MPC approach to yaw rate and sideslip angle control for afour-wheel steering actuated vehicle
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2021
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Otomotiv mekatronik mühendisi, zaman ve emek ile ilgili sorunlara çözüm bulmak için teknolojiyi kullanır. Araç dinamiği ve kontrolü, küçük ölçekli şirketlerden büyük şirketlere kadar birçok endüstriyel sektör tarafından geliştirilmiştir. Sürtünme tahmin kontrol sistemi, seyahat, frenleme, otonom uygulama, araba yarışı gibi birçok uygulamada çok önemlidir. Son zamanlarda, araç dinamiği kontrolleri için yeni fırsatlar sunmak üzere yeni araç direksiyon sistemleri geliştirilmiştir. Bu yazıda, durum uzayının kararlı bölgesi içindeki hareketi sınırlamak için bir kara aracının yalpalama oranını ve yana kayma açısını kontrol etmek için bir model kestirimci kontrolör (MPC) önerilmiştir. MPC kontrolörünü de test etmek için dört tekerlekten direksiyonlu gerçekçi bir doğrusal olmayan araç modeli geliştirilmiştir. Tüm simülasyon sonuçları ayrıntılı olarak sunulur ve tartışılır. Simülasyon sonuçları, dört tekerlekten direksiyonlu MPC kontrollü aracın, önden direksiyon kontrollü araca kıyasla stabilite ve yol takibi açısından daha iyi performansa sahip olduğunu göstermektedir. Bu tezde, MATLAB programı kullanılarak da bazı uygulamalar kullanılarak kullanılmış gerçek araba modeli tasarlanacak ve test edilecektir.
MPC APPROACH TO YAW RATE AND SIDESLIP ANGLE CONTROL FOR A FOUR-WHEEL STEERING ACTUATED VEHICLE Automotive mechatronics engineer's use technology to find solutions of problems concerning time and effort. Vehicle dynamic and control are developed by many industrial sectors from small-scale to large companies. Friction estimation control system is very important in many applications such like traveling, braking, autonomous application, car racing …etc. Recently, new vehicle steering systems have been developed to offer new opportunities for vehicle dynamics controls. In this paper, a model predictive controller (MPC) is proposed to control the yaw rate and sideslip angle of a ground vehicle to bound the motion within the stable region of the state space. A realistic nonlinear vehicle model with four-wheel steering is developed to test the MPC controller as well. All simulation results are presented and discussed in detail. The simulation results show that the four-wheel steering MPC controlled vehicle has better performance when compared to the front wheel steering controlled vehicle in terms of stability and path following. In this thesis, the used real car model will be designed and tested using some applications using MATLAB program as well.
MPC APPROACH TO YAW RATE AND SIDESLIP ANGLE CONTROL FOR A FOUR-WHEEL STEERING ACTUATED VEHICLE Automotive mechatronics engineer's use technology to find solutions of problems concerning time and effort. Vehicle dynamic and control are developed by many industrial sectors from small-scale to large companies. Friction estimation control system is very important in many applications such like traveling, braking, autonomous application, car racing …etc. Recently, new vehicle steering systems have been developed to offer new opportunities for vehicle dynamics controls. In this paper, a model predictive controller (MPC) is proposed to control the yaw rate and sideslip angle of a ground vehicle to bound the motion within the stable region of the state space. A realistic nonlinear vehicle model with four-wheel steering is developed to test the MPC controller as well. All simulation results are presented and discussed in detail. The simulation results show that the four-wheel steering MPC controlled vehicle has better performance when compared to the front wheel steering controlled vehicle in terms of stability and path following. In this thesis, the used real car model will be designed and tested using some applications using MATLAB program as well.
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Makine Mühendisliği, Mechanical Engineering