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master's thesis
Estimacija kuta proklizavanja vozila
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:979263
Poljičak, Eugen
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Poljičak, E. (2015). Estimacija kuta proklizavanja vozila (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:979263

Poljičak, Eugen. "Estimacija kuta proklizavanja vozila." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:979263

Poljičak, Eugen. "Estimacija kuta proklizavanja vozila." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:979263

Poljičak, E. (2015). 'Estimacija kuta proklizavanja vozila', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:979263

Poljičak E. Estimacija kuta proklizavanja vozila [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:979263

E. Poljičak, "Estimacija kuta proklizavanja vozila", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:979263

Metadata
TitleEstimacija kuta proklizavanja vozila
Title (english)Sideslip angle estimation
AuthorEugen Poljičak
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberDanko Basch (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-02-26, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:979263
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 on2019-03-14 00:06:43