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Automatic Control

Faculty of Engineering, LTH

Automatic Control

LTH best Master's thesis

Johanna Wilroth has been awarded the prize "LTHs Jubileumsstipendium 2020" for the best master thesis at LTH. In her thesis "Domain Adaptation for Attention Steering," Wilroth studied novel algorithms for improving the performance of hearing aids using EEG signals in combination with auditory input. The master thesis was done at the Department of Automatic Control, with Carolina Bergeling as main supervisor, in collaboration with the research center Eriksholm/Oticon in Denmark. The collaboration also involved the departments of Psychology and Mathematical Statistics at Lund University.

 

M.Sc by Nilsson and Sandstedt: Traction Control of a Three-Wheeled Electric Motorcycle

M.Sc by Nilsson & Sandstedt
Photo: Jakobsson Addemotion

Seminarium

From: 2021-06-16 16:00 to 17:00
Place: https://lu-se.zoom.us/j/66918104533?pwd=a0o5bnN3bnhhZHkzTUFBZlRocVlsZz09.
Contact: bjorn [dot] olofsson [at] control [dot] lth [dot] se
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Abstract:

Traction control is a widely used control system to increase stability and safety of four-wheeled vehicles. The company OMotion AB develops and builds three-wheeled electric vehicles. With a new model in development they want to increase the safety. This thesis presents the work of developing and implementing a Traction Control System (TCS) for that new model. Previously, a thesis work had been done at OMotion that implemented a slip control system for the longitudinal dynamics [Karlin, 2021]. It detected slip of the rear wheel and limited the torque to regain grip. However, the controller does not handle lateral slip. When cornering and pushing the throttle too hard the rear wheel can lose grip and oversteer, potentially resulting in a serious accident. By measuring the speed of the vehicle and the steering wheel angle, a desired yaw rate is obtained. This is compared to the actual yaw rate of the vehicle, giving a yaw-rate error which the feedback controller acts on. To investigate the behavior of the vehicle with different control strategies, a model was built in Matlab's Simulink. The model can simulate longitudinal and lateral dynamics together with the forces on the tires. The tire model used was the Dugoff tire model. The simulation performed well and made it possible to test different control strategies before implementation and testing on the real vehicle. Tests showed that a less aggressive controller was needed due to the noise that a real non-ideal driving surface brings. With more tuning the TCS successfully prevents a driver from losing control when accelerating too aggressively in a corner.


Students:

    Josef Nilsson

    Henrik Sandstedt

Advisors:

     Björn Olofsson, Dept. of Automatic Control, LTH

     Ola Svensson, OMotion AB

Examiner:

     Anders Robertsson, Dept. of Automatic Control, LTH


The seminar will be held in Zoom: https://lu-se.zoom.us/j/66918104533?pwd=a0o5bnN3bnhhZHkzTUFBZlRocVlsZz09.



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Welcome to KC4!

In 2020, we moved to temporary offices at KC4 in Kemicentrum. Here we will stay until 2023 while the M-building is being renovated. See "contact" (in About) for the new visiting adress.

Formula Student

The department has a collaboration with the Lund Formula Student team, who are developing a fully autonomous race car to compete in Formula Student events all across Europe. They are always looking for interested and talented team members. If you are interested in a wide variety of technologies such as neural networks, control theory, ROS, etc, please visit their website or contact them at: technical.driverless@lundformulastudent.se.