{"id":{"repo_id":"uoit","oai_identifier":"oai:ontariotechu.scholaris.ca:10155/502"},"canonical_url":"https://search.dev.ndltd.org/etd/uoit/oai:ontariotechu.scholaris.ca:10155/502","repository":{"repo_id":"uoit","name":"Ontario Institute of Technology","base_url":"https://ontariotechu.scholaris.ca/server/oai/request"},"display":{"title":"Prototype development and testing of active yaw moment control system using vehicle momentum wheel","abstract":"Vehicle stability is the essential key to evade accidents and drive without harm. It is in actual an extremely dynamic and active research topic nowadays. Active yaw moment control to improve vehicle’s handling and stability has been chosen as the control strategy. This technique uses a momentum wheel control (MWC) independent of the tire/road interaction to generate the corrective yaw moment. A fully functional prototype of the control system on an RC model car with onboard processing capabilities is designed and developed. Vehicle dynamics analysis and the test results are discussed. Control system is designed using the Linear-Quadratic Regulator (LQR) theory, calculates the necessary torque required to apply to the vehicle chassis in order to generate the corrective yaw moment. Kalman filter is used to supress the sensors noise and any irregularities in the system model design. Motor controller board provides enough current to generate the required torque. All the calculations are done using Advanced RISC Machines (ARM) microcontroller. System dynamics are analysed on the computer using LabVIEW software.","abstract_html":"Vehicle stability is the essential key to evade accidents and drive without harm. It is in actual an extremely dynamic and active research topic nowadays. Active yaw moment control to improve vehicle’s handling and stability has been chosen as the control strategy. This technique uses a momentum wheel control (MWC) independent of the tire/road interaction to generate the corrective yaw moment. A fully functional prototype of the control system on an RC model car with onboard processing capabilities is designed and developed. Vehicle dynamics analysis and the test results are discussed. Control system is designed using the Linear-Quadratic Regulator (LQR) theory, calculates the necessary torque required to apply to the vehicle chassis in order to generate the corrective yaw moment. Kalman filter is used to supress the sensors noise and any irregularities in the system model design. Motor controller board provides enough current to generate the required torque. All the calculations are done using Advanced RISC Machines (ARM) microcontroller. System dynamics are analysed on the computer using LabVIEW software.","abstract_has_math":false,"creators":["Arora, Ankur"],"institution":"University of Ontario Institute of Technology","degree_name":"Master of Applied Science (MASc)","degree_level":null,"degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Esmailzadeh, Ebrahim"],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-01-01","date_published":"2015-01-01","updated_at":"2026-07-24T05:35:38Z","subjects":["Momentum wheel","Yaw moment control","LQR","Arduino","Prototype development"],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/10155/502","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Esmailzadeh, Ebrahim"]},{"key":"dc:creator","label":"Author","values":["Arora, Ankur"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2015-03-12T16:22:03Z","2022-03-29T17:06:01Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2015-03-12T16:22:03Z","2022-03-29T17:06:01Z"]},{"key":"dc:date.issued","label":"Date","values":["2015-01-01"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Applied Science (MASc)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Ontario Institute of Technology"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Momentum wheel","Yaw moment control","LQR","Arduino","Prototype development"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10155/502"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Vehicle stability is the essential key to evade accidents and drive without harm. It is in actual an extremely dynamic and active research topic nowadays. Active yaw moment control to improve vehicle’s handling and stability has been chosen as the control strategy. This technique uses a momentum wheel control (MWC) independent of the tire/road interaction to generate the corrective yaw moment. A fully functional prototype of the control system on an RC model car with onboard processing capabilities is designed and developed. Vehicle dynamics analysis and the test results are discussed. Control system is designed using the Linear-Quadratic Regulator (LQR) theory, calculates the necessary torque required to apply to the vehicle chassis in order to generate the corrective yaw moment. Kalman filter is used to supress the sensors noise and any irregularities in the system model design. Motor controller board provides enough current to generate the required torque. All the calculations are done using Advanced RISC Machines (ARM) microcontroller. System dynamics are analysed on the computer using LabVIEW software."]},{"key":"dc:title","label":"Title","values":["Prototype development and testing of active yaw moment control system using vehicle momentum wheel"]}]}],"canonical_facts":{"dc:contributor.advisor":["Esmailzadeh, Ebrahim"],"dc:creator":["Arora, Ankur"],"dc:date.accessioned":["2015-03-12T16:22:03Z","2022-03-29T17:06:01Z"],"dc:date.available":["2015-03-12T16:22:03Z","2022-03-29T17:06:01Z"],"dc:date.issued":["2015-01-01"],"dc:description.abstract":["Vehicle stability is the essential key to evade accidents and drive without harm. It is in actual an extremely dynamic and active research topic nowadays. Active yaw moment control to improve vehicle’s handling and stability has been chosen as the control strategy. This technique uses a momentum wheel control (MWC) independent of the tire/road interaction to generate the corrective yaw moment. A fully functional prototype of the control system on an RC model car with onboard processing capabilities is designed and developed. Vehicle dynamics analysis and the test results are discussed. Control system is designed using the Linear-Quadratic Regulator (LQR) theory, calculates the necessary torque required to apply to the vehicle chassis in order to generate the corrective yaw moment. Kalman filter is used to supress the sensors noise and any irregularities in the system model design. Motor controller board provides enough current to generate the required torque. All the calculations are done using Advanced RISC Machines (ARM) microcontroller. System dynamics are analysed on the computer using LabVIEW software."],"dc:identifier.uri":["https://hdl.handle.net/10155/502"],"dc:language.iso":["en"],"dc:subject":["Momentum wheel","Yaw moment control","LQR","Arduino","Prototype development"],"dc:title":["Prototype development and testing of active yaw moment control system using vehicle momentum wheel"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_name":["Master of Applied Science (MASc)"],"thesis:institution_name":["University of Ontario Institute of Technology"]},"updated_at":"2026-07-24T05:35:38Z"}