Dynamic model of three wheeled narrow tilting vehicle and corresponding experiment verification

Furuichi, Hiroki; Huang, Jian; Matsuno, Takayuki; Fukuda, Toshio

doi:10.1109/iros.2012.6386033

Cited by 8 publications

(7 citation statements)

References 10 publications

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“…In 2012 Furuichi et al published a model that allowed the simulation of three-wheeled NTVs running on just two wheels while cornering, thereby indicating an intermittent state between all wheels on the ground and lift off at any one wheel. 48 They defined four states for a vehicle during cornering, one for a vehicle with all wheels on the ground, second and third cases for right and left wheel lift off, respectively and the fourth for vehicle topple down. The proposed model was used to verify the performance of a DTC system and two different SDTC systems.…”

Section: Steering Direct Tilt Control Systemmentioning

confidence: 99%

“…Various vehicle manufacturers and researchers have used active roll, passive and active tilt control on 3Ws to mitigate the rollover tendency during cornering. 29,[48][49][50][51][52][53][54][55][56] The maximum possible enhancement in the safe driving region compared to a 4W with the same wheelbase and track using a tilt control system is shown in Figure 3(b). From Figure 3, it can also be seen that the safe driving region of a 3W can be enhanced to close to that of 4Ws.…”

Section: Control Modes For Rollover Preventionmentioning

confidence: 99%

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Automatic stability control of three-wheeler vehicles – recent developments and concerns towards a sustainable technology

Sindha

Chakraborty

Chakravarty

2017

Proceedings of the Institution of Mechanical Engineers, Part D:

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Traffic congestion, pollution due to vehicular emissions and fuel energy crises are the major problems that have inspired research for the design of efficient and smaller vehicles as a regular mode of transport with a significantly lower carbon footprint. With an increased dependency on certain countries for fuel energy, electric mobility has been encouraged by policy makers so that national interests are not compromised. At the same time, enhanced standards of living have resulted in a demand for safer and comfortable transport. All of these factors have led to a need for a mode of transport that is efficient, compact, safe and comfortable. Electric three-wheelers are seen as one of the promising options that fits all of these requirements. Due to their high propensity to rollover during cornering, however, the use of three-wheeled vehicles (3Ws) is limited to low-speed applications for cheap transport. Recent developments in the field of rollover mitigation through active tilt control mechanisms indicate that the future mode of transport will be more exciting than the existing one. This paper is a review mainly focused on the recent technological developments in active-tilt-controlled three-wheeled vehicles. This paper gives a detailed review of the methodologies chosen, control strategies adopted, types of vehicle chosen for test/simulation, mathematical models applied, key findings and future work proposed to address the dynamics-related issues of tilting 3Ws.

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Section: Steering Direct Tilt Control Systemmentioning

confidence: 99%

Section: Control Modes For Rollover Preventionmentioning

confidence: 99%

Automatic stability control of three-wheeler vehicles – recent developments and concerns towards a sustainable technology

Sindha

Chakraborty

Chakravarty

2017

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…This configuration has the advantage in braking when cornering. The second type has 1 front wheel and 2 wheels in the front [4]. This has better stability during acceleration when the vehicle turns.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of Narrow Tilting Three Wheeled Vehicle (NTTWV) with LQG control

Adhim

Wasiwitono

2017

Int. Journal of Mech. Eng. Sc.

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The need for compact vehicles will increase in urban areas in the future. This paper analyses the dynamics of the actively controlled narrow tilting three-wheel vehicle (NTTWV). The vehicle has 3 wheels, 2 front wheels as steering wheels and the rear wheel as traction wheel. Active tilting system is used to give desired roll angel ϕ that can resist the centrifugal force to maintain the vehicle stability. The simulation result showed that the NTTWV rolls only 76% of ideal motorcycle rolling angle at same velocity and turning radius. The improvement of critical speed compared to non-tilting three-wheeled vehicle at δ = 5 • and δ = 10 • are 193% and 171%.

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“…Controlling the tilt of vehicles equipped with three wheels has already been discussed in [7], [8], [9], [10]. But in these cases, all three wheels are supposed to always stay firmly in contact with the ground, and tilting refers in fact to simply controlling the motion of the CoM above the wheels, in a way very similar to what was done in [1] for Pepper when it is not tilting.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

Lafaye

Collette

Wieber

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model caused by the tilt of the robot. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in term of stability an robustness.

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Dynamic model of three wheeled narrow tilting vehicle and corresponding experiment verification

Cited by 8 publications

References 10 publications

Automatic stability control of three-wheeler vehicles – recent developments and concerns towards a sustainable technology

Automatic stability control of three-wheeler vehicles – recent developments and concerns towards a sustainable technology

Dynamic Analysis of Narrow Tilting Three Wheeled Vehicle (NTTWV) with LQG control

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

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