Docquier, Quentin
[UCL]
Verlé, Aubain
[UCL]
Fisette, Paul
[UCL]
Nowadays, traffic congestion is growing all over the world. In urban areas, the possibility of road infrastructure extension are already limited and does not figure as a solution to cope with traffic issues. Such an 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). Their large height-to-track ratio leads to roll instability, which requires NTVs to be tilted toward the inside of the curve while cornering. Active tilt control of NTVs can either be achieved through the so-called Direct Tilt Control (DTC) or the so-called Steering Tilt Control (STC). Both control methods have their assets and drawbacks, making them adequate for distinct speed ranges. The goal is to highlight and to quantify differences between both modes, given a NTV morphology. In this regard, a generic NTV has been modeled via a multibody approach. Quasi-static equilibria, modal analysis and a linearized state-space model have been achieved in order to design the STC and DTC. Preliminary results confirm the tendency pointed out in the literature regarding the STC and the DTC performances. The influence of the traveling speed and the differences in terms of energy consumption and stability (unballasting) have been quantified. However at this stage, no optimization have been performed yet on the controller gain. Thus, the results, although instructive, have to be interpreted with care as the performances of the STC and DTC still depend on their control design.
Référence bibliographique |
Docquier, Quentin ; Verlé, Aubain ; Fisette, Paul. Narrow Tilting Vehicle (NTV) Control through MBS Modelling:
Comparison of Direct and Steering tilt Controls.Bicycle and Motorcycle Dynamics 2016, Symposium on the Dynamics and Control of Single Track Vehicles (Milwaukee, Wisconsin, USA, du 21/09/2016 au 23/09/2016). |
Permalien |
http://hdl.handle.net/2078.1/183062 |