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1
Robertson, James. "Active control of narrow tilting vehicle dynamics." Thesis, University of Bath, 2014. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.636544.
Full textAbstract:
Narrow tilting vehicles offer an opportunity to tackle both traffic congestion and carbon emissions having a small footprint, low weight and small frontal area. Their narrow width requires that they tilt into corners in order to maintain stability; this may be achieved by means of an automated tilt control system. A three-wheeled tilting vehicle prototype, known as the Compact Low Emission Vehicle for uRban transport (CLEVER), was constructed at the University of Bath in 2006. The vehicle was equipped with a direct tilt control system in which a pair of hydraulic actuators applied a moment between the cabin and a non-tilting base. This tilt control system provided satisfactory steady state performance but limited transient stability. High tilt rate demands associated with rapid steering inputs would lead to large tilting moments being applied to the non-tilting rear engine module; this, combined with the engine module’s own propensity to roll out of the bend, could cause the inside wheel to lift and the vehicle to capsize. This thesis details the implementation of a Steering Direct Tilt Control (SDTC) system, whereby the front wheel steer angle is used to generate some of the tilting moment, on the prototype CLEVER Vehicle. Simulation and experimental results are presented which show a 40% reduction in load transfer across the rear axle during a transient ramp steer manoeuvre. The influence of the SDTC system, and associated steer angle alteration, on the vehicle trajectory is considered. A human driver is found to be capable of adapting their steer inputs such that they can follow their chosen path. Finally, a feed-forward control strategy is shown to reduce the load transfer across the rear axle by an additional 30% in transient situations, but only if the steer input signal is sufficiently free of noise.
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Berote, Johan J. H. "Dynamics and control of a tilting three wheeled vehicle." Thesis, University of Bath, 2010. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.535641.
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Barker, Matthew Iain. "Chassis design and dynamics of a tilting three-wheeled vehicle." Thesis, University of Bath, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.432834.
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Van, Poelgeest Auguste. "The dynamics and control of a three-wheeled tilting vehicle." Thesis, University of Bath, 2011. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.535640.
Full textAbstract:
The objective of this study was to develop a new Steer Tilt Control (STC) algorithm inspired by real driver behaviour and to test it in simulation with an experimentally validated non-linear vehicle model. In order to develop an exhaustive simulation model of the vehicle and to process experimental data correctly, a large number of modelling aspects were taken into consideration. The objective of the study was to identify the unique kinematics of a three-wheeled tilting vehicle and determine the importance of the kinematic effects on the vehicle system. In order to fully understand this unique class of vehicle, the effect of the driver’s mass on the vehicle inertia’s and the effect of the tilting on the vehicle’s yaw inertia were considered. A wide-ranging expression for the driver’s perceived acceleration was derived and the roll dynamics of the non-tilting part of the three-wheeled tilting vehicle assembly were modelled. The steering torque of the vehicle as fully analysed and, using the simulation model, methods to model the effect of a crosswind on the vehicle, to test the effect of driving up or downhill, and to determine the effect of road camber on the vehicle dynamics were considered. To create a better understanding of the control task, road experiments were carried out using an instrumented tilting three-wheeler to investigate the driver steer inputs necessary to both balance the vehicle and follow a fixed trajectory. The experimental results demonstrated that the drivers’ steering inputs varied even though they had to complete identical tasks. This result confirmed that there are multiple ways to control the roll of the vehicle. The results also showed that the tilt angle always led the steering angle and for a transient manoeuvre, the tilt angle was larger than the balanced tilt angle at the start of the manoeuvre and smaller than the balanced angle at the end of the manoeuvre. The next step in the investigation was the development of a comprehensive non-linear dynamics model of a tilting three-wheeler including a tyre model and a driver model. A new method was developed to estimate the parameters of a Magic Formula Tyre model using the road testing data. The vehicle and tyre model were validated using data from a range of test runs. The importance of a driver in the loop was recognised and the elements of a driver trajectory-tracking model were studied. The aim was to develop a driver model that demonstrated good i tracking and some similarity to real driver behaviour. The final model used the yaw rate demand to determine an anticipatory control steer angle and the current heading error and the vehicle’s lateral position error measured in the vehicle’s local axis system to make small steering adjustments. The STC method based on Proportional Integral Derivative (PID) control was tested with the vehicle model to determine its performance with the non-linear dynamics and the driver in the loop. It was shown that the driver model had the tendency to act against the STC and that the two could only act simultaneously for a very limited range of demand trajectory and velocity combinations. The crosswind, hill driving, and road camber models were combined with the vehicle simulation without a driver but with the PID based STC. The simulations showed that these environmental factors made the control task significantly more difficult. More importantly, it showed that these factors demanded an increased number of vehicle states to be fed back to the controller. A new algorithm for STC was developed using the full vehicle and driver model. One of the criteria was that the control algorithm had to be realizable in practice. The resulting controller was a logic algorithm that would choose an action based on the steering angle and velocity and the vehicle speed with online gain adjustment based on direction and order of magnitude of the perceived acceleration. The basis of the control was adjustment of the driver's steering input and it was shown that the vehicle's deviation from the driver's intended path was minimal.
5
Förstberg, Johan. "Ride comfort and motion sickness in tilting trains." Doctoral thesis, KTH, Vehicle Engineering, 2000. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-2985.
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Persson, Rickard. "Tilting trains : Enhanced benefits and strategies for less motion sickness." Doctoral thesis, KTH, Spårfordon, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-33077.
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Carbody tilting is today a mature and inexpensive technology that allows higher train speeds in horizontal curves, thus shortening travel time. This doctoral thesis considers several subjects important for improving the competitiveness of tilting trains compared to non-tilting ones. A technology review is provided as an introduction to tilting trains and the thesis then focuses on enhancing the benefits and strategies for less motion sickness. A tilting train may run about 15% faster in curves than a non-tilting one but the corresponding simulated running time benefit on two Swedish lines is about 10%. The main reason for the difference is that speeds are set on other grounds than cant deficiency at straight track, stations, bridges, etc. The possibility to further enhance tilting trains’ running speed is studied under identified speed limitations due to vehicle-track interaction such as crosswind requirements at high speed curving. About 9% running time may be gained on the Stockholm–Gothenburg (457 km) mainline in Sweden if cant deficiency, top speed, and tractive performance are improved compared with existing tilting trains. Non-tilting high-speed trains are not an option on this line due to the large number of 1,000 m curves. Tilting trains run a greater risk of causing motion sickness than non-tilting trains. Roll velocity and vertical acceleration are the two motion components that show the largest increase, but the amplitudes are lower than those used in laboratory tests that caused motion sickness. Scientists have tried to find models that can describe motion sickness based on one or more motion quantities. The vertical acceleration model shows the highest correlation to motion sickness on trains with active tilt. However, vertical acceleration has a strong correlation to several other motions, which precludes vertical acceleration being pointed out as the principal cause of motion sickness in tilting trains. Further enhanced speeds tend to increase carbody motions even more, which may result in a higher risk of motion sickness. However, means to counteract the increased risk of motion sickness are identified in the present work that can be combined for best effect. Improved tilt control can prevent unnecessary fluctuations in motion sickness related quantities perceived by the passengers. The improved tilt control can also manage the new proposed tilt algorithms for less risk of motion sickness, which constitute one of the main achievements in the present study. Local speed restrictions are another means of avoiding increased peak levels of motion sickness when increasing the overall speed. The improved tilt control and the proposed tilt algorithms have proven to be effective in on-track tests involving more than 100 test subjects. The new tilt algorithms gave carbody motions closer to non-tilting trains. Rather unexpectedly, however, the test case with the largest decrease in tilt gave a greater risk of motion sickness than the two test cases with less reduction in tilt. It is likely that even better results can be achieved by further optimization of the tilt algorithms; the non-linear relation between motions and motion sickness is of particular interest for further study.QC 20110429
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Persson, Rickard. "Tilting trains : Technology, benefits and motion sickness." Licentiate thesis, KTH, Aeronautical and Vehicle Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-4771.
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Carbody tilting is today a mature and inexpensive technology allowing higher speeds in curves and thus reduced travel time. The technology is accepted by most train operators, but a limited set of issues still holding back the full potential of tilting trains. The present study identifies and report on these issues in the first of two parts in this thesis. The second part is dedicated to analysis of some of the identified issues. The first part contains Chapters 2 to 5 and the second Chapters 6 to 12 where also the conclusions of the present study are given.
Chapters 2 and 3 are related to the tilting train and the interaction between track and vehicle. Cross-wind stability is identified as critical for high-speed tilting trains. Limitation of the permissible speed in curves at high speed may be needed, reducing the benefit of tilting trains at very high speed. Track shift forces can also be safety critical for tilting vehicles at high speed. An improved track standard must be considered for high speed curving.
Chapters 4 and 5 cover motion sickness knowledge, which may be important for the competitiveness of tilting trains. However, reduced risk of motion sickness may be contradictory to comfort in a traditional sense, one aspect can not be considered without also considering the other. One pure motion is not the likely cause to the motion sickness experienced in motion trains. A combination of motions is much more provocative and much more likely the cause. It is also likely that head rotations contribute as these may be performed at much higher motion amplitudes than performed by the train.
Chapter 6 deals with services suitable for tilting trains. An analysis shows relations between cant deficiency, top speed, tractive performance and running times for a tilting train. About 9% running time may be gained on the Swedish line Stockholm – Gothenburg (457 km) if cant deficiency, top speed and tractive performance are improved compared with existing tilting trains. One interesting conclusion is that a non-tilting very high-speed train (280 km/h) will have longer running times than a tilting train with today’s maximum speed and tractive power. This statement is independent of top speed and tractive power of the non-tilting vehicle.
Chapters 7 to 9 describe motion sickness tests made on-track within the EU-funded research project Fast And Comfortable Trains (FACT). An analysis is made showing correlation between vertical acceleration and motion sickness. However, vertical acceleration could not be pointed out as the cause to motion sickness as the correlation between vertical acceleration and several other motions are strong.
Chapter 10 reports on design of track geometry. Guidelines for design of track cant are given optimising the counteracting requirements on comfort in non-tilting trains and risk of motion sickness in tilting trains. The guidelines are finally compared with the applied track cant on the Swedish line Stockholm – Gothenburg. Also transition curves and vertical track geometry are shortly discussed.
Chapters 11 and 12 discusses the analysis, draws conclusions on the findings and gives proposals of further research within the present area.
8
Caneri, Massimiliano. "Design and development of the MotoMacchina vehicle." Doctoral thesis, Università degli studi di Padova, 2014. http://hdl.handle.net/11577/3423757.
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This work concerns the design and development of a tilting four-wheeled vehicle. The peculiari-
ties of this prototype required, first, the adoption of a fast, simple, trial and error based approach
to develop case knowledge and find out possible design problems. Then, a more methodical
numerical-based approach was used to find performing solutions to the very particular issues.
Specific multibody models of roll, steer and suspension subsystems were self-constructed ad
used in numerical optimizations. In all cases, satisfying results were achieved. In addition, the
constructive design and fabrication of main subsystems were performed.Il presente lavoro è finalizzato alla progettazione ed allo sviluppo di un veicolo a quattro ruote rollanti. Le peculiarità del prototipo hanno richiesto, dapprima, l’utilizzo di un semplice e veloce approccio di tipo empirico, finalizzato ad accrescere la conoscenza dello specifico caso progettuale ed evidenziare possibili problemi nella fase di design. In un secondo momento, è stato usato un approccio maggiormente metodico e basato su metodi numerici, al fine di individuare soluzioni profittevoli agli specifici problemi del caso di studio. Modelli multibody specifici degli apparati di rollio, sterzo e sospensioni sono stati autocostruiti ed utilizzati nelle ottimizzazioni numeriche. In tutti i casi trattati, sono stati raggiunti risultati soddisfacenti. Infine, sono state effettuate la progettazione costruttiva e la realizzazione dei principali sottoassiemi.
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Zamzuri, Hairi. "Intelligent model-based robust control for tilting railway vehicles." Thesis, Loughborough University, 2008. https://dspace.lboro.ac.uk/2134/33896.
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High-speed trains have become one of the main means of public transportation around the world. The use of tilting train technologies on high-speed trains has contributed to cost effectiveness by reducing journey time between two places without the need to develop a new high-speed rail track infrastructure. Current technologies in tilting railway vehicles use a 'precedence' control scheme. This scheme uses a measurement from the front vehicle to capture 'precedence' information. Research on local sensor loop control strategies is still important to overcome the complexity of using precedence control technique. Work using conventional and modern control approaches has been investigated by previous researches. This study further extends these by investigating a particular intelligent control technique using fuzzy logic in designing the local feedback tilt control scheme.
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Mourad, Lama. "Contrôle actif de l'accélération latérale perçue d'un véhicule automobile étroit et inclinable." Phd thesis, Ecole des Mines de Nantes, 2012. http://tel.archives-ouvertes.fr/tel-00787310.
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Les Véhicules Etroits et Inclinables (VEI) sont la convergence d'une voiture et d'un motocycle. Un mètre de largeur seulement suffit pour transporter une ou deux personnes en Tandem. Les VEI sont conçus dans le but de résoudre partiellement les problèmes de trafic routier, de minimiser la consommation énergétique et l'émission de polluants. De par leurs dimensions(ratio hauteur/largeur), ces véhicules doivent s'incliner en virage pour rester stable en compensant l'effet de l'accélération latérale. Cette inclinaison doit dans certains cas être automatique : elle peut être réalisée à l'aide d'un couple d'inclinaison généré par un actionneur dédié (système DTC), soit encore en modulant l'angle de braquage des roues (Système STC). Nous avons proposé dans ce mémoire une méthodologie de synthèse d'un régulateur structuré minimisant la norme H2 d'un problème bien posé au bénéfice d'une régulation optimisée de l'accélération latérale, considérant tour à tour les systèmes DTC et STC. Les régulateurs proposés sont paramétrés par la vitesse longitudinale et s'avèrent performants et robustes, et les moyens de réglages proposés permettent d'étudier l'intérêt relatif d'une solution DTC pure ou mixte DTC/STC, permettant de supporter les développements futurs sur le sujet. L'originalité des solutions proposées en regard des études rencontrées dans la littérature porte en particulier sur le fait de choisir de réguler directement l'accélération latérale perçue (plutôt que l'angle d'inclinaison), en anticipant la prise de virage par la prise en compte des angles et vitesse de braquage. L'optimisation de la régulation permet de réduire de manière importante le couple d'inclinaison requis, et l'accélération latérale subie par les passagers est faible. Tous les développements proposés s'appuient naturellement en amont sur un travail de modélisation (recherche du modèle juste nécessaire), et de bibliographie conséquent. Le modèle retenu comprend 5 degrés de libertés. Nous avons démontré qu'il possédait la propriété intéressante d'être plat, et avons utilisé cette propriété pour ouvrir des perspectives relatives à la conception d'un régulateur non-linéaire robuste, susceptible apriori d'accroître les performances dans le cas de " grands mouvements ". Au contraire de ce qui existe dans la littérature,le régulateur multivariable conçu pour le système SDTC permet le contrôle coordonné des actions sur les systèmes STC et DTC.
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Maakaroun, Salim. "Modélisation et simulation dynamique d'un véhicule urbain innovant en utilisant le formalisme de la robotique." Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00664283.
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La modélisation et la simulation numérique sont des outils fondamentaux pour la conception et le développement de nouveaux véhicules. Les travaux de cette thèse portent sur la modélisation et la simulation d'un véhicule innovant, étroit et inclinable, en appliquant une description systématique et générique du véhicule considéré comme un robot dont la base est mobile et les roues sont les organes terminaux. Le système d'inclinaison motorisé entraîne une cinématique complexe et comporte des chaines fermées. Le but du travail est de construire un modèle physique précis, au contraire des modèles simplifiés de type bicyclette ou quart de véhicule utilisés habituellement pour l'étude de la commande des véhicules. L'approche procède à la description de l'architecture mécanique du véhicule, le considérant comme un système multi-corps poly-articulés, s'appuyant sur le formalisme de la robotique et précisément sur la représentation géométrique de Denavit-Hartenberg modifié. Cette approche permet de calculer automatiquement les expressions symboliques des modèles géométriques, cinématiques et dynamiques des structures simples et arborescentes. Les modèles qui en résultent comportent un nombre minimum d'opérations par la mise à profit du calcul symbolique itératif et des techniques de simplification de modèles propres à la robotique. Ces techniques sont implémentées dans le logiciel de calcul symbolique SYMORO+. Le modèle dynamique est calculé d'une manière récursive à l'aide de l'algorithme de Newton-Euler. La simulation dynamique utilise un simulateur édité sous Matlab/Simulink qui intègre le modèle dynamique direct calculé automatiquement à partir du modèle inverse. Des simulations réalisées sur des modèles de complexité croissante, pour des scénarios de freinage ou d'accélération, en ligne droite ou en virage, valident la méthodologie de modélisation mécanique proposée.
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Zeng, Bo-Yuan, and 曾柏元. "Electric Stability Control ofNarrow Tilting Vehicle." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/2p3589.
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碩士國立臺北科技大學
車輛工程系所
101
The narrow tilting vehicle is a tricycle driven with rear two wheel motors independently. In order to maintain the maneuverability and stability of the vehicle, an electronic stability control is designed using linear quadratic regulator based on a simplified linear bicycle in this thesis. The reference command of the titling angle is generated to achieve the functions of yaw rate following and sideslip angle limitation. A PID controller is employed to generate the tilting torque for tracking the reference command of the tilting angle. In ordeer to reduce the transient tilting torque，the non-minimum phase characteristic is employed to generate the yaw moment. A nonlinear vehicle dynamic model established using MapleSim is used to verify the proposed control strategy. However, the simulation results show that the proposed control strategy cannot achieve the electronic stability control for the nonlinear vehicle model. It is found that the simplified linear bicycle model cannot accommodate the kinematic effect of tilting angle to the tire slip angle. The dynamic characteristics of the linear bicycle model and nonlinear vehicle model are quite different during tilting. Thus the desired performance cannot be achieved for the nonlinear vehicle model using the proposed control designed based on the linear bicycle model.
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Wu, Wei-Ting, and 吳維廷. "Direct yaw moment control of Narrow-Tilting Vehicle." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/7gp2y9.
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碩士國立臺北科技大學
車輛工程系所
98
The target narrow tilting vehicle is a tricycle with two wheel motors at the rear two wheels. Without the mechanical differential, the traction forces on the right and left wheels cannot coordinate with each other to negotiate the turn. Fuzzy sliding mode control (FSMC) is used to design the direct yaw moment control (DYC) to achieve the yaw rate following for the purpose of electric differential. Work load ratio for both wheels are also balanced to prevent wheel slipping. In addition to prevent rollover during cornering, FSMC is used to design the tilting control to achieve tilting angle tracking. An angle compensation strategy is proposed in this paper to reduce the power consumption for tilting control. Yaw rate generator is modified to be non-minimum to further reduce the initial tilting torque. A nonlinear vehicle model is established using MapleSim to verify the proposed algorithms. Simulation results show that effective yaw rate following can be achieved while preventing the vehicle from rolling over and reducing the required tilting torque.
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Ciou, Ci-Fong, and 邱琦峰. "Study of Tilting Control for a Narrow Light Vehicle." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/11434342839107963678.
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碩士國立屏東科技大學
車輛工程系所
102
Narrow light vehicles (NLV) are expected to be a global trend of personal vehicle development because of its less energy consumption and pollutant emission, easily parking, and small dimension. But its slender nature takes high risk of rollover during tight cornering.Thus the NLV’s are commonly equipped with tilting mechanism to reduce the effect of lateral acceleration on turning maneuvering. Unlike the scooters, the seats as well as the handler wheel of the NLV are of the same type with regular passenger vehicle. Its tilting motion cannot be operated by the driver like in the scooter. Thus an automatic tilting control system is required for the NLV. This study is intended to develop an automatic tilting control system to drive the tilting mechanism of a prototype of electric three-wheeled NLV. The system includes a 3kw motor, a gear box, a DSP controller, and the associated sensors such as yaw rate sensor, tilt angle sensor, steering angle sensor, and lateral acceleration sensor. The purpose is to tilt the NLV automatically to a suitable target angle based on the amount of lateral acceleration to enhance its cornering ability. The study was proceeded firstly by performing numerical simulations on the three -wheeled NLV to investigate its dynamic characteristics. Then a self-tuning adaptive tilting control algorithm is proposed. The control law is consisted of a feedforward controller and a feedback controller, in which the control effort of the feedforward controller is calculated based on an ARX model with its parameters identified on-line to adapt with load variations of the NLV. Experiments on various drive cycle have been conducted to verify the performance of the control system. Experimental results showed that the proposed control system successfully enhance the cornering ability of the NLV, the lateral acceleration limit with tilting control cornering achieved up to 0.57g while the untilt cornering was only with 0.25g. Keywords:Tiltable vehicle, Automatic Tilt control System, adaptive control, On-line identification.
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Yang, Dun-Di, and 楊敦棣. "Study of Steering Tilting Controller for a Narrow Tiltable Vehicle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/93450017914978566010.
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碩士國立屏東科技大學
車輛工程系所
104
Because of with narrow width and high center of gravity characteristics, light-weight narrow tilting vehicles NTVs) should be tilted to generate anti rollover moment when turning. Unlike motorcycles lean by driver, the NTVs require an automatic tilt control system to lean its body to an appropriate angle to make it turn steadily without overturn. This thesis is mainly focused on design of automatic tilt control system for a NTV with two front wheels and single rear driving wheel. Firstly, a prototype of the NTV and the associated steer- by-wire steering system were established. Then the method of steering tilt control (STC) was studied. For the NTV with the STC system, the steer angle of its front wheels is controlled by the STC controller to make the NTV lean to an appropriate angle corresponding to driver’s command from hand wheel. A controller for the STC was proposed in this study, which is consisted of an adaptive feedforward controller and a PID feedback controller. The feedforward controller is basically an one-step predictive controller, in which the control effort is derived from an ARX model with parameters estimated on-line via a sequential LSE estimator. Because the controller was implemented by a microprocessor, the optimal order of the ARX model should be determined in terms of computation costs and perdition errors . The simulation results have shown that the proposed STC controller is feasible, and the most suitable order of the ARX model is 4 for the experimental NTV. The STC controller with feedforward controller can reduce sensitivity of the gain value variations of the PID controller. In additions, it can reduce the control effort about 1.35% comparing with using the PID controller alone. This study also showed that the NTV applying the STC significantly reduce the weight and power requirements to the motor compared with that of applying the direct tilt control (DTC) technique. In addition to this, the NTV with the STC can increase the critical lateral acceleration of turnover to about 0.04G compared with the DTC at the same driving speed. Keywords: Steering Tilt Control, Adaptive Control, On-Line Identification, Drive- by- Wire Steering
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Li, Chia-Hung, and 李家宏. "Hunting Stability Analysis of Tilting Vehicle System Moving on Curved Tracks." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/85290489622353269671.
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碩士國立高雄第一科技大學
機械與自動化工程所
97
Based on Kalker’s linear theory and the heuristic nonlinear creep model, the nonlinear coupled differential equations of the motion of twenty-four degrees of freedom car system—considering the lateral displace- ment , roll angle and the yaw angle of each wheelset, the lateral displacement, the vertical displacement, the roll angle and the yaw angle of the truck frame and the car body—moving on curved tracks are derived completely. The tilting mechanism between the car body and the truck frame is considered. Utilizing the Lyapunov indirect method, the influence of the suspension parameters on the critical hunting speed of a vehicle is investigated and compared. From the numerical results, the critical hunting speeds evaluated by the tilting vehicle are greater than those evaluated by the non-tilt vehicle.
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Gil, Gustavo. "Safety systems for motorcycles: Remote sensing from tilting vehicles." Doctoral thesis, 2018. http://hdl.handle.net/2158/1125788.
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This research work is organized in two parts. The first one addresses how to analyze
the interdisciplinary problem of motorcycle safety, in order to maximize the positive impact
of future motorcycle safety systems through a new methodological tool, which it was
developed in this work. The second part describes a remote sensor, developed in this work,
aimed at avoiding or mitigating the motorcycle crashes, as these were found necessary in the
first part. Therefore, this research focused on the requirements to accomplish a conceptual
safety functionality, called Motorcycle Autonomous Emergency Braking (M-AEB). The
reason for this is because this safety system does not exist for motorcycles. The specifications
behind the M-AEB functionality were taken from the outcomes of a prior EU research project
called ABRAM (Autonomous BRAking for Motorcycles).
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李嘉恩. "The Design and Implementation of a Tilting Concept Vehicle for the Disabled." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/89898936437415753843.
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Bang-You, Liu, and 劉邦佑. "The Rollover Analysis on a Tilting Three-Wheeled Vehicle for the Disabled." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/80125395835892172816.
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碩士國立臺灣科技大學
機械工程系
91
Abstract Since the current retrofitted tricycles for the disabled were not specially designed and built for their riders, this kind of vehicles are easily overturned when making evasive maneuvering in emergency or making a tight turn at even moderate speeds. It is well known that the rollover threshold of a vehicle can be increased by lowering its center of gravity or by widening the track width of the wheel. However, lowering a rider’s center of gravity would severely hamper his eyesight. Wide track width also makes driving and parking more difficult in congested and narrow streets in urban areas in Taiwan. The dilemma of the seemingly conflict requirements mentioned above can, however, be resolved if the vehicle can tilt inward like a bicycle when making a turn. The purpose of this study was to analyze the rollover behaviors of a tilting three-wheeled (TTW) vehicle. It is concluded that when it comes to raising the rollover threshold, tilting angle has more significant influence than any other factors such as height of center of gravity, track width, wheelbase, …etc. Thus, many design constraints can be relaxed if a tricycle is a tilting one. If designed properly, a tilting three-wheeled vehicle, either the 1F/2R or the 2F/1R type, could slip sideways before it rolls over outward or inward in extreme maneuvering conditions. This literally means such a vehicle would neither roll over outward like a truck nor does it slide down inward like a two-wheeled motorcycle even when its rider makes some unforgivable mistakes. Hence, a TTW vehicle would be the best choice when designing the new generation of the tricycles for the disabled.
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Hsu, Chen-Kuei, and 許振逵. "Analysis on the Dynamic Cornering Behaviors of a Tilting Three-Wheeled Vehicle." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/47995161263903357124.
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碩士國立臺灣大學
機械工程學研究所
101
The purpose of this study is to understand the dynamic cornering behaviors of tilting three-wheeled vehicle. The motorcycle and 2F3T tricycle dynamic cornering model has been developed by Lagrange equation and computed by Matlab. We first compared the cornering behavior of two vehicles in four degree of freedoms, lateral, yaw, steering angle and camber by using these models. When road condition is changing will lead a motorcycle to unstable behaviors. So we simulation the changing of road conditions to analyze the safety of 2F3T tricycle and compared with the motorcycle. After simulation the cornering behaviors and safety in particular vehicle speed and steering torque, we quantification the cornering ability by Acceleration Index, Steering Ratio and Koch Index to analysis two vehicles in a range of speed and steering torque.
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Zhou, Shong-How, and 周松豪. "Tilting Control of Personal Mobile Vehicle using Adaptive Fuzzy Sliding Mode Control." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/2nygx2.
Full textAbstract:
碩士國立臺北科技大學
車輛工程系所
97
The personal mobile vehicle discussed in this paper is a three-wheeled electric vehicle that can tilt utilize Stepheson six-bar tilting mechanism. Tilting control can tilt the vehicle to desire direction, it will expend more tilting torque when vehicle not achieve appropriate tilting angle. In order to reduce tilting power, angle compensator is proposed in this paper. AutoSim is used to establish the nonlinear full car model with the Stephenson six-bar tilting mechanism. We proposed a tilting control strategy using adaptive fuzzy sliding mode control. An innovative angle compensator is used to compensate the desired tilting angle such that the vehicle can be tilted to the correct angle with zero tilting torque at steady-state response, and reduce the tilting torque during transient maneuvers. Preliminary simulation results showed effective reduction of the tilting torque.
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Ciou, Wun-Jie, and 邱文傑. "Analysis of the Steady-State Cornering Behaviors of a Tilting Three-Wheeled Vehicle." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/72369392354651826448.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
98
The purpose of this study is to understand the steady-state cornering behaviors of a tilting three-wheeled vehicle. Firstly, the model of steady state cornering for a tilting vehicle which has two directional front wheels like Piaggio MP3 has been developed in this study. The cornering parameters, the steering characteristics, and the steering torque exerted by the rider are analyzed numerically. The comparison of non-tilting three-wheeled vehicle, two-wheeled motorcycle and the tilting three-wheeled vehicle are discussed. Finally, the effects of the geometric parameters, wheel alignment, mechanism parameters on the steady state cornering are discussed. The steady state cornering characteristic graphs are presented, and need to integrate driving behaviors and characteristics, in which the steady state cornering characteristics can be expressed apparently. The results of this analysis could be useful understanding the major effects of the design parameters and helpful for further design of tilting three-wheeled vehicles.
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Chen, Chih-Liang, and 陳志良. "Multibody Modeling and Robust Double-loop PID Tilting Motion Controller Design by Using QFT/H∞ Theorem for a Diamond-shaped Narrow Tilting Vehicle." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/02967219223314163883.
Full textAbstract:
博士國立交通大學
電機與控制工程系所
97
In this dissertation, a personal electric narrow tilting vehicle (NTV) called “IPM (intelligent personal mobility)” is developed to solve problem of oil shortage, pollution and traffic jam. The vehicle has four wheels arranged in a diamond shape. It is capable of operating in vehicular tilts with less weight and width. In order to simulate hazardous driving conditions, IPM was built a model by using planar multibody system method. A planar multibody system tire model was proposed to represent ground-vehicle interaction. In order to verify the IPM multibody model experimentally, we also proposed a separate calculation method using two acceleration sensors and one angular position sensor for the purpose of obtaining ground forces. The multibody model was verified by comparing with the real IPM in designed slalom tests. It matched with the real vehicle effectively and accurately. This model can applied to analyze the joint reaction force of IPM to assist in controller design. An IPM tilting motion controller designed by using Quantitative Feedback Theory (QFT) and H∞ theory was proposed in this dissertation. For implement purpose, this controller was systematically translated into a double-loop PID controller (two loop PID control, one tilting position control loop enclosed one tilting rate control loop). The controller was verified by working with the verified IPM multibody model. After the verification, the designed controller was verified that it has high tracking robustness. It also was verified it can resist the load disturbance from lumpy roads and inadequate tilting command (Focus on driver position, if the gravity antiroll torque can balance with the centripetal force rollover torque, it is called adequate tilting command.) by working with the verified model.
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Tseng, Kuo-Wei, and 曾國瑋. "Fuzzy-PID Implementation of Steering Tilt Enhanced Direct Tilt Controller for a Narrow Tilting Vehicle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/74383199534375594670.
Full textAbstract:
碩士國立臺灣大學
電機工程學研究所
104
Narrow Vehicle implementation can greatly relieve traffic congestion and improve roadway utilization. However, the greater height-to-width ratio may easily lead to tip off during a turn. Active tilt control aims at preventing from tip off by shifting the center of gravity of the vehicle to offset the tip-off moment. This thesis presents a hybrid design of steering tilt control and direct tilt control to implement the active tilt control concept.The hybrid design is in a sense of using steering tilt control during a high speed turn and using direct tilt control during a low speed turn. The objective is reducing both the toque exerting by direct tilt control and the deviation introduced by steering tilt control using counter-steer operation. The fuzzy PID controller which realizes the hybrid design receives vehicle’s longitudinal speed and turning radius as premise inputs. Then, in real-time manner it infers suitable values for the PID parameters. Simulation results of many scenarios show that the proposed hybrid design can deal with the nonlinear behaviors of the vehicle system to maintain vehicle’s directional and tilt stabilities, and robust against disturbances.
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Shen, Yun-Ju, and 沈蘊茹. "Exploring the Effects of Automatic Tilting Mechanism of Narrow Tilting Vehicles on Driving Performance and Driving Response." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/66485945343463510894.
Full textAbstract:
碩士國立交通大學
工業工程與管理系所
98
Narrow Tilting Vehicle (NTV) is one kind of new style personal mobile vehicles. It can solve the problems about energy shortage and traffic congestion. However, the automatic tilting feature of NTV may affect drivers' tasks and decrease their driving performance. These problems result to traffic accidents. Therefore, this study examined the effect of the NTV’s automatic tilting mechanism on the drivers’ task through driving simulator experiment. The results indicated that tilting angle of NTV and the curve of road affected driving performance and driving response significantly. Both the bigger tilting angle and curve caused more vehicle collisions than smaller ones. Eventually, the study recommended that the smaller tilting angle should be considered when designing the NTV tilting mechanism. Moreover, NTV was more suitable to travel through the smaller curve.
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Lin, Jhao-Yin, and 林昭吟. "Exploring the Effects of Narrow and Tilting Vehicles on Driver’s Sickness and Driving Performance." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/64055584206624789518.
Full textAbstract:
碩士國立交通大學
工業工程與管理系所
98
In the urbanized society, high population density causes traffic jammed. Besides, huge energy resources demand and lack of new energy resources exploration cause energy resources shortage. In order to solve these problems, the narrow and tilting vehicle (NTV) is developed. The driving environment of NTV is different from other cars. In order to explore the effect of different driving environment on drivers, the research uses a narrow and tilting vehicle simulator to simulate driving tasks. The results show that tilting auxiliary system affects drivers’ physiological uncomfort level. Besides, drivers’ physiological uncomfort makes driving proformance poorer. When tilt angle is small, the nausea scale scores correlates with total time of driving tasks. When tilt angle is large, the nausea and oculomotor scale scores correlate with car collision and deflection.