Sinteza regulacijskog sustava dinamike vozila uz primjenu aktivnog ovjesa

master's thesis

• Title (english): Vehicle dynamics control system design based on active suspension
• Author: Marin Pavlaković
• Mentor: Branimir Škugor (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom je radu prikazana sinteza aktivnih i ovjesa putničkog/sportskog vozila, njihova implementacija u napredno simulacijsko okruženje te usporedna analiza performansi sustava upravljanja. U radu su uspoređeni pasivni ovjes, optimalni aktivni ovjes temeljen na primjeni linearnog kvadratnog regulatora (eng. Linear Quadratic Regulator). Unutar rada opisana je teorija pasivnih i aktivnih ovjesa. Te su navedeni komercijalni primjeri najčešćih aktivnih sustava ovjesa. Izveden je model prostora stanja za dinamiku cjelokupnog vozila na bazi bočnog modela i modela valjanja vozila. Postavljena je LQR optimizacijska pretlja za navedeni sustav. Provedena je usporedna analiza koja se temelji na primjeni karakterističnih procedura za testiranje bočne dinamike vozila poput Double lane change i Turn In procedure. Osim usporedne analize različitih upravljanja, uzeta je u obzir i robustnost regulatora s obzirom na dinamiku aktuatora poput ograničenja gradijenta sile te brzine odziva na performanse upravljanja u navedenim procedurama. Konačni rezultat je regulator po varijablama stanja koji se koristi u paralelnoj simulaciji s AVL VSM simulacijskim paketom za provedbu procedura. U konačnici ispitana su različita podešenja LQR regulatora s obzirom na različite kriterije kao što su udobnost vožnje te upravljivost.

Abstract (english)

This paper presents the synthesis of active suspensions and chassis of a passenger/sports vehicle, their implementation in an advanced simulation environment, and a comparative analysis of the control system’s performance. The paper compares passive suspension with an optimal active suspension based on the linear quadratic regulator (LQR) approach. The theory of passive and active suspensions is described within the paper, along with commercial examples of the most common active suspension systems. A state-space model is derived for the overall vehicle dynamics based on the lateral and roll models of the vehicle. An LQR optimization problem is formulated for the given system. A comparative analysis is conducted, focusing on characteristic vehicle lateral dynamics procedures such as the double lane change and turn-in maneuvers. In addition to comparing different control strategies, the robustness of the controller is considered with respect to actuator dynamics, including force gradient limitations and response speed, affecting the control performance in the mentioned procedures. The final result is the gain (K) used in the feedback loop during co-simulation with the AVL VSM simulation package to perform the procedures. Ultimately, different gains are obtained for different vehicle objectives, such as comfort and/or maneuverability.

• Keywords: upravljački sustavi; udobnost; upravljivost; dinamika vozila; aktivni ovjes
• Keywords (english): control system design; comfort; handling; vehicle dynamics; active suspension
• Language: english
• URN:NBN: urn:nbn:hr:235:706234
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Embargoed access; Embargo expiration date: 2025-07-05
• Created on: 2023-07-06 12:10:40