| Autor: |
G. Josipovic, P. Makarun, M. Svec, Sandor Iles |
| Přispěvatelé: |
Jakopović, Željko, Matuško, Jadranko |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
2021 International Conference on Electrical Drives & Power Electronics (EDPE). |
| DOI: |
10.1109/edpe53134.2021.9604086 |
| Popis: |
In this paper, a testbed for studying longitudinal and lateral vehicle dynamics is proposed. The testbed consists of a treadmill and a scaled remote- controlled car with four independently controlled brushless DC motors with front steering. The car is equipped with four power converters suitable for field-oriented torque control. The parameters of the scaled vehicle are chosen using the Buckingham PI theorem to achieve dynamic similitude to a full-size vehicle. Such a testbed allows testing of different control algorithms for vehicle dynamics. In this paper, a model predictive steering controller is implemented. Simulations are performed on both the full-scale vehicle in IPG CarMaker and the scaled vehicle in Matlab/Simulink environment. In addition, preliminary experimental results on the scaled vehicle are included to show the real- time suitability of the proposed control algorithm. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
|
