Study of Tilting Control for a Narrow Light Vehicle

• Main Authors: Ciou, Ci-Fong, 邱琦峰
• Other Authors: Tseng, Chyuan-Yow
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/11434342839107963678

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.