Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge

scientific master's theses

• Author: Jadranko Matuško
• Mentor: Nedjeljko Perić (mentor)
• Committee member: Borivoje Rajković (predsjednik povjerenstva)
• Committee member: Nedjeljko Perić (član povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2019, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

U ovom radu su analizirane složene dinamicke pojave u kontaktu izmeu automobilskog kotaca i podloge. Dan je pregled postojecih modela trenja u kontaktu s posebnim naglaskom na dinamicke modele. Predložena su empirijska proširenja LuGreovog modela kako bi dobio kompaktan model koji je valjan u širokom rasponu vrijednosti normalne sile. Nadalje, dan pregled metoda estimacije sile trenja izmeu kotaca i podloge. Predložena su dva algoritma estimacije sile trenja. Prvi algoritam je zasnovan na modificiranom Kalmanovu filtru, dok drugi algoritam koristi neuronsku mrežu kao "univerzalni aproksimator" kako bi se osigurala robusnost estimacije. Pokazana je stabilnost za estimator zasnovan na neuronskoj mreži. Provjera predloženih metoda estimacije je provedena simulacijski na pojednostavljenom modelu automobilskog kotaca korištenjem programskog paketa Matlab/Simulink.

Abstract (english)

In this thesis, complex dynamic effects in tire-road contact surface are analyzed. An overview of existing tire-road friction models, with special attention given to dynamic models, is presented. Some empirical extensions of LuGre tire/road friction model are proposed, in order to obtain a compact model, that is valid in a wide range of normal forces. In addition, an overview of existing methods for tire-road friction force estimation is given. Two algorithms for for the tire/road friction estimation are proposed. The first algorithm is based on modified Kalman filter, while the second one represents a fully nonlinear estimator which uses a neural network as a "universal approximator", in order to ensure estimation robustness. A verification of the proposed estimation methods is performed on a simple one-wheel model using Matlab/Simulink.

• Keywords: Sustavi aktivne sigurnosti; Trenje u kontaktu kotaca i podloge; LuGreov model trenja; Estimacija trenja; PI Klaman filtar; neuronske mreže; Stabilnost u smislu Lyapunova
• Keywords (english): Active safety systems; Tire/road friction; LuGre friction model; Friction estimation; PI Kalman filter; Neural networks; Lyapunov stability
• Language: croatian
• URN:NBN: urn:nbn:hr:168:510546
• Study programme: Title: Postgraduate master programme in electrical engineering; Study programme type: university; Study level: postgraduate; Academic / professional title: Magistar znanosti elektrotehnike (Magistar znanosti elektrotehnike)
• Catalog URL: https://lib.fer.hr:8443/cgi-bin/koha/catalogue/detail.pl?biblionumber=29295
• Type of resource: Text
• Extent: IX, 87 str. ; 30 cm
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-11-27 12:37:35