Projektiranje sustava upravljanja dinamikom formula student vozila i eksperimentalna provjera na umanjenoj maketi vozila

master's thesis

• Title (english): Design of a formula student vehicle dynamics control system and experimental verification on a scaled-down vehicle model
• Author: Matko Pečanić
• Mentor: Danijel Pavković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-05-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Vozila pogonjena električnim motorima kod kojih svaki motor pogoni zasebni kotač dobra su platforma za razvoj sustava kontrole stabilnosti vozila zbog brzog odziva motora, lake upravljivosti i velike koristi takvih sustava. Cilj ovog rada je razviti i testirati takve sustave za trkaći bolid formule student. Jedan od sustava ima zadaću spriječiti suvišno proklizavanje pogonskih kotača preciznim i pravovremenim smanjivanjem momenta . Drugi sustav ima zadaću stabilizirati brzinu zakretanja vozila ostvarivanjem različitih momenta na lijevim i desnim pogonskim kotačima. Performanse ovih sustava testirane su u simulacijama za koje su razvijeni matematički modeli. Testovi su također provedeni i na umanjenoj maketi vozila. U oba slučaja ostvarena je zadaća sustava i uočeno znatno poboljšanje dinamike vozila.

Abstract (english)

Vehicles powered by electric motors where each motor drives a separate wheel are a good platform for development of vehicle stability control systems due to the quick motor response, easy control and the great benefits of such systems. The aim of this paper is to develop and test such systems for the formula student racing car. One of the systems has the task of preventing excessive slip of the drive wheels by precise reduction in torque at right time. The second system has the task of stabilizing the speed of rotation of the vehicle by achieving different torque on the left and right driven wheels. The performance of these systems has been tested in simulations for which mathematical models have been developed. Tests were also performed on the scaled-down model of the vehicle. In both cases, the systems successfully accomplished the tasks and a significant improvement in the vehicle dynamics was observed.

• Keywords: formula student; kontrola dinamike vozila; kontrola vuče; kontrola bočne dinamike; umanjena maketa; sustav regulacije vuče; sustav stabilizacije vozila pomoću kontrolirane raspodjele momenata
• Keywords (english): formula student; vehicle dynamics control; traction control; lateral dynamics control; scaled-down version; Traction Control System; Torque Vectoring
• Language: croatian
• URN:NBN: urn:nbn:hr:235:629220
• 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: Open access
• Created on: 2019-05-23 00:51:20