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Stabilisering av fyrhjuliga terrängfordon med tillståndsåterkoppling
KTH, School of Engineering Sciences (SCI).
2019 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Stabilization of all terrain vehicles using state feedback (English)
Abstract [sv]

Då fyrhjuliga terrängfordon i allmänhet har en hög tyngdpunkt så har de en benägenhet att lätt välta, även vid relativt små störningar. Att minska utsträckningen som denna typ av olyckor sker har vinning för både individ och samhälle. I det här arbetet utforskas möjligheterna till att förhindra en vältning genom att göra en tillståndsåterkoppling. Relevanta dynamiska ekvationer för en förenklad fordonsmodell har tagits fram och regulatorn har designats utifrån både fysikaliska begränsningar och de krav som ställs på den för att den ska kunna förhindra en vältning.

Abstract [en]

All terrain vehicles, commonly abbreviated as ATVs, poses a higher risk of roll over compared to other kinds of four wheeled vehicles, due to their high center of mass. The incentive to decrease the amount of accidents of this kind is great, both for the individuals as well as society. This thesis explores the possibilities of implementing a controller using a state feedback loop. The dynamics of the system are based on a simplified model of the vehicle, and the controller is designed to be physically feasible, yet quick enough to prevent an accident.

 

Place, publisher, year, edition, pages
2019.
Series
TRITA-SCI-GRU ; 2019:277
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-255834OAI: oai:DiVA.org:kth-255834DiVA, id: diva2:1342323
Supervisors
Examiners
Available from: 2019-08-13 Created: 2019-08-13 Last updated: 2019-08-13Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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