: Nikša Ovčina
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Željko Jakopović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Sustavi upravljanja dinamikom vozila postali su neizostavni dio današnjih putničkih vozila, te je to područje predmet intenzivnih istraživanja u današnje vrijeme. Takvi sustavi trenutno se koriste kako bi olakšali upravljanje, ali i učinili samu vožnju sigurnijom. U ovome radu, razvija se algoritam upravljanja uzdužnom i bočnom dinamikom modela vozila (1:10) s neovisnim upravljanjem momentom svakog kotača. Sustav je reguliran adaptivnim LQ-regulatorom koji je dobiven linearizacijom sustava oko nominalne trajektorije.

Abstract (english)

Vehicle dynamics management systems have become an indispensable part of today's passenger vehicles, thus this area is the subject of intensive research. Such systems are currently used to make driving easier, but also to make driving safer. In this paper, an algorithm for controlling the longitudinal and lateral dynamics of a vehicle model (1:10) with independent torque control of each wheel is developed. The system is controlled by an adaptive LQ-regulator obtained by linearizing the system around a nominal trajectory.

• Keywords: dinamika vozila; skalirani model vozila; upravljanje; pokretna traka; neovisno upravljanje; all wheel drive; adaptivna regulacija; LQR; raspodjela momenta
• Keywords (english): vehicle dynamics; scaled vehicle model; control; treadmill; independent control; all wheel drive; adaptive; LQR; torque distribution
• Language: croatian
• URN:NBN: urn:nbn:hr:168:659787
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Repository: FER Repository
• Created on: 2023-01-13 15:45:48