Control Development and Experimental Validation of a 1:5 Scaled Vehicle

This thesis work focuses on the multiple control modalities development and experimental validation of a 1:5 scaled vehicle using a real-time target machine. The 1:5 scaled vehicle is the Losi 5IVE-T 2.0, which is a 4WD, radio-controlled vehicle that has been upgraded from equipping with a 2-stroke internal combustion engine (ICE) to an electrified version using an e-motor, an e-motor controller, and a battery. The real-time target machine is the Speedgoat Baseline, which is a compact and efficient system for this thesis work. It integrates MATLAB and Simulink workflows seamlessly through Simulink Real-Time and supports real-time testing of control modalities by utilizing supported I/O modules. After emphasizing the motivation and benefits of using scaled vehicles and real-time target machines in automotive research and development, this thesis work introduces the 1:5 scaled vehicle. Information on all hardware and software devices (such as motors, controllers, Speedgoat, a router, batteries, etc.) required to establish a ready-to-run setup for the electrified 1:5 scaled vehicle is provided in the text. Additionally, devices of the real-time data acquisition system (such as potentiometer, GPS antenna, IMU, Scadas XS, etc.) and control models built with MATLAB and Simulink workflows that enable the ready-to-test ability of the 1:5 scaled vehicle are followed. Data post processing, results shown in figures, and some discussions of the field tests that use predefined trajectories to control the 1:5 scaled vehicle are listed before concluding this thesis work with potential future exploration and development.