Verfügbarkeit: Model-based control of a highly dynamic wheeled driving simulator

Model-based control of a highly dynamic wheeled driving simulator:

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Bibliographische Detailangaben
1. Verfasser:	Gong, Zhongyi (VerfasserIn)
Format:	Abschlussarbeit Buch
Sprache:	English
Veröffentlicht:	Aachen Shaker Verlag 2018
Schriftenreihe:	Berichte aus der Steuerungs- und Regelungstechnik
Schlagworte:	Modellprädiktive Regelung Autonomes Fahrzeug Robuste Regelung Folgeregelung Zustandsrückführung Reglerentwurf Fahrsimulator Hochschulschrift
Online-Zugang:	Inhaltsverzeichnis Inhaltsverzeichnis
Beschreibung:	XIV, 151 Seiten Illustrationen
ISBN:	9783844062182

Internformat

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Datensatz im Suchindex

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adam_text	CONTENTS NOMENCLATURE VIII ABSTRACT XII 1 INTRODUCTION 1 1.1 MOTIVATION . . . ........................................................................................................... 1 1.2 OUTLINE AND CONTRIBUTIONS OF THIS D ISSERTATION.......................................................... 4 2 BASIC PRINCIPLES AND STATE OF THE ART OF DRIVING SIMULATION 8 2.1 THEORETICAL PRINCIPLES ................................................................................................. 8 2.1.1 MOTION C U E IN G .............................................................................................. 8 2.1.2 MOTION CUEING ALGORITHM . . . ..................................................................... 8 2.1.3 TYPES OF MOTION CUE AND CUE E R R O R ............................................................ 9 2.1.4 HUMAN MOTION PERCEPTION S YSTEM ............................................................... 9 2.1.5 VESTIBULAR SYSTEM M O D EL............................................................................... 11 2.1.6 TILT COORDINATION........................................................................................... 14 2.1.7 WASHOUT STRATEGY........................................................................................... 14 2.2 DRIVING S IM U LA TO RS..................................................................................................... 14 2.2.1 HISTORICAL B ACKGROUND.................................................................................. 14 2.2.2 ARCHITECTURE OF DRIVING S IM U LA TIO N ............................................................ 15 2.2.3 ADVANTAGES AND DISADVANTAGES OF DRIVING SIMULATORS................................ 16 2.2.4 APPLICATIONS OF DRIVING S IM U LA TO RS............................................................ 17 2.2.5 STATE-OF-ART DRIVING S IM U LATO RS.................................................................. 19 3 SYSTEM DYNAMICS MODELING OF RTM DRIVING SIMULATOR 27 3.1 VEHICLE BODY DYNAMICS ........................................................................................... 28 3.1.1 HORIZONTAL D YNAM ICS..................................................................................... 28 3.1.2 WHEEL LOAD D ISTRIBUTION............................................................................... 31 3.2 WHEEL D Y N A M IC S........................................................................................................ 32 3.2.1 WHEEL ROTATIONAL D Y N AM ICS ........................................................................ 32 3.2.2 TIRE MODELING .............................................................................................. 33 3.3 TILT D YNAM ICS.............................................................................................................. 34 3.4 OVERALL SYSTEM DYNAMICS ........................................................................................ 36 3.5 OUTPUT M O D E L.............................................................................................................. 38 3.6 S U M M A RY .................................................................................................................... 40 4 INTEGRATED VEHICLE DYNAMICS CONTROL BASED ON DIFFERENTIAL PARAMETERIZATION 42 4.1 SYSTEM ANALYSIS............................................................................................................ 43 4.1.1 DIFFERENTIAL PARAMETERIZATION WITH RESPECT TO THE PARAMETERIZING OUTPUT . 43 4.1.2 DIFFERENTIAL PARAMETERIZATION WITH RESPECT TO THE REAL O UTPUT ............... 45 4.2 FEEDBACK TRACKING CONTROLLER DESIGN USING DIFFERENTIAL PARAMETERIZATIONS .... 49 4.2.1 TRACKING CONTROL DESIGN BASED ON INPUT-OUTPUT LINEARIZATION WITH THE PARAMETERIZING O U TP U T.................................................................................. 49 4.2.2 OUTPUT TRACKING CONTROL DESIGN USING INPUT-OUTPUT LINEARIZATION .... 51 4.3 ROBUST CONTROL D E S IG N .............................................................................................. 54 4.3.1 ROBUST CONTROL OF TILT D YNAMICS............................................................. 55 4.3.2 ROBUST CONTROL OF THE OMNIDIRECTIONAL PLATFORM .................................... 58 4.4 OBSERVER DESIGN ........................................................................................................ 65 4.4.1 REQUIREMENTS OF OBSERVER D E S IG N ........................................................... 65 4.4.2 OBSERVER DESIGN FOR TILT D Y N A M IC S ............................................................ 66 4.4.3 KALMAN FILTER DESIGN FOR THE OMNIDIRECTIONAL PLATFORM ....................... 68 4.5 EXPERIMENTAL VALIDATION ........................................................................................... 75 4.6 S U M M A RY .................................................................................................................... 80 5 MODEL-BASED TRAJECTORY GENERATION FOR RTM-WMDS 81 5.1 STATE OF THE A R T ........................................................................................................... 81 5.2 MODEL PREDICTIVE TRAJECTORY G EN E RA TIO N .................................................................. 85 5.2.1 REQUIREMENTS AND CONTROL S TRUCTURE............................................................ 85 5.2.2 MODEL PREDICTIVE MOTION CUEING A LGORITHM ............................................... 87 5.2.3 INTEGRATION OF THE ADHESION LIMIT IN TRAJECTORY G ENERATION ................. 96 5.3 SIMULATION R E S U LTS ..................................................................................................... 101 5.4 S U M M A RY .................................................................................................................... 104 6 EXPERIMENTAL EVALUATION OF THE OVERALL CONTROL CONCEPT 105 6.1 TEST SCENARIO: 18M SLALOM T EST.................................................................................. 107 6.2 TEST SCENARIO: URBAN TRAFFIC S IM U LATIO N .................................................................. 110 6.3 S U M M A RY .................................................................................................................... 113 7 CONCLUSIONS AND OUTLOOK 114 7.1 CONCLUSIONS................................................................................................................. 114 7.2 FUTURE W O R K S .............................................................................................................. 115 APPENDIX 118 A.L EXPERIMENTAL S E TU P .................................................................................................... 118 A.2 DIFFERENTIALLY FLAT SYSTEMS AND FLATNESS-BASED C O N TRO L ........................................ 120 A.2.1 EXACT INPUT-OUTPUT LINEARIZATION . .............................................................. 122 A.3 KALMAN F ILTE R ............................................................................................................. 125 A.4 MODEL P A RA M E TE R....................................................................................................... 127 A.5 DESCRIPTOR SYSTEM ....................................................................................................... 128 A.5.1 HOLONOMIC AND NONHOLONOMIC C O N STRAIN TS ............................................... 129 A.6 LYAPUNOV STABILITY T H E O R Y ....................................................................................... 130 A.7 RIGID BODY M O TIO N .................................................................................................... 132 A.7.1 ROTATIONAL M O TI O N ......................................................................................... 132 A.7.2 RIGID M O TIO N .................................................................................................. 133 A.7.3 KINEMATICS OF RIGID B O D I E S ......................................................................... 133 A.7.4 DYNAMICS OF RIGID B O D IE S ............................................................................ 134 A.8 COORDINATE TRANSFORM ATION........................................................................................ 136 A.8.1 ACCELERATION AND ROTATION SPEED FROM DRIVER*S HEAD F R A M E .................... 136 A.8.2 DIFFEOMORPHIC TRANSFORMATION...................................................................... 137 A.9 CONTROLLER PARAM ETERS.................................................................................................. 138 A.9.1 SLALOM T E S T...................................................................................................... 138 A.9.2 URBAN TRAFFIC SIM ULATION ............................................................................... 139 BIBLIOGRAPHY 140 LIST OF PUBLICATIONS 150 LIST OF SUPERVISED THESES 151
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discipline	Maschinenbau / Maschinenwesen Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik
format	Thesis Book
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spelling	Gong, Zhongyi Verfasser (DE-588)117133690X aut Model-based control of a highly dynamic wheeled driving simulator Zhongyi Gong Aachen Shaker Verlag 2018 XIV, 151 Seiten Illustrationen txt rdacontent n rdamedia nc rdacarrier Berichte aus der Steuerungs- und Regelungstechnik Dissertation Technische Universität Darmstadt 2018 Modellprädiktive Regelung (DE-588)1135937567 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Robuste Regelung (DE-588)4206985-3 gnd rswk-swf Folgeregelung (DE-588)4398913-5 gnd rswk-swf Zustandsrückführung (DE-588)4191173-8 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Fahrsimulator (DE-588)4153572-8 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Autonomes Fahrzeug (DE-588)7714938-5 s Fahrsimulator (DE-588)4153572-8 s Modellprädiktive Regelung (DE-588)1135937567 s Folgeregelung (DE-588)4398913-5 s Zustandsrückführung (DE-588)4191173-8 s Robuste Regelung (DE-588)4206985-3 s Reglerentwurf (DE-588)4177447-4 s DE-604 B:DE-101 application/pdf http://d-nb.info/1166980057/04 Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030903129&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis
spellingShingle	Gong, Zhongyi Model-based control of a highly dynamic wheeled driving simulator Modellprädiktive Regelung (DE-588)1135937567 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Robuste Regelung (DE-588)4206985-3 gnd Folgeregelung (DE-588)4398913-5 gnd Zustandsrückführung (DE-588)4191173-8 gnd Reglerentwurf (DE-588)4177447-4 gnd Fahrsimulator (DE-588)4153572-8 gnd
subject_GND	(DE-588)1135937567 (DE-588)7714938-5 (DE-588)4206985-3 (DE-588)4398913-5 (DE-588)4191173-8 (DE-588)4177447-4 (DE-588)4153572-8 (DE-588)4113937-9
title	Model-based control of a highly dynamic wheeled driving simulator
title_auth	Model-based control of a highly dynamic wheeled driving simulator
title_exact_search	Model-based control of a highly dynamic wheeled driving simulator
title_full	Model-based control of a highly dynamic wheeled driving simulator Zhongyi Gong
title_fullStr	Model-based control of a highly dynamic wheeled driving simulator Zhongyi Gong
title_full_unstemmed	Model-based control of a highly dynamic wheeled driving simulator Zhongyi Gong
title_short	Model-based control of a highly dynamic wheeled driving simulator
title_sort	model based control of a highly dynamic wheeled driving simulator
topic	Modellprädiktive Regelung (DE-588)1135937567 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Robuste Regelung (DE-588)4206985-3 gnd Folgeregelung (DE-588)4398913-5 gnd Zustandsrückführung (DE-588)4191173-8 gnd Reglerentwurf (DE-588)4177447-4 gnd Fahrsimulator (DE-588)4153572-8 gnd
topic_facet	Modellprädiktive Regelung Autonomes Fahrzeug Robuste Regelung Folgeregelung Zustandsrückführung Reglerentwurf Fahrsimulator Hochschulschrift
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