TY - GEN
T1 - Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles
AU - Kidane, S.
AU - Alexander, L.
AU - Rajamani, R.
AU - Starr, P.
AU - Donath, M.
PY - 2006
Y1 - 2006
N2 - Narrow Tilting Vehicles that occupy a half width lane can play a big role in addressing traffic congestion problems by effectively doubling the capacity of existing highway lanes. In designing the tilt stability control system of such a vehicle consideration of the road bank angle is crucial since it plays a big role in minimizing the torque requirement of the tilt actuation system. In this paper the dynamic model of a tilting vehicle that takes into account the road bank angle is first developed. Then the design of a Direct Tilt Control scheme that stabilizes the tilt mode of such a vehicle is outlined. Since the controller designed makes use of current road bank angle data, a method is outlined on how to determine the road bank angle from accelerometer readings. Finally simulation results are presented and discussion of the results is given.
AB - Narrow Tilting Vehicles that occupy a half width lane can play a big role in addressing traffic congestion problems by effectively doubling the capacity of existing highway lanes. In designing the tilt stability control system of such a vehicle consideration of the road bank angle is crucial since it plays a big role in minimizing the torque requirement of the tilt actuation system. In this paper the dynamic model of a tilting vehicle that takes into account the road bank angle is first developed. Then the design of a Direct Tilt Control scheme that stabilizes the tilt mode of such a vehicle is outlined. Since the controller designed makes use of current road bank angle data, a method is outlined on how to determine the road bank angle from accelerometer readings. Finally simulation results are presented and discussion of the results is given.
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U2 - 10.1109/acc.2006.1657654
DO - 10.1109/acc.2006.1657654
M3 - Conference contribution
AN - SCOPUS:34047205579
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 5825
EP - 5830
BT - Proceedings of the 2006 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 American Control Conference
Y2 - 14 June 2006 through 16 June 2006
ER -