Nova metoda za ocjenu stabilnosti automobilskih nelinearnih sustava upravljanja

master's thesis

• Title (english): A novel method for assessing stability in nonlinear automotive control systems
• Author: Teo Banov
• Mentor: Branimir Novoselnik (mentor)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Committee member: Mato Baotić (član povjerenstva)
• Committee member: Vinko Lešić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-02-28, Croatia

Abstract

Analiza nelinearnog modela vozila pomoću teorije stabilnosti po Ljapunovu. Prvo je dana teorija nelinearnih sustava. Bočni model vozila opisan je korištenjem drugog Newtonovog zakona, kutovi klizanja izvedeni su iz geometrije prednjih i stražnjih kotača, a duljina relaksacije gume uvedena je u model. Trajektorije stanja su prikazane u faznoj ravnini pomoću simulacije modela u Simulinku S obzirom da se modelira bočno gibanje, pretpostavlja se da je longitudinalna brzina konstanta. Uspoređeni su rezultati simulacije stabilnog i nestabilnog modela. Prikazan je utjecaj relaksacije gume na bočnu stabilnost. Ljapunovljeva funkcija se koristi u algoritmu za pronalaženje ulaza za koji stabilni sustav postaje nestabilan.

Abstract (english)

Nonlinear analysis of vehicle model using Lyapunov stablity theory. First, theory of nonlinear systems is given. Lateral vehicle model is described using Newton's second law, slip angles are derived from geometry of front and rear wheels and tyre relaxation length is introduced into model. Trajectories are shown in phase plane plot based on data from simulation of vehicle model in Simulink. Since lateral motion is modeled, longitudinal speed is assumed constant. Results from simulation of stable and unstable model are compared. Impact of tyre relaxation on lateral stability is shown. Lyapunov's function is used in an algorithm to find input for which stable system becomes unstable.

• Keywords: model automobila; nelinearni sustav; analiza nelinearnog sustava; Ljapunov teorem stabilnosti; model bicikle; fazna ravina; prikaz trajektorija
• Keywords (english): vehicle model; non-linear system; analysis of nonlinear system; Lyapun's stability theorem; bicycle model; phase plane; trajectory plot
• Language: english
• URN:NBN: urn:nbn:hr:168:032248
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-03-28 07:43:09