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Modular Scaled Development Platform for Steering Algorithms using LEGO Mindstorms.
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Modulär Skalbar Utvecklingsplattform för Styralgoritmer baserad på LEGO Mindstorms. (Swedish)
Abstract [en]

The topic of the thesis is to build physically similar systems to simulate behaviors of real-life heavy-duty vehicles using LEGO Mindstorms as hardware platform and Buckingham π theorem as theoretical basis for the parameter scaling. The thesis work includes software and hardware system design and theoretical research in order to prove a newly proposed concept: Using LEGO to build a scaled model of real-life vehicles with specific similar physical properties. To implement the work described above, scaled models were built with LEGO and a software and hardware system was developed for controlling the scaled model. Tests were performed both on real-life vehicles and scaled models. A generalized mathematical model for the vehicle was derived in order to interpret the behaviors of the vehicle in a scientific way. Then, test results of both real-life vehicles and the corresponding scaled model were compared with the mathematical model in order to investigate if they have similar behaviors. Finally it was concluded that the scaled model built with LEGO Mindstorms combined with Buckingham π theorem could calculate the speed and turning radius of the physically similar real-life vehicle with an average accuracy of 94.68% within low speed, conservatively speaking. For further investigation and research, similar research could be performed with higher speeds to generalize the conclusions and results.

Abstract [sv]

Uppsatsen ämnar till att bygga ett fysiskt likvärdigt system, som simulerar beteendet av verkliga tunga fordon, med LEGO Mindstorms som hårdvaruplattform och med Buckingham П teoremet som teoretisk grund from skalning av parametrar. Arbetet inkluderar mjukvaru- och hårdvarusystemdesign samt teoretisk forskning för att kunna bevisa ett nyligen föreslaget koncept: Att använda LEGO för att bygga en skalad modell av verkliga fordon med specifika likartade fysiska egenskaper. För att implementera det ovan föreslagna arbetet, byggdes skalade modeller i LEGO samt ett kombinerat hård- och mjukvarusystem för att styra den skalade modellen. Tester utfördes på både riktiga lastbilar samt de skalade modellerna. För att kunna identifiera parametrar samt simulera och tyda fordonens beteende så adapterades en generell matematisk modell. Testresultaten för på verkliga samt motsvarande skalade modeller jämfördes med den matematiska modellen för att påvisa om beteendet är likartat. Till sist drogs slutsatsen att den skalade modellen bygg med LEGO Mindstorms och parameterskalad med hjälp av Buckingham П teoremet kunde beräkna skalningsfaktorn av hastighet samt svängradie för det fysiskt likartade fordonet med en tillförlitlighet på 94.68%, konservativt räknat. Detta gäller för låga hastigheter och som fortsatt forskning skulle en liknande studie med starkare och snabbare motorer genomföras för att generalisera slutsatserna och resultaten.

Place, publisher, year, edition, pages
2019. , p. 136
Series
TRITA-ITM-EX ; 2019:376
Keywords [en]
Buckingham π theorem, LEGO Mindstorms, Heavy duty vehicles, Physically similar systems.
Keywords [sv]
Buckingham π teoremet, LEGO Mindstorms, Tunga fordon, Fysikaliskt likartade system.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-263166OAI: oai:DiVA.org:kth-263166DiVA, id: diva2:1366930
External cooperation
Scania CV AB
Supervisors
Examiners
Available from: 2019-10-31 Created: 2019-10-31 Last updated: 2019-10-31Bibliographically approved

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