Σκοπός της παρούσας διπλωματικής εργασίας είναι ο σχεδιασμός ενός ελεγκτή πέδησης για την ρυμουλκόμενη μονάδα μιας νταλίκας, ώστε αυτή να μην αποκλίνει της πορείας της κατά το φρενάρισμα. Αναλυτικότερα, στο κεφάλαιο 1 παρουσιάζεται η μορφή των τυπικών και πιο συνηθισμένων ρυμουλκόμενων οχημάτων (οδικά τρένα) και ορίζονται τα βασικά κομμάτια που το αποτελούν. Στο κεφάλαιο 2 παρουσιάζονται με χρήση κατάλληλων μαθηματικών και φυσικών προτύπων οι ταχύτητες και οι επιταχύνσεις καθώς και τα διάφορα συστήματα συντεταγμένων που απαιτούνται για την περιγραφή της κίνησης του οχήματος. Στο κεφάλαιο 3 αναλύεται το σύνθετο αλλά και το απλουστευμένο μοντέλο των οδικών τρένων, ενώ στο κεφάλαιο 4 αναλύουμε το δυναμικό μοντέλο του οχήματος tractorsemitrailer που αποτελεί και το αντικείμενο έρευνας της εργασίας. Υπολογίζουμε πλήρως τις εξισώσεις που περιγράφουν το σύστημα, με βάση κάποιες προϋποθέσεις όπως ότι κινείται στην ευθεία, με σταθερή διαμήκη ταχύτητα ενώ επίσης δεχόμαστε και το γραμμικό μοντέλο για τα ελαστικά. Τέλος, στο κεφάλαιο 5 σχεδιάζουμε ένα PD ελεγκτή και βρίσκουμε τις βέλτιστες τιμές των παραμέτρων του ώστε το σύστημα μας να παρουσιάζει όσο το δυνατόν μικρότερα σφάλματα. / Aim of present diplomatic work is the planning of controller of braking for the followinf unit of lorry, in order that this does not deviate her course at the break. More analytically, in capital 1 is presented the form the formal and more usual road trains and is fixed the basic pieces where constituting. In capital 2 are presented with use suitable mathematic and natural models the speeds and the accelerations as well as the various systems of coordinates that are required for the description of movement of vehicle. In capital 3 is analyzed the complex but also simplified model of road trains, while in capital 4 we analyze the dynamic model of vehicle tractorsemitrailer that is the subject of this work. We calculate the equations that describe the system, with base certain conditions as that it is moved in the straight line, with constant speed while also we accepted the linear model for the tyres. Finally, in capital 5 we draw a PD controller and we find the most optimal prices of parameters in order that our system presents as much as possible smaller faults.

Pour répondre à l’augmentation du trafic aérien mondial et à l’amélioration de la sécurité sur les plateformes aéroportuaires, le secteur aéronautique développe de nouveaux systèmes permettant de tendre vers l’autonomie complète de l’avion pendant les phases de roulage au sol. Le thème de ce travail de thèse concerne l’automatisation du pilotage de l’avion au sol et le développement d’une architecture de commande multivariable permettant de superviser l’ensemble des systèmes impliqués dans ce mode de déplacement : les systèmes de motorisation et de freinage des roues principales et le système d’orientation du train avant. Après une modélisation détaillée de la dynamique du système et une analyse des problématiques induites par ses non-linéarités, une architecture de commande globale est proposée. L’asservissement de la dynamique angulaire des roues, pendant les phases d’accélération et de freinage, est assuré par une loi de commande linéaire robuste aux incertitudes, synthétisée à l’aide de la technique Q.F.T. Le pilotage de la dynamique latérale du véhicule est réalisé au moyen d’un correcteur hybride feedforward-feedback. Une commande modale au premier ordre est alors mise en oeuvre afin de synthétiser un régulateur non-linéaire par planification de gains (gain-scheduling). L’ensemble des boucles d’asservissement de l’architecture est finalement validé en réalisant un suivi automatique de trajectoire à l’aide d’une commande géométrique nommée follow the carrot. Les simulations représentatives de l’utilisation réelle de l’avion démontrent des performances satisfaisantes et permettent de valider l’ensemble des solutions proposées. / In the context of worldwide air traffic growth and airport security improvement, the main aeronautics actors are currently investigating new systems, strived for autonomously piloting the aircraft while taxiing ground-borne. The present thesis deals with aircraft taxiing control and the design of a multivariable control architecture aimed at supervising all the ground acting systems: driving and braking systems of main wheels and the nose landing gear steering system. A global control architecture is introduced after a detailed modelling of the system dynamics and an analysis of the issues induced by the nonlinearities. A linear Q.F.T controller is synthesised to ensure robust control against uncertainties of the wheel angular dynamics, in both driving and braking operations. The vehicle lateral dynamics is controlled by means of a feedforward-feedback hybrid controller. The latter includes a nonlinear gain-scheduled controller designed by a modal approach. All the architecture control loops are finally validated in a high level path following control, achieved with the “follow the carrot” geometric method. A set of representative simulations show the overall good performances and validate the whole proposed solution.

This thesis contains the design and simulation test results for the implementation of a new all-wheel drive (AWD) torque vectoring (TV) control system. A separate algorithm using standard control methods is included in this study for a comparison. The proposed controller was designed to be applied to an AWD independent drive electric vehicle, however the main concepts can be re-purposed for other vehicle drive train configurations. The purpose of the control system is to assist the driver in achieving a desired vehicle trajectory whilst also maintaining stability and control of the vehicle. This is accomplished by measuring various real time parameters of the vehicle and using this information as feedback for the control system to act on. The focus of this thesis resides on the controller. Hence, this study assumes perfect observation of feedback parameters, therefore some uncertainties are not accounted for. Using feedback parameters, the control system will manage wheel slip whilst simultaneously generating a torque around the center of gravity of the vehicle by applying a torque differential between the left and right wheels. The proposed TV algorithm is simulated in MATLAB/Simulink along with another separate TV algorithm for comparison. Both algorithms are comprised of two main parts: a slip ratio controller applied to each wheel individually and stability controller that manages yaw rate and side slip of the vehicle. The new algorithm leverages the super twisting algorithm for the slip ratio controller and uses a fusion of a linear quadratic regulator with the integral term of a super twisting algorithm to implement the yaw rate and side slip controller. The other algorithm used for comparison derives its implementation for the slip ratio controller and yaw rate and side slip controllers from simple and standard first order sliding mode control methods. Both control algorithms were tested in three different main tests: anti-lock braking, sine dwell (SD) steering, and constant steering angle (CSA) tests. To increase the comprehensive nature of the study, the SD and CSA tests were simulated at 3 speeds (30,50, and 80 mph) and the steering angle parameter was varied from 2 to 24 degrees in increments of 2. The result of this study proves that the proposed controller is a feasible option for use in theory. Simulated results show advantages and disadvantages of the new controller with respect to the standard comparison controller. Both controllers are also shown to provide positive impacts on the vehicle response under most test conditions.

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