Electric Stability Control ofNarrow Tilting Vehicle
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...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2013
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| Online Access: | http://ndltd.ncl.edu.tw/handle/2p3589 |
| Summary: | 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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