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Návrh algoritmu jízdní stability pro laboratorní model vozidla
Šulc, Michael ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This Master's thesis deals with a research study in the area of modelling the dynamics of a four-wheel drive (4WD) and four-wheel steer (4WS) vehicle, including a tyre model together with the design of vehicle stability control algorithms. The work also includes making the necessary modifications to the experimental vehicle, including the design of new control electronics. Based on the proposed dynamic model, the estimation of the necessary vehicle parameters is carried out. On the simulation model, ABS/ASR driving stability algorithms are designed, which are than implemented on the experimental vehicle.
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Influence of Vehicle Conception on Vehicle Dynamics
Hamada, Filip ; Belák, Michal (referee) ; Bilík, Martin (advisor)
Diploma thesis speaks about the influence of vehicle conception on vehicle dynamics, which means how a vehicle behaves in certain typical situations with respect to its driving axle. The first part of this diploma thesis describes the historical background of vehicles, as well as their conceptions and evolutions, with special focus on the conceptions used in the practical element of this work. The second part of this thesis covers the theoretical knowledge of vehicle dynamics and is arranged in a systematic order corresponding to the third section of this work. The third and final chapter then investigates various vehicle conceptions and their dynamics, by running several tests and measurements, in order to make a comparison. This comparison is the main purpose of this work, and from this we can then elucidate which conception, in a certain aspect, is practically more appropriate.
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Overview of Rally Racing Vehicles
Listoň, Martin ; Blaťák, Ondřej (referee) ; Hejtmánek, Petr (advisor)
This work is focused on compiling an overview of race cars for rally car competitions at the national and international level and the division of vehicles into specific categories. Subsequently, the technical modifications of vehicles of individual categories are briefly described. Furthermore, the representation of individual manufacturers and their market share is summarized. The next part is a statistical overview of vehicles in terms of age and modern technology. The aim of this work is to analyze the market and find out in which potential production area a new producer could succeed.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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Visualization of 4WS and 4WD vehicle movement
Blechta, Martin ; Vejlupek, Josef (referee) ; Lamberský, Vojtěch (advisor)
The aim of the thesis is to develop a graphical interface for visualization of 4WS and 4WD vehicle movement defined by its mathematical model. The visualization allows testing of various dynamic and kinematic models. The visualization is controlled either with joystick or a program input. An algorithm for rear wheels steering in dependence on speed is created and validated with a computational simulation and an experiment. The mathematical model defining the vehicle movement is connected with the dSPACE system enabling real time control. The thesis evaluates advantages and disadvantages of using the MLIB library for communication between dSPACE system and MATLAB.
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Odometry of Experimental Vehicle Car4
Štarha, Matěj ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis focuses on the creation of odometry for experimental vehicle Car4. First, necessary HW and SW improvements are carried out. A research of kinematic model and known algorithms for position estimation is then conducted. Two algorithms are implemented in Matlab and their functionality is verified using simulation followed by tests of the actual trajectory of the vehicle. The goal of this work is to create a basis for any following work on the vehicle, e.g. in autonomous driving.
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Overview of Rally Racing Vehicles
Listoň, Martin ; Blaťák, Ondřej (referee) ; Hejtmánek, Petr (advisor)
This work is focused on compiling an overview of race cars for rally car competitions at the national and international level and the division of vehicles into specific categories. Subsequently, the technical modifications of vehicles of individual categories are briefly described. Furthermore, the representation of individual manufacturers and their market share is summarized. The next part is a statistical overview of vehicles in terms of age and modern technology. The aim of this work is to analyze the market and find out in which potential production area a new producer could succeed.
|
|
|
Influence of Vehicle Conception on Vehicle Dynamics
Hamada, Filip ; Belák, Michal (referee) ; Bilík, Martin (advisor)
Diploma thesis speaks about the influence of vehicle conception on vehicle dynamics, which means how a vehicle behaves in certain typical situations with respect to its driving axle. The first part of this diploma thesis describes the historical background of vehicles, as well as their conceptions and evolutions, with special focus on the conceptions used in the practical element of this work. The second part of this thesis covers the theoretical knowledge of vehicle dynamics and is arranged in a systematic order corresponding to the third section of this work. The third and final chapter then investigates various vehicle conceptions and their dynamics, by running several tests and measurements, in order to make a comparison. This comparison is the main purpose of this work, and from this we can then elucidate which conception, in a certain aspect, is practically more appropriate.
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|
|
Visualization of 4WS and 4WD vehicle movement
Blechta, Martin ; Vejlupek, Josef (referee) ; Lamberský, Vojtěch (advisor)
The aim of the thesis is to develop a graphical interface for visualization of 4WS and 4WD vehicle movement defined by its mathematical model. The visualization allows testing of various dynamic and kinematic models. The visualization is controlled either with joystick or a program input. An algorithm for rear wheels steering in dependence on speed is created and validated with a computational simulation and an experiment. The mathematical model defining the vehicle movement is connected with the dSPACE system enabling real time control. The thesis evaluates advantages and disadvantages of using the MLIB library for communication between dSPACE system and MATLAB.
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