Desenvolvimento de framework de prototipagem rápida para teste de algoritmos e estratégias de controle em sistemas veiculares dinâmicos

Abstract

Rapid prototyping and model-based development are engineering approaches that often seem distant from academic reality, the present work sought to create a framework to be followed in order to facilitate the development of control algorithms. Through a bibliographic review to understand/reproduce the Model Based Design techniques, the literature on vehicle dynamics was used to propose a reliable model for the real system, being important to contemplate the lateral and longitudinal movement of the vehicle. In addition to the theoretical basis, it is crucial for the work to properly understanding from the equipment used, how it is possible with such devices to simulate a control plant, and it is also necessary to understand how to properly stimulate the model. Finally, the obtained results fulfilled the proposed goal, to obtain a model and establish a guide that allows the test of control algorithms.