Copyright © 2019 by Morgan & Claypool
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in
any form or by any means—electronic, mechanical, photocopy, recording, or any other except for brief quotations
in printed reviews, without the prior permission of the publisher.
Narrow Tilting Vehicles: Mechanism, Dynamics, and Control
Chen Tang and Amir Khajepour
www.morganclaypool.com
ISBN: 9781681735924 paperback
ISBN: 9781681735931 ebook
ISBN: 9781681735948 hardcover
DOI 10.2200/S00927ED1V01Y201906AAT007
A Publication in the Morgan & Claypool Publishers series
SYNTHESIS LECTURES ON ADVANCES IN AUTOMOTIVE TECHNOLOGY
Lecture #7
Series Editor: Amir Khajepour, University of Waterloo
Series ISSN
Print 2576-8107 Electronic 2576-8131
Narrow Tilting Vehicles
Mechanism, Dynamics, and Control
Chen Tang and Amir Khajepour
University of Waterloo
SYNTHESIS LECTURES ON ADVANCES IN AUTOMOTIVE TECHNOLOGY
#7
C
M
&
cLaypoolMorgan publishers
&
ABSTRACT
To resolve the urban transportation challenges like congestion, parking, fuel consumption, and
pollution, narrow urban vehicles which are small in footprint and light in their gross weight are
proposed. Apart from the narrow cabin design, these vehicles are featured by their active tilting
system, which automatically tilts the cabin like a motorcycle during the cornering for comfort
and safety improvements. Such vehicles have been manufactured and utilized in city commuter
programs. However, there is no book that systematically discusses the mechanism, dynamics,
and control of narrow tilting vehicles (NTVs).
In this book, motivations for building NTVs and various tilting mechanisms designs are
reviewed, followed by the study of their dynamics. Finally, control algorithms designed to fully
utilize the potential of tilting mechanisms in narrow vehicles are discussed. Special attention is
paid to an efficient use of the control energy for rollover mitigation, which greatly enhance the
stability of NTVs with optimized operational costs.
KEYWORDS
narrow tilting vehicle, urban transportation, tilting mechanism, vehicle modeling,
envelope control, vehicle control, rollover mitigation
vii
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
1
Urban Vehicles and Narrow Tilting Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Issues in Urban Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Narrow Urban Vehicle as a Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 Toward Narrow Tilting Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2
Tilting Mechanisms and Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Mechanisms for Partial Tilting Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Mechanisms for Full Tilting Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Challenges in Tilting Mechanism Design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 Integrated Suspension Tilting System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3
Tilting Vehicle Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.1 Tire Forces and Lateral Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Roll Dynamics and Rollover Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3 Integrated Re-Configurable Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.4 Suspension Designs for NTV Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.1 Roll Angle Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.2 Load Distribution Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4.3 Application in Suspension Mechanism Design . . . . . . . . . . . . . . . . . . 27
3.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4
Tilting Vehicle Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1 Challenges in Tilting Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2 Review of Active Roll Control Approaches . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.1 Active Roll Control for Conventional Vehicles . . . . . . . . . . . . . . . . . . 31
4.2.2 Active Roll Control for Narrow Tilting Vehicles . . . . . . . . . . . . . . . . 32
4.3 Envelope-Based Roll Stability Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
viii
4.3.1 Motivation for Envelope-Based Control . . . . . . . . . . . . . . . . . . . . . . . 33
4.3.2 Steady-State Roll Moment Envelope . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3.3 Steady-State Roll Angle Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.3.4 Roll Envelope as State Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4 Simulation Environment Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.5 Feed-Forward Tilting Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.6 Integrated Feedback Control: SMC Design Example . . . . . . . . . . . . . . . . . . . 42
4.6.1 Motivation and Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.6.2 Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.6.3 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.7 Holistic Envelope Control: MPC Design Example . . . . . . . . . . . . . . . . . . . . . 49
4.7.1 Non-Minimum Phase in Active Tilting Control . . . . . . . . . . . . . . . . 51
4.7.2 Roll Constraint Envelope with MPC . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.7.3 Integrated Stability Envelope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.7.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5
Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Authors’ Biographies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
..................Content has been hidden....................
You can't read the all page of ebook, please click here login for view all page.