Supervisory Control of 4WD Vehicle
Authors
Andersen, Martin Kolding ; Christensen, Roald Mikael
Term
10. term
Publication year
2012
Pages
179
Abstract
Dette speciale udvikler en overordnet styring for et firehjulstrukket radiostyret køretøj med individuelle elmotorer, med det formål at erstatte mekaniske differentialer med softwarebaseret momentfordeling og fastholdt traktion. Tilgangen omfatter modellering af drivlinje, affjedring og køretøjsdynamik samt tilstandsestimering via en flerstrenget udvidet Kalman-filterløsning, opdateret af otte accelerometre på chassiset og en tachometermåling i hver motor. Moment og slip på hvert hjul reguleres med feedback-linearisation kombineret med PID-regulatorer. Sensordata blev indsamlet på bilen, og Kalman-filteret og den overordnede styring blev evalueret i et simuleret miljø. Resultaterne indikerer, at regulatoren fungerer som tiltænkt, men peger på behov for at reducere sensorstøj på bilen. Specialet beskriver designtilvalg, hardware- og softwareimplementering samt tilhørende valideringsmateriale.
This thesis develops a supervisory control system for a four-wheel-drive radio-controlled vehicle with individual electric motors, aiming to replace mechanical differentials with software-based torque distribution and maintained traction. The approach includes modeling of the drivetrain, suspension, and vehicle dynamics, and state estimation via a multi-part extended Kalman filter updated by eight chassis-mounted accelerometers and a tachometer on each motor. Wheel torque and slip are regulated using feedback linearization combined with PID controllers. Sensor data were collected on the car, and the Kalman filter and supervisory control were evaluated in a simulated environment. Results indicate the controller achieves its intended function, while highlighting the need to reduce sensor noise on the vehicle. The thesis details design choices, hardware and software implementation, and associated validation material.
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