Role

Controls Software Engineer

Impacts

Formulated a system dynamic models and a predictive controller for it.

Simulated the system dynamics using the controller we designed.

Skills

Python

System modeling

Optimization

Constrained Finite-Time Optimized Control

Model Predictive Control

Vehicle Dynamics

Descriptions

During an initial launch of a vehicle, the maximum acceleration occurs when the optimal slip is reached. However, in Formula SAE events where students are the drivers for the race cars, they are usually too inexperienced to maintain the optimal slips in the racing. We took this as a challenge to design a computer driving assistance that optimizes engine torque to track this optimal slip ratio and thus maximizes the acceleration. In our model, we included a two-wheel vehicle dynamic scheme, combining with the Pacejka's tire model tuned with the empirical data from the Berkeley FSAE team. We designed a Model-Predictive Controller that optimizes the slips. My role in this project include modeling the system , writing the controller, and tuning the parameters for the controller.