Dynamic analysis and control of narrow track vehicles via a multibody modeling approach
(2020)
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Details
- Authors
- Supervisors
- Fisette, Paul
- Abstract
- Traffic congestion is a growing issue all over the world especially in urban areas for which the possibilities of road infrastructure extension are already limited. This observation has recently led to an increasing interest in the development of narrow tilting vehicles (NTV) which could seat one to two people in tandem. Generally featuring more than two wheels and an additional tilting degree of freedom along their longitudinal axis, these vehicles can be steered and tilted into a curve throughout two different approaches. For the first mode, a steering action is used to drive and balance the vehicle which is free to roll. The second mode consists in forcing the vehicle to tilt through a direct action on the additional tilt rotation while the steerable wheels are left free to caster. The main goal of this thesis is to compare the different tilting modes in a systematic way and via an accurate modeling of the NTV tridimensional dynamics. With the help of a multibody model of a reference NTV, the dynamics of the two passive modes is analyzed, quantified and compared based on steady-state equilibria, modal analyses and step response simulations. If the steering action shows itself more energy-efficient, the direct tilting mode with free-to-caster wheels leads to a monotonic dynamic response, a more upright position and a centrifugal feeling which are better in terms of driving experience. In addition, the applicability of several nonlinear control methods to different active tilting modes is investigated. In this respect, the advanced control methods are implemented within an existing multibody modeling framework. This work demonstrates that feedback linearization leads to a very accurate tracking of the vehicle roll angle, especially for the single-input tilting modes. Eventually, it is shown that model predictive control enables the yaw rate tracking and the combination of steering and tilting action for NTVs.
- Affiliations
Citations
Docquier, Q. (2020). Dynamic analysis and control of narrow track vehicles via a multibody modeling approach. https://hdl.handle.net/2078.5/94843