Estimacija kuta proklizavanja vozila

master's thesis

• Title (english): Sideslip angle estimation
• Author: Eugen Poljičak
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Danko Basch (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-02-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu opisana je metoda estimacije kuta proklizavanja vozila upotrebom proširenog Kalmanovog filtra. Model vozila predstavlja električni automobil s pogonom na sva četiri kotača te je implementiran u programskom okruženju MatLab Simulink. Koristeći podatke sa senzora (enkoderski mjerači kutne brzine, mjerač zakreta volana, žiroskop i akcelerometar), estimacijom je određen tip podloge na kojoj se nalazi vozilo te njegov kut proklizavanja. Nadalje, implementiran je sustav kontrole proklizavanja kotača koji regulira momente na sva četiri motora kotača i time sprječava pojavu proklizavanja. Implementiran je i sustav vektorskog upravljanja momentima vozila s ciljem smanjenja kuta proklizavanja estimiranog proširenim Kalmanovim filtrom te postizanja putanje vozila bliže putanji koju je vozač želio.

Abstract (english)

This paper describes a method of sideslip angle estimation using the extended Kalman filter. Vehicle model represents the four-wheel driven electric car and is implemented in the Matlab Simulink software. Sideslip angle and road surface conditions are estimated using the sensor data (angular velocity encoders, wheel rotation encoder, gyroscope and accelerometer). Furthermore, a traction control system that regulates the motor torque to each wheel and thus prevents each wheel from slipping against the surface is implemented. The vehicle torque vectoring system is also implemented, with purpose to decrease the sideslip angle estimated by extended Kalman filter and to achieve the desired vehicle path.

• Keywords: kut proklizavanja vozila; prošireni Kalmanov filtar; podešavanje mjerenja akcelerometra; estimacija tipa podloge; sustav kontrole proklizavanja kotača; vektorsko upravljanje momentima vozila
• Keywords (english): sideslip angle; extended Kalman filter; tuning of the accelerometer measurements; estimation of road surface condition; traction control system; torque vectoring
• Language: croatian
• URN:NBN: urn:nbn:hr:168:979263
• 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 00:06:43