Abstract
Traffic congestion is one of the main problems modern cities face, exacerbated by widespread use of normal four-wheeled transportation. A promising solution to this challenge is to develop narrow electric vehicles and apply them in daily transportation. These kinds of narrow vehicles need less parking and lane space and cause no air pollution. In this study, we developed a new conceptual narrow tilting vehicle (NTV) that has one front wheel and two rear wheels. All the three wheels can tilt to improve the stability of NTV during turning. To fully describe the dynamic behaviors, a new switching dynamic model of NTV was derived. 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 for testing different control methods and for investigating dangerous driving situations. A new active tilt controller is proposed based on a tilt dynamic model linearized around an equilibrium on which the lateral acceleration is zero. The controller is easily realized from the point of view of engineering and the closed-loop system stability was also investigated. The driving stability problem of NTV was discussed using peak-to-peak analysis method. Stability condition of input steering angle and angular velocity was obtained, which may be a useful tool for designing the steer-by-wire controller in the future. All the proposed model, control method, and stability conditions were verified through simulations and experiments.
| Original language | English |
|---|---|
| Article number | 6600778 |
| Pages (from-to) | 1309-1322 |
| Number of pages | 14 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 19 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2014 |
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Keywords
- Active tilt control
- driving stability
- modeling
- narrow tilting vehicle (NTV)
- peak-to-peak gain analysis
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Switching dynamic modeling and driving stability analysis of three-wheeled narrow tilting vehicle. / Furuichi, Hiroki; Huang, Jian; Fukuda, Toshio; Matsuno, Takayuki.
In: IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 4, 6600778, 2014, p. 1309-1322.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Switching dynamic modeling and driving stability analysis of three-wheeled narrow tilting vehicle
AU - Furuichi, Hiroki
AU - Huang, Jian
AU - Fukuda, Toshio
AU - Matsuno, Takayuki
PY - 2014
Y1 - 2014
N2 - Traffic congestion is one of the main problems modern cities face, exacerbated by widespread use of normal four-wheeled transportation. A promising solution to this challenge is to develop narrow electric vehicles and apply them in daily transportation. These kinds of narrow vehicles need less parking and lane space and cause no air pollution. In this study, we developed a new conceptual narrow tilting vehicle (NTV) that has one front wheel and two rear wheels. All the three wheels can tilt to improve the stability of NTV during turning. To fully describe the dynamic behaviors, a new switching dynamic model of NTV was derived. 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 for testing different control methods and for investigating dangerous driving situations. A new active tilt controller is proposed based on a tilt dynamic model linearized around an equilibrium on which the lateral acceleration is zero. The controller is easily realized from the point of view of engineering and the closed-loop system stability was also investigated. The driving stability problem of NTV was discussed using peak-to-peak analysis method. Stability condition of input steering angle and angular velocity was obtained, which may be a useful tool for designing the steer-by-wire controller in the future. All the proposed model, control method, and stability conditions were verified through simulations and experiments.
AB - Traffic congestion is one of the main problems modern cities face, exacerbated by widespread use of normal four-wheeled transportation. A promising solution to this challenge is to develop narrow electric vehicles and apply them in daily transportation. These kinds of narrow vehicles need less parking and lane space and cause no air pollution. In this study, we developed a new conceptual narrow tilting vehicle (NTV) that has one front wheel and two rear wheels. All the three wheels can tilt to improve the stability of NTV during turning. To fully describe the dynamic behaviors, a new switching dynamic model of NTV was derived. 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 for testing different control methods and for investigating dangerous driving situations. A new active tilt controller is proposed based on a tilt dynamic model linearized around an equilibrium on which the lateral acceleration is zero. The controller is easily realized from the point of view of engineering and the closed-loop system stability was also investigated. The driving stability problem of NTV was discussed using peak-to-peak analysis method. Stability condition of input steering angle and angular velocity was obtained, which may be a useful tool for designing the steer-by-wire controller in the future. All the proposed model, control method, and stability conditions were verified through simulations and experiments.
KW - Active tilt control
KW - driving stability
KW - modeling
KW - narrow tilting vehicle (NTV)
KW - peak-to-peak gain analysis
UR - http://www.scopus.com/inward/record.url?scp=84900521043&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84900521043&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2013.2280147
DO - 10.1109/TMECH.2013.2280147
M3 - Article
AN - SCOPUS:84900521043
VL - 19
SP - 1309
EP - 1322
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 4
M1 - 6600778
ER -