prikaz prve stranice dokumenta Design of yaw rate controller for electric vehicle
Embargo period 2025-01-01
master's thesis
Design of yaw rate controller for electric vehicle
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:350350
Kolarić, Filip
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Kolarić, F. (2023). Design of yaw rate controller for electric vehicle (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:350350

Kolarić, Filip. "Design of yaw rate controller for electric vehicle." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:350350

Kolarić, Filip. "Design of yaw rate controller for electric vehicle." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:350350

Kolarić, F. (2023). 'Design of yaw rate controller for electric vehicle', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:350350

Kolarić F. Design of yaw rate controller for electric vehicle [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:235:350350

F. Kolarić, "Design of yaw rate controller for electric vehicle", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:350350

Metadata
TitleDesign of yaw rate controller for electric vehicle
Title (croatian)Projektiranje sustava upravljanja brzinom skretanja električnog vozila
AuthorFilip Kolarić
MentorMario Hrgetić (mentor)
Committee memberBiserka Runje (predsjednik povjerenstva)
Committee memberMario Hrgetić (član povjerenstva)
Committee memberMihael Cipek (član povjerenstva)
Committee memberMiro Hegedić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-01-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Modern electric vehicles are typically equipped with more than one electric motor. The ability to install and use more than one electric motor introduces another degree of freedom in terms of vehicle handling. This over-actuation offers substantial opportunities for active yaw dynamics control, most notably torque vectoring – the distribution of wheel torques between multiple wheels. In the last ten years, the yaw rate control of electric vehicles with multiple electric motors and the development of optimal control strategies have been subject to intensive research with the goal of improving safety, performance, and overall driving experience. The main goal of this thesis is to propose and evaluate the performance of one such yaw rate control system. First, current state-of-the-art yaw rate reference generators are overviewed, and a method is proposed to generate yaw rate reference using AVL VSM™ to analyse the steady-state and transient behaviour of the vehicle. An alternative, time-optimal yaw reference generator is also proposed, as a basis for future work. The second approach uses the kinematic vehicle model with a non-linear tire model that is used throughout this work. Based on a detailed literature review, a few yaw moment controllers are compared, and a PD^3 controller is chosen as a promising and robust option. The proposed Daisy-chain torque allocation is worked out in detail, explaining the reasons for the application of such a design. The yaw rate control system is modelled in MathWorks MATLAB/Simulink® and run in co-simulation with AVL VSM™. Finally, the yaw rate control system is evaluated on several test manoeuvres.
Abstract (croatian)
Moderna električna vozila obično su opremljena s više od jednog elektromotora. Mogućnost ugradnje i korištenja više od jednog elektromotora unosi još jedan stupanj slobode u pogledu upravljanja vozilom. Ova pojava većeg broja upravljačkih jedinica nego što ima stanja kojima treba upravljati (over-actuation), pruža znatne mogućnosti aktivnom upravljanju dinamike skretanja, ponajprije vektoriranju momenata – raspodjeli okretnog momenta kotača između više kotača. U posljednjih deset godina, upravljanje brzine skretanja električnih vozila s više elektromotora i razvoj optimalnih strategija upravljanja predmet su intenzivnih istraživanja s ciljem poboljšanja sigurnosti, performansi i cjelokupnog iskustva vožnje. Glavni cilj ovog diplomskog rada je predložiti i komentirati performanse jednog takvog sustava za upravljanje brzine skretanja. Prvo su pregledani trenutni najsuvremeniji generatori referentne brzine skretanja i predložena je metoda za generiranje referentne brzine skretanja uz pomoć AVL VSM™ koji je korišten za analizu stacionarnog i tranzijentnog ponašanja vozila. Zastim je predložen i vremenski optimalan referentni generator brzine skretanja također kao osnova za budući rad. Ovaj pristup koristi kinematički model vozila s nelinearnim modelom gume koji se koristi u ovom radu. Pregledom literature uspoređeno je nekoliko regulatora momenta skretanja, te je PD^3 regulator odabran kao obećavajuća i robusna opcija. Predložena daisy-chain raspodjela momenta je detaljno razrađena uz objašnjenje razloga odabira takvog dizajna. Sustav upravljanja brzine skretanja modeliran je u MathWorks MATLAB/Simulink® i izvodi se u ko-simulaciji s AVL VSM™. Naposlijetku se sustav upravljanja brzine skretanja analizira na nekoliko testnih manevara.
Keywords
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:235:350350
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsEmbargoed access
Embargo expiration date: 2025-01-01
Terms of useLicence In copyright icon
Created on2023-01-23 09:15:16