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Control System Design for Full Range Operation of a Narrow Commuter Vehicle

[+] Author Affiliations
S. Kidane, L. Alexander, R. Rajamani, P. Starr, M. Donath

University of Minnesota

Paper No. IMECE2005-81090, pp. 473-482; 10 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


One way of addressing the traffic congestion problem is by efficiently utilizing the existing highway infrastructure. Narrow commuter vehicles can be part of this solution if they can be designed to be safe, stable and easy to operate. In this paper the design of a control system that ensures the tilt stability of a narrow tilting vehicle from start up to highway speed without requiring any learned skill from the driver and without affecting the handling of the vehicle is presented. This proposed control scheme constitutes of two different controllers. For low speed operation of the vehicle a new and improved Direct Tilt Control system is designed that results in minimal transient torque requirement and zero steady state torque requirement. For higher operating speed of the vehicle a Steering Tilt Control based control law is designed to ensure tilt stability of the vehicle. Finally a new method of integrating these two control schemes that guarantees smooth switchover between the controllers is proposed. The performance of the compound control system is evaluated by simulations carried out for different vehicle operating conditions. Preliminary results on direct tilt control are presented.

Copyright © 2005 by ASME



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