Change search
ReferencesLink to record
Permanent link

Direct link
Autonomous Drifting of a 1:5 Scale Model Car
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2011 (English)MasteroppgaveStudent thesis
Abstract [en]

Current automotive safety systems restrict the vehicle to the linear region of operation where the sideslip angle is small. Recent research in the field has discovered that drifting possesses unstable equilibria in which the vehicle is controllable even after the handling limits in the linear region have been exceeded. This thesis presents the design and simulation of a feedback linearization controller that, by using yaw rate as input to controlling the sideslip angle, is able to find the equilibrium point corresponding to the initial velocity and the desired yaw rate. Simulation results show that the controller is able to achieve a yaw rate within 5 degrees of the desired yaw rate. It is demonstrated that utilization of drifting techniques increases the maneuverability of the vehicle compared to normal cornering. Based on the successful handling of coupling in actuator authority at high angles of sideslip, feedback linearization as a control design tool is recommended for further development of controllers in the LocalHawk project. The LocalBug simulator has been improved by the addition of a dc motor model that includes selection of front, rear and four wheel drive. Measurement of the moment of inertia of LocalBug and recording of true noise data, which is added to the simulator output, has increased the fidelity of the simulator. Validation of the simulator shows that the simulation results largely is in agreement with logged test data, except for the case of hard breaking where the simulation model is inclined to experience a spin.

Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2011. , 126 p.
Keyword [no]
ntnudaim:5928, MTTK teknisk kybernetikk, Reguleringsteknikk
URN: urn:nbn:no:ntnu:diva-13844Local ID: ntnudaim:5928OAI: diva2:443215
Available from: 2011-09-23 Created: 2011-09-23

Open Access in DiVA

fulltext(4388 kB)860 downloads
File information
File name FULLTEXT01.pdfFile size 4388 kBChecksum SHA-512
Type fulltextMimetype application/pdf
cover(67 kB)38 downloads
File information
File name COVER01.pdfFile size 67 kBChecksum SHA-512
Type coverMimetype application/pdf
attachment(7319 kB)23 downloads
File information
File name ATTACHMENT01.zipFile size 7319 kBChecksum SHA-512
Type attachmentMimetype application/zip

By organisation
Department of Engineering Cybernetics

Search outside of DiVA

GoogleGoogle Scholar
Total: 860 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 196 hits
ReferencesLink to record
Permanent link

Direct link