Faculty of Mechanical Engineering

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    Implementing Model Predictive Control (MPC) in Steer-by-Wire Systems for Future Automated Vehicles
    (IOP Publishing, 2024-09-01)
    Changoski, Vasko
    ;
    Vasileva, Anita
    ;
    Jakimovska, Kristina
    ;
    The need for future green sustainable transportation represents a motivation for the researchers in order to create a better society. In this paper a proposed Steer-by-Wire system for future automated vehicles is analysed by implementing model predictive control (MPC) controller that would optimise the desired behaviour of the vehicle. By using MATLAB/Simulink, a bicycle vehicle model is simulated in standardised test manoeuvres according to standard ISO:7401. These results are used as referent data for the desired trajectory of the vehicle and as input data for the MPC controller. The idea of using these results for the controller is generated by the desire of creating a shared information intelligent systems. Shared information and control in the future intelligent systems would be crucial for creating the desired sustainable transport. By traveling, the vehicle would collect data of the desired measured variables and those data would be send to every other vehicle. Therefore, the next vehicle would possess the previous data and would try to improve the vehicle response and safety. Every optimised trajectory would be shared with the rest of the vehicles and this cycle would result in further optimization and in creation of a safer, more comfortable and more sustainable transport. The optimisation is done by the MPC controller which is responsible for defining the steering wheel angle and therefore creating the Steer-by-Wire system that is entirely defined by the MPC controller without driver commands. By comparing the trajectory of the automated vehicle and the desired trajectory gained from the previous simulations, the desired steering wheel angle is defined. This results in creation of a Steer-by-Wire system that improves the vehicle dynamics, safety and dynamic response of the vehicle. The mathematical modelling, results of the simulations and advantages of using the MPC controller for the Steer-by-Wire system in automated vehicle are presented.
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    Improving vehicle dynamics employing individual and coordinated sliding mode control in vehicle stability, active front wheel steering and active rear wheel steering systems in co-simulation environment
    (IOP Publishing, 2022-12-01)
    Changoski, Vasko
    ;
    Gjurkov, Igor
    ;
    The goal for the future, safer and more sustainable transportation leads to implementation of many advanced systems in vehicles. In this paper, a vehicle model with stability control system that uses the braking system is regarded as a base active vehicle. Two alternative vehicle models are considered where this system is combined and integrated with active front wheel steering (AFS) and active rear wheel steering (ARS) system, separately. For the purpose of this research, 3D virtual vehicle models based on a B-segment vehicle were created in ADAMS/Car. As a research tool, a co-simulation approach between ADAMS/Car and MATLAB/Simulink was used. Several sliding mode controllers (SMC) have been proposed and implemented in MATLAB/Simulink in order to analyse the potential improvements of the vehicle dynamics due to the integration and coordination of these systems. In the same MATLAB/Simulink environment, a reference 2DOF nonlinear bicycle model was used. The vehicle models were simulated in driving scenarios based on standardized ISO 7401 test procedures. The scenarios include situations where the passive vehicle loses its stability or fails to complete the manoeuvre while the vehicles with stability control or integrated control systems successfully complete it.
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    Implementing Model Predictive Control (MPC) in Steer-by-Wire Systems for Future Automated Vehicles
    (IOP Publishing, 2024-09-01)
    Changoski, V
    ;
    Vasileva, A
    ;
    Jakimovska, K
    ;
    Danev, D
    The need for future green sustainable transportation represents a motivation for the researchers in order to create a better society. In this paper a proposed Steer-by-Wire system for future automated vehicles is analysed by implementing model predictive control (MPC) controller that would optimise the desired behaviour of the vehicle. By using MATLAB/Simulink, a bicycle vehicle model is simulated in standardised test manoeuvres according to standard ISO:7401. These results are used as referent data for the desired trajectory of the vehicle and as input data for the MPC controller. The idea of using these results for the controller is generated by the desire of creating a shared information intelligent systems. Shared information and control in the future intelligent systems would be crucial for creating the desired sustainable transport. By traveling, the vehicle would collect data of the desired measured variables and those data would be send to every other vehicle. Therefore, the next vehicle would possess the previous data and would try to improve the vehicle response and safety. Every optimised trajectory would be shared with the rest of the vehicles and this cycle would result in further optimization and in creation of a safer, more comfortable and more sustainable transport. The optimisation is done by the MPC controller which is responsible for defining the steering wheel angle and therefore creating the Steer-by-Wire system that is entirely defined by the MPC controller without driver commands. By comparing the trajectory of the automated vehicle and the desired trajectory gained from the previous simulations, the desired steering wheel angle is defined. This results in creation of a Steer-by-Wire system that improves the vehicle dynamics, safety and dynamic response of the vehicle. The mathematical modelling, results of the simulations and advantages of using the MPC controller for the Steer-by-Wire system in automated vehicle are presented.
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    INFLUENCE OF THE METAL CORED AND FLUX CORED WIRE ON THE STRUCTURAL STEEL WELDED JOINTS
    (2023)
    Petreski, Martin
    ;
    ;
    Vrtanoski, Gligorche
    ;
    Krstevska, Aleksandra
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    WELDABILITY BETWEEN STEEL TYPE 304H AND STEEL TYPE P91 FOR HIGH TEMPERATURE APPLICATIONS
    (DRUŠTVO ZA UNAPREĐIVANJE ZAVARIVANJA U SRBIJI, 2022)
    Krstevska, Aleksandra
    ;
    Poser, Maja
    ;
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    10. Krstevska, A., Zdraveski, F., Gavriloski, M., Petreski, M. Mechanical properties of steel P91 and steel 12X18H12T in dissimilar pipe welds used in boiler components
    (Međunarodno znanstveno-stručno savjetovanje SBZ 2023 „STROJARSKE TEHNOLOGIJE U IZRADI ZAVARENIH KONSTRUKCIJA I PROIZVODA, SBZ 2023.“ Slavonski Brod, 2023)
    Krstevska, Aleksandra
    ;
    ;
    ;
    Petreski, Martin
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    Evaluation of ergonomic principles in welding processes
    (2023-05)
    Krstevska, Aleksandra
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    Design and Compressive Strength Analysis of a Bio-Inspired Cell-Based Lattice
    (2024)
    Asistent Prof. Elena Angeleska PhD., Asistent Prof. Blagoja Nestorovski MSc., Ass. Prof. Nikola Avramov PhD., Ass. Prof. Jelena Djokikj PhD.
    The synergy between state-of-the-art additive manufacturing (AM) technologies and lattice structures offers numerous remarkable advantages which inspire engineers and designers to develop novel high-tech products and systems. By replacing traditional manufacturing methods with AM and conventional materials with architected cellular materials (lattices) an optimization of the mechanical characteristics can be achieved, such as: reduced weight, high strength, good force distribution, high energy absorption, etc. Since lattices are composed of unit cells that repeat regularly to form a periodic geometry, their structure is very controllable. The customization of the unit cell type, size, orientation, arrangement, and other features, directly affects the mechanical properties and the characteristics of the designed lattice product. Therefore, it has been a trend and challenge to experiment by varying the unit cell geometry to examine the change in performance of the lattice structures. In this research, a unique, bio-inspired unit cell was designed and evaluated with a goal to generate a lattice structure with improved compression characteristics. Inspiration was drawn from the seahorse skeleton, which similarly to the lattice geometry, is composed of repeated prism-like segments connected in a manner that allows incredible durability under impact. The new cell design was arranged to form a uniform lattice structure based on a geometric wireframe method. The evaluation procedure was done using an experimental test performed according to the ISO 604:2002(E) standard. The experiment was carried out on 2 types of lattice samples for comparison purposes. The novel lattice showed improved behavior under compression forces.