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系統識別號 U0026-2407201819154500
論文名稱(中文) 自主飄移的建模,規劃與控制
論文名稱(英文) Autonomous Drift Modeling, Planning and Control
校院名稱 成功大學
系所名稱(中) 航空太空工程學系
系所名稱(英) Department of Aeronautics & Astronautics
學年度 106
學期 2
出版年 107
研究生(中文) 謝雅德
研究生(英文) Ya-De Hsieh
學號 P46051327
學位類別 碩士
語文別 英文
論文頁數 60頁
口試委員 口試委員-詹邵勳
口試委員-彭兆仲
指導教授-譚俊豪
中文關鍵字 平衡點  飄移  最佳化 
英文關鍵字 MPC  ROS  Drift  SLAM  LQR  Equilibrium Analysis 
學科別分類
中文摘要 飄移是一項極具困難度的駕駛技巧,需要經過經驗的累積才有辦法達成,透過油門以及剎車的控制,車子可以獲得一個較大的側向滑行力來產生飄移的現象,本篇旨在對真實模型車進行建模,建立其具有飄移特性的非線性模型,並對其進行分析,找出其平衡點,有關平衡點的細節將在第五章詳細討論,且在模擬中藉由LQR控制能夠讓車子達到維持連續的漂移現象。
在實地驗證控制的部分,使用MPC控制理論,藉由車手預先設定好的軌跡以及操控數據,讓MPC控制理論使用最佳化的方式求解出控制輸入來達成與事先規劃的路線相似的飄移情形,有關詳細控制理論將在第六章進行探討。
英文摘要 Drifting represents an extreme maneuver that is beyond the skill set of the average people, requiring skillful timing of pedal brake, handbrake and steering wheel. Driver causes the vehicle to rotate rapidly and slide, into the unstable situation. This paper investigates the analysis of unstable drifting condition, equilibrium point analysis and identify the slip vehicle model, in order to propose a control strategy to make automatically drifting possible. The parameters for the model are identified in Chapter 3 & 4 and the simulation results of the modelled vehicle are compared to measured experimental data. When talking about the high side-slip maneuvers, it falls into one of two categories: sustained drift and transient drift. Sustained drift focuses on stabilizing the vehicle around an unstable equilibrium (also call steady state circular drifting), while transient drift focuses on entirely maintaining a drift state. To the authors’ knowledge, all experimental validation for drift control algorithms have used a motion capture system or a differential GPS system. However, due to the reality consideration, here use only the Extended Kalman Filter with necessary sensors to estimate the system state. For the purpose of presenting a steady state drifting, the modelled vehicle equilibrium point analysis is discussed in Chapter 5. Then a Linear Quadratic Regulator control algorithm is designed to control the system from normal stable situation into unstable drifting condition in simulation. In experiment, the Model Predictive Control is implement on the 1:10 RC car to achieve transient autonomous drift, and the details will be discussed in Chapter 6.
論文目次 Abstract i
中文摘要 ii
Contents iv
List of figures vi
List of Symbols viii
List of Abbreviations ix
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Previous/Related work 1
1.3 Goals 3
Chapter 2 Testbed 4
2.1 Hardware 4
2.2 Software 5
2.3 State Estimation 6
Chapter 3 Drift Model 10
3.1 Mechanical Model 10
3.1.1 In-Plane Motion 10
3.1.2 Out-Of-Plane Motion 15
3.2 Tire Model 17
3.2.1 Lateral Tire Force Modeling 17
3.2.2 Longitudinal Tire Force Modeling 19
3.2.3 Modeling the coupled lateral and longitudinal force 20
3.2.4 Summary 22
3.3 Vehicle Parameters 23
Chapter 4 Parameter Identification 25
4.1 Experiments and Simulations 26
4.1.1 Friction force, drag force and motor coefficient 26
4.1.2 Cornering stiffness 29
Chapter 5 Drift Equilibrium Analysis 36
5.1 Equilibria of the two-state model 36
5.2 Equilibria of the three-state model 38
Chapter 6 Control Design for Drifting 42
6.1 LQR control simulation 42
6.2 Model Predictive Control 46
6.2.1 Problem formulation 46
6.2.2 Nonlinear Model Predictive Control 48
Chapter 7 Conclusions 57
Bibliography 59

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