Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju

master's thesis

• Title (english): Traction control system based on nonlinear model predictive control
• Author: Josipa Andrijašević
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (predsjednik povjerenstva)
• Committee member: Mario Vražić (član povjerenstva)
• Committee member: Zlatko Hanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-13, Croatia

Abstract

Sustav protiv proklizavanja pogonskih kotača sprječava proklizavanje pogonskih kotača vozila prilikom ubrzavanja kako bi se održale dobre vozne karakteristike. Uzdužna dinamika vozila je izrazito nelinearna zbog nelinearne ovisnosti uzdužne sile gume u ovisnosti o klizanju. Regulator sustava protiv proklizavanja koristi nelinearni model gume opisan Pacejkinom magičnom formulom, a zasniva se na nelinearnom modelskom prediktivnom upravljanju. Metodom sekvencijalnog kvadratnog programiranje rješava se kvadratni program koji se u svakoj iteraciji dobiva linearizacijom nelinearnog modela sustava. Problem nelinearnog modelskog prediktivnog upravljanja postavljen je pomoću ACADO Toolkit alata koristeći Matlab sučelje. Cijeli sustav se ispituje uz pomoć CarMaker alata za simulaciju dinamike vozila.

Abstract (english)

The anti-slip system of the driving wheels is used to prevent wheel slip during acceleration in order to maintain good driving characteristics. The longitudinal dynamics of the vehicle are highly nonlinear due to the nonlinear dependence of the tire's longitudinal force on slip. The controller of the anti-slip system utilizes a nonlinear tire model described by the Pacejka's Magic Formula and is based on nonlinear model predictive control. The sequential quadratic programming method is used to solve a quadratic program, which is obtained in each iteration by linearizing the nonlinear model of the system. The problem of nonlinear model predictive control is formulated using the ACADO Toolkit tool with the Matlab interface. The entire system is tested using the CarMaker tool for vehicle dynamics simulation.

• Keywords: Nelinearno modelsko prediktivno upravljanje; Dinamika vozila; Sustav protiv proklizavanja kotača; ACADO Toolkit; Sekvencijalno kvadratno programiranje
• Keywords (english): Nonlinear Model Predictive Control; Vehicle Dynamics; Traction Control System; ACADO Toolkit; Sequential Quadratic Programming
• Language: croatian
• URN:NBN: urn:nbn:hr:168:678327
• 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
• Created on: 2023-10-11 08:16:25