Dynamic model of three wheeled Narrow Tilting Vehicle and optimal tilt controller design

Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The traffic congestion is growing in urban area these days. This is because the number of the automobiles is increasing rapidly. To solve this problem, there are many solutions. One of them is to increase the flow rate of a particular traffic artery. A converse approach to increase the flow rate is to make the vehicle smaller and narrower. We developed a new conceptual Narrow Tilting Vehicle (NTV) that has one front wheel and two rear wheels. Also, it is very narrow and all three wheels can tilt to improve the stability during turning. In this paper, we derive a new switching dynamical model of NTV. This model considers several NTV states including normal running, temporary running with one rear wheel not on the ground and totally falling down. Based on this model, a simulation platform is established, which is useful to test different control methods and to investigate dangerous driving situations in case hurt drivers in real experiments. The effectiveness of proposed dynamical model is verified through comparison study of simulations and corresponding experiments.

Original languageEnglish
Title of host publication2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012
Pages331-336
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012 - Nagoya, Japan
Duration: Nov 4 2012Nov 7 2012

Publication series

Name2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012

Other

Other23rd Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2012
CountryJapan
CityNagoya
Period11/4/1211/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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    Furuichi, H., Huang, J., Matsuno, T., & Fukuda, T. (2012). Dynamic model of three wheeled Narrow Tilting Vehicle and optimal tilt controller design. In 2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012 (pp. 331-336). [6492432] (2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012). https://doi.org/10.1109/MHS.2012.6492432