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master's thesis
Modelsko prediktivno upravljanje dinamikom vozila
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:814541
Švec, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Švec, M. (2018). Modelsko prediktivno upravljanje dinamikom vozila (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:814541

Švec, Marko. "Modelsko prediktivno upravljanje dinamikom vozila." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:814541

Švec, Marko. "Modelsko prediktivno upravljanje dinamikom vozila." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:814541

Švec, M. (2018). 'Modelsko prediktivno upravljanje dinamikom vozila', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 07 September 2024, https://urn.nsk.hr/urn:nbn:hr:168:814541

Švec M. Modelsko prediktivno upravljanje dinamikom vozila [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 September 07] Available at: https://urn.nsk.hr/urn:nbn:hr:168:814541

M. Švec, "Modelsko prediktivno upravljanje dinamikom vozila", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:814541

Metadata
TitleModelsko prediktivno upravljanje dinamikom vozila
Title (english)Model predictive control of vehicle dynamics
AuthorMarko Švec
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberŽeljko Jakopović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Glavna tema ove disertacije je razvoj autonomnog sustava upravljanja momentom i skretanjem baziranog na algoritmu modelskog prediktivnog upravljanja za linearni vremenski promjenjivi model vozila. Cilj je osigurati dobro praćenje reference poštivajući pritom razna fizikalna ograničenja i ograničenja dizajna. Na početku je dan uvod u postojeće sustave aktivne sigurnosti, najčešće pristupe modeliranju dinamike vozila i u teoriju modelskog prediktivnog upravljanja. Ta poglavlja predstavljaju pregled matematičkih alata korištenih pri projektiranju regulatora. Regulator je tada detaljno opisan, a njegova učinkovitost testirana istim manevrom, ali za različite duljine predikcijskog horizonta i različite pristupe linearizaciji. Dodatno, autonomno upravljano vozilo uspoređeno je s poluautonomnim vozilom u kojem vozač određuje zakret volana. Razmotreni su simulacijski rezultati i dani su prijedlozi za poboljšanje algoritma.
Abstract (english)
The main topic of this thesis is the development of an autonomous torque vectoring and steering system based on a model predictive control(MPC) algorithm for a linear time varying(LTV) vehicle model. The goal is to ensure good reference tracking, while fulfilling various physical and design constraints. At the beginning, an introduction to existing active safety systems, most common vehicle dynamics modelling approaches and the theory of model predictive control is given. Those chapters present an overview of the mathematical tools used to design the controller. The controller is then described in detail and its performance is tested for the same driving manoeuvre but for different prediction horizon lengths and different linearization approaches. Additionally, autonomously steered vehicle is compared to semi-autonomous vehicle in which the steering angle is determined by the driver. Simulation results are discussed and suggestions for improvement of the algorithm are given.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:814541
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)
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File originBorn digital
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Created on2019-03-14 01:30:06