Path following performance of narrow tilting vehicles equipped with active steering

James. W Robertson, J Darling, A R Plummer

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

Narrow Tilting Vehicles offer an opportunity to reduce both traffic congestion and carbon emissions by having a small road footprint, low weight, and a small frontal area. Their narrow width requires that they tilt into corners to maintain stability; this may be achieved by means of an automated tilting system. Automated tilt control systems can be classed as Steering Tilt Control (STC) in which active control of the front wheel steer angle is used to maintain stability, Direct Tilt Control (DTC) in which some form of actuator is used to exert a moment between the tilting part(s) of the vehicle and a non-tilting base, or a combination of the two (SDTC). Combined SDTC systems have the potential to offer improved performance as, unlike STC systems, they are effective at low speeds whilst offering superior transient roll stability to DTC systems. However, alterations to the front wheel steer angle made by STC and SDTC systems may result in unwanted deviations from the driver's intended path. This paper uses multi-body simulations of a three-wheeled Narrow Tilting Vehicle performing an emergency lane change manoeuvre to show that the path followed by a SDTC equipped vehicle in response to a given series of steer inputs differs significantly from that followed by a DTC equipped vehicle. It is also shown that by using a revised series of steer inputs, a vehicle equipped with SDTC is able to successfully follow a similar path to one equipped with DTC, and that the roll stability of the vehicle is not unduly compromised. Finally, the influence of higher DTC system gains on the SDTC system is considered. It is shown that the result is a small improvement in the vehicle's path following response at the expense of a small reduction in vehicle roll stability.
Original languageEnglish
Pages679-686
Number of pages8
DOIs
Publication statusPublished - 2012
EventASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012 - Nantes , France
Duration: 2 Jul 20124 Jul 2012

Conference

ConferenceASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012
CountryFrance
CityNantes
Period2/07/124/07/12

Fingerprint

Control systems
Wheels
Traffic congestion
Actuators
Carbon

Cite this

Robertson, J. W., Darling, J., & Plummer, A. R. (2012). Path following performance of narrow tilting vehicles equipped with active steering. 679-686. Paper presented at ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Nantes , France. https://doi.org/10.1115/ESDA2012-82164

Path following performance of narrow tilting vehicles equipped with active steering. / Robertson, James. W ; Darling, J; Plummer, A R.

2012. 679-686 Paper presented at ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Nantes , France.

Research output: Contribution to conferencePaper

Robertson, JW, Darling, J & Plummer, AR 2012, 'Path following performance of narrow tilting vehicles equipped with active steering' Paper presented at ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Nantes , France, 2/07/12 - 4/07/12, pp. 679-686. https://doi.org/10.1115/ESDA2012-82164
Robertson JW, Darling J, Plummer AR. Path following performance of narrow tilting vehicles equipped with active steering. 2012. Paper presented at ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Nantes , France. https://doi.org/10.1115/ESDA2012-82164
Robertson, James. W ; Darling, J ; Plummer, A R. / Path following performance of narrow tilting vehicles equipped with active steering. Paper presented at ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Nantes , France.8 p.
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