Modeling and Control of an Autonomous Racing Car
Author
Jensen, Jonatan Fuglsang
Term
4. term
Education
Publication year
2019
Submitted on
2019-09-06
Pages
71
Abstract
Denne afhandling udvikler og analyserer en ikke-lineær model og en kontrolstrategi til Aalborg University Race Teams G8-racer, motiveret af behovet for en autonom racerbil til Formula Student 2021. Modellen er opbygget med fokus på genbrug og videreudvikling og evalueres gennem simuleringer i MATLAB/Simulink. Bevægelsesligningerne omfatter dækdynamik, aerodynamiske forstyrrelser samt både længde- og tværgående hjulslip (fremad- og sideværts slip). For at kunne anvende en standard regulator lineæriseres den ikke-lineære model og bruges med en Linear Quadratic Regulator (LQR) til at regulere hastigheden. I simuleringerne viser modellen god ydeevne ved hastigheder over 36 km/t, mens ydeevnen under denne hastighed er begrænset af en forenklet motormodel.
This thesis develops and analyzes a nonlinear model and a control strategy for Aalborg University Race Team’s G8 race car, motivated by the need for an Autonomous Racing Car for the 2021 Formula Student event. The model is designed for reuse and future extensions and is evaluated through simulations in MATLAB/Simulink. The equations of motion include tire dynamics, aerodynamic disturbances, and both longitudinal and lateral tire slip (forward and sideways slip). To apply a standard controller, the nonlinear model is linearized and used with a Linear Quadratic Regulator (LQR) to regulate speed. In simulations, the model performs well at speeds above 36 km/h, while performance below that speed is limited by a simplified engine model.
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