Upravljanje bočnom dinamikom skaliranog modela vozila na daljinsko upravljanje

master's thesis

• Title (english): Control of lateral vehicle dynamics of a remotely controlled car
• Author: Ivan Šolc
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (predsjednik povjerenstva)
• Committee member: Jadranko Matuško (član povjerenstva)
• Committee member: Martina Kutija (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

U ovom diplomskom radu razvijen je algoritam vektoriranja zakretnog momenta kotača s PI regulatorom za skalirani model automobila u mjerilu 1:10 s prednjim pogonom i dva beskolektorska istosmjerna elektromotora. Algoritam upravlja kutnom brzinom zakreta automobila i ovisno o tome generira reference momenata za pojedine kotače. Izrađen je simulacijski model automobila i algoritma u Simulinku te je ispravnost algoritma testirana na manevrima dvostruke promjene prometne trake i sinusnog skretanja sa zadržavanjem. Također su opisani postupci mjerenja fizikalnih parametara skaliranog modela automobila.

Abstract (english)

In this master's thesis a torque vectoring algorithm with PI yaw rate controller for a 1:10 front wheel drive scaled car model is developed. The model car is currently using two BLDC motors. The algoritm generates torque references for each wheel based on a desired yaw rate. A Simulink model of a scaled car model and the torque vectoring algorithm have been made and validated on a double lane change and sine with dwell manuevers. The process of obtaining and measuring the scaled car model's parameters is also presented.

• Keywords: vektoriranje zakretnog momenta; kutna brzina zakreta; dinamika vozila; upravljanje vozilom; skalirani model automobila; BLDC motor; Dugoff-ov model gume; dvostruka promjena prometne trake; sinusno skretanje sa zadržavanjem; model automobila
• Keywords (english): torque vectoring; yaw rate; vehicle dynamics; vehicle control; scaled vehicle; BLDC motor; Dugoff tyre model; double lane change; sine with dwell; vehicle model
• Language: croatian
• URN:NBN: urn:nbn:hr:168:755155
• 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: 2023-01-13 16:18:42