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scientific master's theses
Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:510546
Matuško, Jadranko
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Matuško, J. (2019). Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge (Scientific master's theses). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:510546

Matuško, Jadranko. "Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:510546

Matuško, Jadranko. "Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:510546

Matuško, J. (2019). 'Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge', Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:510546

Matuško J. Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge [Scientific master's theses]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 May 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:510546

J. Matuško, "Modeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge", Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:510546

Metadata
TitleModeliranje procesa i estimacija stanja u kontaktnoj površini automobilskog kotača i podloge
AuthorJadranko Matuško
MentorNedjeljko Perić (mentor)
Committee memberBorivoje Rajković (predsjednik povjerenstva)
Committee memberNedjeljko Perić (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2019, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
U ovom radu su analizirane složene dinamicke pojave u kontaktu izmeu automobilskog kotaca i podloge. Dan je pregled postojecih modela trenja u kontaktu s posebnim naglaskom na dinamicke modele. Predložena su empirijska proširenja LuGreovog modela kako bi dobio kompaktan model koji je valjan u širokom rasponu vrijednosti normalne sile. Nadalje, dan pregled metoda estimacije sile trenja izmeu kotaca i podloge. Predložena su dva algoritma estimacije sile trenja. Prvi algoritam je zasnovan na modificiranom Kalmanovu filtru, dok drugi algoritam koristi neuronsku mrežu kao "univerzalni aproksimator" kako bi se osigurala robusnost estimacije. Pokazana je stabilnost za estimator zasnovan na neuronskoj mreži. Provjera predloženih metoda estimacije je provedena simulacijski na pojednostavljenom modelu automobilskog kotaca korištenjem programskog paketa Matlab/Simulink.
Abstract (english)
In this thesis, complex dynamic effects in tire-road contact surface are analyzed. An overview of existing tire-road friction models, with special attention given to dynamic models, is presented. Some empirical extensions of LuGre tire/road friction model are proposed, in order to obtain a compact model, that is valid in a wide range of normal forces. In addition, an overview of existing methods for tire-road friction force estimation is given. Two algorithms for for the tire/road friction estimation are proposed. The first algorithm is based on modified Kalman filter, while the second one represents a fully nonlinear estimator which uses a neural network as a "universal approximator", in order to ensure estimation robustness. A verification of the proposed estimation methods is performed on a simple one-wheel model using Matlab/Simulink.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:510546
Study programmeTitle: Postgraduate master programme in electrical engineering
Study programme type: university
Study level: postgraduate
Academic / professional title: Magistar znanosti elektrotehnike (Magistar znanosti elektrotehnike)
Catalog URLhttps://lib.fer.hr:8443/cgi-bin/koha/catalogue/detail.pl?biblionumber=29295
Type of resourceText
ExtentIX, 87 str. ; 30 cm
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-11-27 12:37:35