Design, implementation, and evaluation of vehicle control systems using a side slip estimator
Typ
Examensarbete för masterexamen
Program
Automotive engineering (MPAUT), MSc
Publicerad
2019
Författare
Rakholia, Meet
Tisell, Oscar
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Vehicle control systems have been integral to the performance and stability of a vehicle. In this
thesis, two vehicle control strategies namely, the yaw controller and the yaw-beta controller,
were presented. The control algorithm was based on the model predictive control method. A
simulation environment developed using a two track vehicle model coupled with a tire model
based on the magic tire formula was used to test the controllers in different test scenarios.
These tests were carried out to evaluate the performance of the two controllers with respect to
performance and stability. The results showed small differences between the performance of
the controllers, but enough to indicate the initial assumptions on the behaviour. The yaw-beta
controller was more stable than the yaw controller at the expense of the vehicle performance.
However, the results did not show significant enough differences to determine the magnitude
of any potential gains.
Beskrivning
Ämne/nyckelord
model predictive control , vehicle model , yaw controller , yaw-beta controller , magic tire formula