Design of a two DOF gain scheduled frequency shaped LQ controller for Narrow Tilting Vehicles

Mourad, Lama; Claveau, Fabien; Chevrel, P.

doi:10.1109/acc.2012.6315042

Cited by 12 publications

(14 citation statements)

References 8 publications

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“…In this paper, as in [18]- [20], the direct regulation of a per is considered, whereas the literature classically reformulates the lateral control problem as an angular position tracking problem, regulating the tilting angle  around the reference angle  ref , estimated on line by inverting equation (4) (with more or fewer approximations) [4]- [10], [13]- [15]. The advantage of the latter strategy is that a well known SISO controller, such as the PD controller, can be used, with a simple design model (see e.g.…”

Section: Remarksmentioning

confidence: 99%

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Direct and Steering Tilt Robust Control of Narrow Vehicles

Mourad¹,

Claveau

Chevrel

2014

IEEE Trans. Intell. Transport. Syst.

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International audienceNarrow Tilting Vehicles (NTVs) are the convergence of a car and a motorcycle. They are expected to be the new generation of city cars considering their practical dimensions and lower energy consumption. However, due to their height to breadth ratio, in order to maintain lateral stability, NTVs should tilt when cornering. Unlike the motorcycle, where the driver tilts the vehicle himself, the tilting of an NTV should be automatic. Two tilting systems are available; Direct and Steering Tilt Control, the combined action of these two systems being certainly the key to improve considerably NTV dynamic performances. In this paper, multivariable control tools (H2 methodology) are used to design, in a systematic way, lateral assistance controllers driving DTC, STC or both DTC/STC systems. A three degrees of freedom model of the vehicle is used, as well as a model of the steering signal, leading to a two degrees of freedom low order controller with an efficient feedforward anticipative part. Taking advantage of all the available measurements on NTVs, the lateral acceleration is directly regulated. Finally, a gain-scheduling solution is provided to make the DTC, STC, and DTC/STC controllers robust to longitudinal speed variations

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Section: Remarksmentioning

confidence: 99%

“…There is no reference signal as the control objective is to regulate the lateral acceleration a per to zero. However, considering a model of the driver steering angle  driv is very useful, as shown in [20], in order to forecast a curved trajectory. Let us consider for  driv the second order model: (6).…”

Section: Exogenous Signals Modelmentioning

confidence: 99%

Direct and Steering Tilt Robust Control of Narrow Vehicles

Mourad¹,

Claveau

Chevrel

2014

IEEE Trans. Intell. Transport. Syst.

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“…The nonlinear equations of the four-wheel model provided in previous section are accurate and detailed in matching the real vehicle response. In controller design and performance analysis, a simplified single-track model has been delivered from the nonlinear equations (1)- (21). Assuming that the steer angle, side slip angle and roll angle approach zero at normal states, their sinusoidal value can be approximated to their own value using the small-angle approximation for simplification.…”

Section: Simplified Single-track Vehicle Modelmentioning

confidence: 99%

“…Several studies focused on the control approach design in driving the DTC actuator, including linear SISO control approaches to provide tilt torque from a given combination of vehicle information [2,18], model-based control methods to decouple the longitudinal and lateral dynamics in vehicle response [5,19,20], and nonlinear control solutions to compensate the nonlinear behaviour of NTVs based on the accurate vehicle model [20,21].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Control of Narrow Tilting Vehicle for Future Transportation System

Ren¹

2020

Intelligent and Efficient Transport Systems - Design, Modelling, Control and Simulation

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The increasing number of cars leads traffic congestion and parking problems in urban area. Small electric four-wheeled narrow tilting vehicles (NTV) have the potential to become the next generation of city cars. However, due to its narrow width, the NTV has to lean into corners like two-wheeled vehicles during a turn. It is a challenge to maintain its roll stability to protect it from falling down. This chapter aims to describe the development of NTV and drive assistance technologies in helping to improve the stability of an NTV in turning. The modelling of an NTV considers the dynamics of the tyres and power train of the vehicle. A nonlinear tilting controller for the direct tilting control mechanism is designed to reduce the nonlinear behaviour of an NTV operating at different vehicle velocities. In addition, two torque vectoring based torque controllers are designed to reduce the counter-steering process and improve the stability of the NTV when it turns into a corner. The results indicate that the designed controllers have the ability to reduce the yaw rate tracking error and maximum roll rate. Then riders can drive an NTV easily with the drive assistance system.

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“…These control methods just consider the steady state vehicle behaviour, and the non-linear dynamics have been ignored. In addition, some nonlinear control solutions are used to compensate the nonlinear behaviour of NTVs, such as gain-scheduling and feedback linearization methods [16], [18]. However, these existing control solutions require the knowledge of an accurate vehicle model to design the prescheduled controller gains or linearize the vehicle model.…”

Section: Introductionmentioning

confidence: 99%