Pregled bibliografske jedinice broj: 1037178
Predictive Torque Vectoring Vehicle Control Based on a Linear Time Varying Model
Predictive Torque Vectoring Vehicle Control Based on a Linear Time Varying Model // 42nd International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2019)
Opatija, Hrvatska: Institute of Electrical and Electronics Engineers (IEEE), 2019. str. 1113-1118 doi:10.23919/mipro.2019.8756680 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1037178 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Predictive Torque Vectoring Vehicle Control Based on a Linear Time Varying Model
Autori
Švec, Marko ; Hrvatinić, Kruno ; Ileš, Šandor ; Matuško, Jadranko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Skup
42nd International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2019)
Mjesto i datum
Opatija, Hrvatska, 20.05.2019. - 24.05.2019
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
vehicle dynamics, model predictive control, torque vectoring, active safety, autonomous vehicle
Sažetak
In this paper we propose a 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. Non-linear vehicle model uses steering angle and wheel slip ratios as inputs. For control purposes, the model is linearized along the trajectory and then transformed to discrete time domain. Afterwards, the controller is tested using the sine with dwell driving manoeuvre with different prediction horizon lengths and different linearization approaches. Additionally, autonomously steered vehicle is compared to semiautonomous vehicle in which the steering angle is determined by the driver and the results are discussed.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Strojarstvo, Interdisciplinarne tehničke znanosti
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
