Course syllabus for Vehicle motion and control

Course syllabus adopted 2022-02-15 by Head of Programme (or corresponding).

Overview

  • Swedish nameFordonsrörelse och reglering
  • CodeTME102
  • Credits7.5 Credits
  • OwnerMPMOB
  • Education cycleSecond-cycle
  • Main field of studyAutomation and Mechatronics Engineering, Mechanical Engineering, Engineering Physics
  • DepartmentMECHANICS AND MARITIME SCIENCES
  • GradingTH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail

Course round 1

  • Teaching language English
  • Application code 89120
  • Maximum participants40
  • Block schedule
  • Open for exchange studentsYes

Credit distribution

0111 Examination, part A 4.5 c
Grading: TH		 4.5 c
  • 29 Maj 2023 am J
  • 04 Jan 2023 pm J
  • 17 Aug 2023 am J
0211 Project, part B 3 c
Grading: TH		 3 c

In programmes

Examiner

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Eligibility

General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Course specific prerequisites

MMF062 Vehicle dynamics and/or MMA092 Rigid body dynamics and ERE033 Control theory or similar

Aim

Focus is how to improve vehicle dynamics performance by applying vehicle motion control and estimation algorithms.

Learning outcomes (after completion of the course the student should be able to)

  • Understand fundamental concepts: system, ODE, DAE, states, time invariance
  • Understand and use stability concepts and tools
  • Apply Modelica for physical/mathematical models relevant for vehicle dynamics problem
  • Understand descrete dynamics
  • Apply estimation theories on estimation of force and speed
  • Understand vehicle control principles and function design
  • Understand friction theory
  • Apply physical tyre models such as the brush model
  • Higher level understanding of actuators and how to model them
  • Understanding of non-linear vehicle dynamics including the handling diaagram
  • Applying models for articulated vehicles
The course contributes to the United Nations sustainable development goals regarding Sustainable cities and communities samhällenssss(SDG 13) and Climate action (SDG 11) in the sense that vehicle dynamics and control are important aspects both for vehicle safety and energy efficiency.

Content

Dynamics
Understand the formalism around the differential equations is essential to study the motion of vehicles. The objective is to understand and be able to apply the techniques to determine fundamental properties of vehicle dynamics models in the form of linear and nonlinear differential equations and transfer functions.

Modelling
Learn how to derive dynamic models from physical/engineering assumptions, for a wide model validity and understanding. Modelica is used for terminology and for Mathematical model. Simulink and FMU is used as Explicit form model. Also learn how to model discrete dynamics, especially mechatronic subsystems.

Vehicle motion estimation and control
Understand how vehicle performance can be improved by vehicle control. The object is to be able to apply techniques to estimate the motion of the vehicle based on knowledge of the physics in vehicle dynamics.

Tyre
Learn physics about friction and tyre. The object is to apply tyre models including combined slip.

Subsystems
Understand how Suspension the vertical tyre forces how Propulsion and Braking actuates the wheel torques and hereby the longitudinal tyre forces and how Steering actuates wheel steering angles and hereby the lateral tyre forces. Also understand interactions between those cause-and-effect chains and how to model it all in a complete vehicle model.

Vehicle Performance
Understanding in highly non-linear vehicle performance, transient dynamics, and articulated vehicles. One objective is to understand how subsystem are tuned to change vehicle performance.

The course also includes an design task assignment, where you design estimators/controllers and tune a vehicle using a HiFi model tool called CarMaker.

Organisation

  • Lectures 
  • Problem solving sessions 
  • Assignments and/or Hand-ins

Literature

  • Jacobson, B., et al, Vehicle Dynamics Compendium, 2020.
  • Rajamani, R., Vehicle Dynamics and Control, Springer Verlag, 2012.
  • Pacejka, H.B., Tyre and Vehicle Dynamics, 2002. 
  • Abe M., Vehicle Handling Dynamics, 2009. 
  • Kiencke, U. and Nielsen, L., Automotive Control Systems, 2005
  • Matlab/Simulink Users Guide, Mathworks Inc

Examination including compulsory elements

  • Marked assignment reports and/or hand-ins
  • Graded examination with problem solving and descriptive questions

The course examiner may assess individual students in other ways than what is stated above if there are special reasons for doing so, for example if a student has a decision from Chalmers on educational support due to disability.