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master's thesis
Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:678327
Andrijašević, Josipa
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Andrijašević, J. (2023). Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:678327

Andrijašević, Josipa. "Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:678327

Andrijašević, Josipa. "Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:678327

Andrijašević, J. (2023). 'Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 September 2024, https://urn.nsk.hr/urn:nbn:hr:168:678327

Andrijašević J. Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 September 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:678327

J. Andrijašević, "Sustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:678327

Metadata
TitleSustav protiv proklizavanja pogonskih kotača zasnovan na nelinearnom modelskom prediktivnom upravljanju
Title (english)Traction control system based on nonlinear model predictive control
AuthorJosipa Andrijašević
MentorŠandor Ileš (mentor)
Committee memberŠandor Ileš (predsjednik povjerenstva)
Committee memberMario Vražić (član povjerenstva)
Committee memberZlatko Hanić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-13, Croatia
Abstract
Sustav protiv proklizavanja pogonskih kotača sprječava proklizavanje pogonskih kotača vozila prilikom ubrzavanja kako bi se održale dobre vozne karakteristike. Uzdužna dinamika vozila je izrazito nelinearna zbog nelinearne ovisnosti uzdužne sile gume u ovisnosti o klizanju. Regulator sustava protiv proklizavanja koristi nelinearni model gume opisan Pacejkinom magičnom formulom, a zasniva se na nelinearnom modelskom prediktivnom upravljanju. Metodom sekvencijalnog kvadratnog programiranje rješava se kvadratni program koji se u svakoj iteraciji dobiva linearizacijom nelinearnog modela sustava. Problem nelinearnog modelskog prediktivnog upravljanja postavljen je pomoću ACADO Toolkit alata koristeći Matlab sučelje. Cijeli sustav se ispituje uz pomoć CarMaker alata za simulaciju dinamike vozila.
Abstract (english)
The anti-slip system of the driving wheels is used to prevent wheel slip during acceleration in order to maintain good driving characteristics. The longitudinal dynamics of the vehicle are highly nonlinear due to the nonlinear dependence of the tire's longitudinal force on slip. The controller of the anti-slip system utilizes a nonlinear tire model described by the Pacejka's Magic Formula and is based on nonlinear model predictive control. The sequential quadratic programming method is used to solve a quadratic program, which is obtained in each iteration by linearizing the nonlinear model of the system. The problem of nonlinear model predictive control is formulated using the ACADO Toolkit tool with the Matlab interface. The entire system is tested using the CarMaker tool for vehicle dynamics simulation.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:678327
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-10-11 08:16:25