Bakalářská práce Experimentální model vozidla s asistentem pro

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ESK VYSOK UEN TECHNICK V PRAZE

FAKULTA STROJN

STAV MECHANIKY, BIOMECHANIKY A MECHATRONIKY

Odbor mechaniky a mechatroniky

Bakalsk prce

Experimentln model vozidla s asistentem

pro couvn s pvsem

Praha, 2016 Ladislav Vrbsk

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Anotan list

Jmno autora: Ladislav Vrbsk

Nzev bakalsk prce: Experimentln model vozidla s asistentem pro

couvn s pvsem

Anglick nzev: Experimental model of vehicle with an assistant for

backing up with trailer

Akademick rok: 2015/2016

Obor studia: bez oboru

stav/odbor: stav mechaniky, biomechaniky a mechatroniky

Odbor Mechaniky a mechatroniky

Vedouc bakalsk prce: Ing. Petr Bene, Ph.D.

Bibliografick daje: Poet stran: 34

Poet obrzk: 19

Poet ploh: 1 x CD

Klov slova:

Couvn, pvs, couvn s pvsem, asistent pro couvn, model vozidla s pvsem

Keywords:

Backing up, trailer, backing up with trailer, backing up assistant, model of vehicle

with trailer

Anotace:

Couvn vozidla s pvsem me bt i pro zkuenho idie nronou lohou.

Napklad m-li pvs projet pesn danou drhou, pi couvn v zk ulici nebo pi

parkovn. Prce se zabv vytvoenm parkovacho asistenta, kter prci idim

usnadn tak, e jim umon pmo ovldat naten a rychlost pvsu a na zklad

toho d natoen kol a rychlost vozidla.

Abstract:

Backing up of the vehicle with the trailer can be a hard task even for

an experienced driver. For example, if the trailer needs to follow exactly the given

path, when reversing in narrow streets or during parking. The thesis deals with

creating a parking assistant, that controls front wheels and speed of the vehicle and

allows driver to control directly the rotation and speed of the trailer.

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Prohlen

Prohlauji, e jsem tuto bakalskou prci vypracoval samostatn a pouil

jsem pouze podklady uveden v piloenm seznamu.

V Praze, dne Podpis

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Podkovn

Pedevm bych rd podkoval Ing. Petru Beneovi, Ph.D. za veden m bakalsk prce, as,

kter mi pi jejm vypracovvn vnoval, pomoc pi vbru tmatu tto bakalsk prce

a za cenn rady. Dle bych rd podkoval m rodin a ptelkyni za podporu pi prci na n.

Dkuji

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Obsah

Anotan list ................................................................................................................................................................... 3

Prohlen ....................................................................................................................................................................... 4

Obsah ................................................................................................................................................................................ 6

Seznam obrzk ........................................................................................................................................................... 7

1. vod ......................................................................................................................................................................... 8

2. Cle prce ............................................................................................................................................................... 8

2.1. koly .............................................................................................................................................................. 8

3. Souasn stav zkouman problematiky ................................................................................................... 9

3.1. Couvac asistenti dostupn na trhu .................................................................................................... 9

3.2. Poznatky o problematice .................................................................................................................... 10

3.2.1. Pehled promnnch pro popis pohybu vozidla a pvsu......................................... 11

3.2.2. Zvislost pohybu vozidla na pohybu pvsu ................................................................... 12

3.2.3. hel natoen pednch kol vozidla ...................................................................................... 14

4. Nstroje pro realizaci prce ........................................................................................................................ 15

4.1. LEGO MINDSTORMS ............................................................................................................................. 15

4.2. Matlab Simulink ..................................................................................................................................... 15

5. Vroba vlastnch soust modelu ........................................................................................................... 15

5.1. Rotan idlo pro LEGO Mindstorms ............................................................................................. 16

5.1.1. Princip optickho inkrementln enkodru ...................................................................... 16

5.1.2. Zapojen rotanho idla............................................................................................................ 18

5.2. Kabely ......................................................................................................................................................... 19

6. Vhodn konstrukce modelu ........................................................................................................................ 20

6.1. Zaten pednch kol .......................................................................................................................... 21

6.2. Konstrukce modelu pvsu .............................................................................................................. 23

6.3. Umstn rotanho idla .................................................................................................................... 23

6.4. Ovlada ...................................................................................................................................................... 25

6.5. Tabulka vznamnch rozmr modelu vozidla a pvsu .................................................... 25

7. Vytvoen programu couvacho asistenta ............................................................................................. 26

7.1. Doplnk LEGO EV3 pro Matlab Simulink ..................................................................................... 26

7.2. Vytvoen blok kinematickch rovnic ........................................................................................ 27

7.3. Rychlost modelu vozidla..................................................................................................................... 28

7.4. Vsledn model couvacho asistenta............................................................................................. 28

8. Navzn komunikace hardwaru se softwarem a implementovn modelu couvacho

asistenta ........................................................................................................................................................................ 29

8.1. Navzn komunikace .......................................................................................................................... 29

8.2. Implementovn a sputn modelu .............................................................................................. 30

9. Testovn funkc couvacho asistenta ..................................................................................................... 30

9.1. Analza videa pomoc programu Tracker ................................................................................... 30

9.2. Vyhodnocen experiment ................................................................................................................ 31

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10. Zvr ..................................................................................................................................................................... 32

11. Pouit literatura ............................................................................................................................................ 33

12. Seznam ploh ................................................................................................................................................... 34

Seznam obrzk

Obr. 1 Displej palubn desky Fordu F-150 s couvacm asistentem pevzato z [5] .................. 10

Obr. 2 Pohyb modelu vozidla............................................................................................................................ 11

Obr. 3 Pohyb modelu pvsu ............................................................................................................................ 12

Obr. 4 Couvn vozidla s pvsem ................................................................................................................. 14

Obr. 5 Princip optickho inkrementlnho enkodru pevzato z [9] ........................................... 16

Obr. 6 - Vstup optickho inkrementlnho enkodru pevzato z [4] ...........