Direct yaw moment control of Narrow-Tilting Vehicle
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 contro...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2010
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| Online Access: | http://ndltd.ncl.edu.tw/handle/7gp2y9 |
| Summary: | 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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