This doctoral thesis is focused in connection of measurement with a model in this meaning. Only relative easier measurable variables are measured on a vehicle and these variables make model inputs. This process can be improved by using dynamic filtering principles, where measured variables are used not only as model inputs, but they are used for the correction of a model motion too. We can obtain an optimal estimate of vehicle real behaviour during a manoeuvre with using this method. Linear discrete Kalman filter (dynamic filter) was used for the connection of the measurement with the mathematic model with regard to chosen model (planar linear single track model). The main task of Kalman filter is try to estimate the state of the discrete time depending process that is determined by the linear stochastic difference equation. Effective measurement system (based on CompactRIO unit) was built within the scope of this PhD thesis. This system is able to measure simultaneously a lot of quantities on the experimental vehicle. Velocity components (measured through optical correlative sensor Correvit), yaw velocity (measured through vibrating gyroscope), lateral acceleration, distance component (measured through MicrosatGPS system) are the basic measured parameters. Big attention was paid to obtain other important inputs of the mathematic model such centre of gravity position, moment of inertia, steering ratio etc. The last part of the thesis is oriented on the real connection of the measurement with the mathematic model. Formula Ford 1600 was used as the experimental car. The driving manoeuvre was arranged according to the norm ISO/WD 3888/2. Three versions of the Kalman filter were realised, which differs in the measured variables used for the mathematical model motion correction. Other possibilities, how to improve the process of state variables estimation eventually how to effective use this algorithm for vehicle parameters identification (cornering stiffness of the tires for example), are sketched in the end of the thesis.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:233886 |
| Date | January 2010 |
| Creators | Blaťák, Ondřej |
| Contributors | Kledus, Robert, Mazůrek, Ivan, Kaplan, Zdeněk |
| Publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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