Razvoj algoritma prediktivnog upravljanja na skaliranom modelu vozila

master's thesis

• Title (english): Development of model predictive control algorithm on scaled model of vehicle
• Author: Marko Ratković
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Željko Jakopović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu obrađeno je modelsko prediktivno upravljanje pomoću MATLAB/
Simulink simulacijskog okruženja. Na temelju matematičkog modela lateralne dinamike
neskaliranog i skaliranog vozila, koristeći nekoliko različitih referenci, razvijeni
su i ispitivani sustavi upravljanja pomoću modelskog prediktivnog regulatora, adaptivnog
modelskog prediktivnog regulatora te MATLAB-ovog sustava održavanja prometne
trake. Detaljno je opisan odabir parametara modelskog prediktivnog regulatora
poput: vremena uzorkovanja, predikcijskog horizonta, kontrolnog horizonta, ograni-
čenja i težinskih matrica, a kao prilika za buduća istraživanja ostavljena je mogućnost
implementacije sustava na skaliranom modelu vozila.

Abstract (english)

This thesis describes a model predictive control using the MATLAB/ Simulink
simulation environment. Based on the mathematical model of lateral dynamics of
non-scaled and scaled vehicle, using several different references, control systems were
developed and tested using a model predictive controller, adaptive model predictive
controller and MATLAB Lane Keeping Assist system. The selection of model predictive
controller parameters such as: sampling time, prediction horizon, control horizon,
limits and weight is described in detail and the possibility of implementing the system
on a scaled vehicle model is left as an opportunity for future research.

• Keywords: MIMO sustavi; modelsko prediktivno upravljanje; modelski prediktivni regulator; adaptivni modelski prediktivni regulator; MATLAB; Simulink simulacijsko okruženje; MPC alat u Simulink-u; vrijeme uzorkovanja; predikcijski horizont; kontrolni horizont; ograničenja; težinske matrice; matematički model lateralne dinamike vozila; sustav praćenja prometne trake; sustav dizajniranja scenarija vožnje; simulacija; referenca; Berkeley autonomni trkaći automobil
• Keywords (english): MIMO systems; model predictive control; model predictive controller; adaptive model predictive controller; MATLAB; Simulink simulation environment; MPC toolbox; sample time; prediction horizon; control horizon; constraints; weights; mathematical lateral vehicle dynamics model; Lane Keeping Assist system; Driving Scenario Designer toolbox; simulation analysis; reference; Berkeley autonomous race car
• Language: croatian
• URN:NBN: urn:nbn:hr:168:909206
• 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 13:41:22