Modelsko prediktivno upravljanje dinamikom vozila

master's thesis

• Title (english): Model predictive control of vehicle dynamics
• Author: Marko Švec
• 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: 2018-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Glavna tema ove disertacije je razvoj autonomnog sustava upravljanja momentom i skretanjem baziranog na algoritmu modelskog prediktivnog upravljanja za linearni vremenski promjenjivi model vozila. Cilj je osigurati dobro praćenje reference poštivajući pritom razna fizikalna ograničenja i ograničenja dizajna. Na početku je dan uvod u postojeće sustave aktivne sigurnosti, najčešće pristupe modeliranju dinamike vozila i u teoriju modelskog prediktivnog upravljanja. Ta poglavlja predstavljaju... More pregled matematičkih alata korištenih pri projektiranju regulatora. Regulator je tada detaljno opisan, a njegova učinkovitost testirana istim manevrom, ali za različite duljine predikcijskog horizonta i različite pristupe linearizaciji. Dodatno, autonomno upravljano vozilo uspoređeno je s poluautonomnim vozilom u kojem vozač određuje zakret volana. Razmotreni su simulacijski rezultati i dani su prijedlozi za poboljšanje algoritma. Less

Abstract (english)

The main topic of this thesis is the development of an autonomous torque vectoring and steering system based on a model predictive control(MPC) algorithm for a linear time varying(LTV) vehicle model. The goal is to ensure good reference tracking, while fulfilling various physical and design constraints. At the beginning, an introduction to existing active safety systems, most common vehicle dynamics modelling approaches and the theory of model predictive control is given. Those chapters... More present an overview of the mathematical tools used to design the controller. The controller is then described in detail and its performance is tested for the same driving manoeuvre but for different prediction horizon lengths and different linearization approaches. Additionally, autonomously steered vehicle is compared to semi-autonomous vehicle in which the steering angle is determined by the driver. Simulation results are discussed and suggestions for improvement of the algorithm are given. Less

• Keywords: dinamika vozila; modelsko prediktivno upravljanje; aktivna sigurnost; autonomno vozilo
• Keywords (english): vehicle dynamics; model predictive control; active safety; autonomous vehicle
• Language: english
• URN:NBN: urn:nbn:hr:168:814541
• 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: 2019-03-14 01:30:06