ATV braking system: introduction and system modelling.
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Journal Title
Journal ISSN
Volume Title
Sähkötekniikan korkeakoulu |
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Author
Date
2014-08-25
Department
Major/Subject
AS3001
Mcode
Autonomous Systems
Degree programme
AUT - Automaatio- ja systeemitekniikka
Language
en
Pages
57+6
Series
Abstract
All-terrains-vehicles (ATV) are largely used in forest working and patrolling, supporting rangers, lumberjacks and many other workers. Recently, environmental issues led to the development of electrical ATVs, that are able to provide zero emissions, more silent and cheaper operations. Thus far, these vehicles have always been driven by humans, but the last technological developments allow the implementation of self-driving and autonomous vehicles. This is an attractive possibility to help off-road workers to gain more flexibility and autonomy in their activities and an help in rescue operations as well.A crucial part in the autonomous vehicles field is the braking performance, even more important if we consider the kind of surfaces on which these vehicles are meant to go. The problem of the wheels slippage has been deeply considered for road vehicles, but few solutions and application have been implemented for off-road ones. In this final project, an introduction study in this sense is made, focusing on the brake system modelling and evaluation of some ABS solution. The vehicle in use is a Polaris Ranger. Many slip and braking system controls have been investigated: the newest and most complex of them allow to get really high control performances and they can cope with the system modelling uncertainties. One the most promising is the sliding mode control (SMC) for its trade-off between complexity and ability to face the uncertainties. The modelling part showed us how strongly the road state can affects the braking performance and in the other side that is extremely difficult to get a detailed model of the whole braking system.Description
Supervisor
Visala, ArtoThesis advisor
Matikainen, VilleKeywords
Polaris Ranger ATV, ABS, braking system modelling
