Control of a scaled vehicle model on a treadmill

Sustavi upravljanja dinamikom vozila postali su neizostavni dio današnjih putničkih vozila, te je to područje predmet intenzivnih istraživanja u današnje vrijeme. Takvi sustavi trenutno se koriste kako bi olakšali upravljanje, ali i učinili samu vožnju sigurnijom. U ovome radu, razvija se algoritam upravljanja uzdužnom i bočnom dinamikom modela vozila (1:10) s neovisnim upravljanjem momentom svakog kotača. Sustav je reguliran adaptivnim LQ-regulatorom koji je dobiven linearizacijom sustava oko nominalne trajektorije.Vehicle dynamics management systems have become an indispensable part of today's passenger vehicles, thus this area is the subject of intensive research. Such systems are currently used to make driving easier, but also to make driving safer. In this paper, an algorithm for controlling the longitudinal and lateral dynamics of a vehicle model (1:10) with independent torque control of each wheel is developed. The system is controlled by an adaptive LQ-regulator obtained by linearizing the system around a nominal trajectory