Upravljanje gibanjem trkaćeg bolida koristeći modelsko prediktivno upravljanje

master's thesis

• Title (english): Motion control of a racing car using model predictive control
• Author: Matej Lovreković
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-09-17, Croatia

Abstract

Cilj ovog diplomskog rada je implementacija upravljanja kretanjem za autonomno mobilno vozilo u obliku trkaćeg automobila sa stražnjim pogonom. U ovom radu implementirano je prediktivno upravljanje modelom za praćenje zadane putanje i brzine vozila kroz stazu. Izvedena je analitička linearizacija modela vozila, čime se osigurava da je model uvijek lineariziran u trenutnoj radnoj točki. Linearizirani model potvrđen je simulacijama. Modeliranjem i upravljanjem aktuatora ostvaruje se izravna kontrola položaja aktuatora za upravljanje, momenta aktuatora za kočenje i momenta pogonskih motora. Prilagodljivi MPC i LTV MPC su implementirani. Algoritmi se provjeravaju kroz simulacije unutar Simulink sučelja. Upravljanje vozilom analizira se u različitim scenarijima, kao što su bučna okruženja, kašnjenja signala i aktivacija definiranih ograničenja upravljanja.

Abstract (english)

The aim of this thesis is to implement motion control for an autonomous mobile vehicle in the form of a rear-wheel drive racing car. In this work, model predictive control is implemented to follow a given path and vehicle speed through the track. An analytical linearization of the vehicle model is derived, ensuring that the model is always linearized at the current operating point. The linearized model is validated through simulations. By modeling and controlling the actuators, direct control of the actuator position for steering, actuator torque for braking, and torque of the drive motors is achieved. Adaptive MPC and LTV MPC are implemented. The algorithms are validated through simulations within the Simulink interface. Vehicle control is analyzed in various scenarios, such as noisy environments, signal delays, and the activation of defined control constraints.

• Keywords: Autonomni trkaći bolid; Modelsko prediktivno upravljanje; Formula Student; Modeliranje; Simulacija; Adaptivni MPC
• Keywords (english): Autonomous racing car; Model predictive control; Formula Student; Modeling; Simulation; Adaptive MPC
• Language: croatian
• URN:NBN: urn:nbn:hr:168:839784
• 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: 2024-10-12 21:21:51