Modeling and Control of an Autonomous Racing Car
Author
Term
4. term
Education
Publication year
2019
Submitted on
2019-09-05
Pages
71
Abstract
Denne afhandling beskriver design og analyse af en ikke-lineær model og en kontrolstrategi for Aalborg University Race teamets G8 racerbil og er motiveret af behovet for en Autonomous Racing Car (ARC) til at konkurrere i Formula Student-arrangementet i 2021. Præstationen af den designede model evalueres i et simuleringsmiljø implementeret i Matlab Simulink. Der er gjort en indsats for at holde det genanvendeligt til udvidelser i det fremtidige arbejde. Bevægelsesligningerne er formuleret, inklusive dækdynamik sammen med aerodynamisk forstyrrelse og tager hensyn til langsgående og lateral dynamik. En linearisering af den ikke-lineære model tillader en implementering af en linear quadratic controller (LQR) design, til at regulere hastigheden. Modellen viser god ydelse i regioner over 36 kilometer i timen, men regionen under lider af en forenklet motormodel.
This thesis describes the design and analysis of an nonlinear model and a control strategy for Aalborg University Race team’s G8 race car and has been motivated by the need for an Autonomous Racing Car (ARC) to compete in the Formula Student event in 2021. The performance of the designed model is evaluated in a simulation environment, implemented in Matlab Simulink. Effort has been put in to keep it reusable for extensions in future work. The equations of motion have been formulated, including tire dynamic together with aerodynamic disturbance and take into account longitudinal and lateral slip. A linearization of the nonlinear model has be performed to allow an implementation of a linear quadratic controller (LQR) design, to regulate the speed. The model shows good performance in regions above 36 kilometer per hour, but region below suffer from a simplified engine model.
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