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Narrow Tilting Vehicles

Author Chen Tang , Amir Khajepour
Release Date: 2019/07/01
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Book Description

To resolve the urban transportation challenges like congestion, parking, fuel consumption, and pollution, narrow urban vehicles which are small in footprint and light in their gross weight are proposed.

Apart from the narrow cabin design, these vehicles are featured by their active tilting system, which automatically tilts the cabin like a motorcycle during the cornering for comfort and safety improvements. Such vehicles have been manufactured and utilized in city commuter programs. However, there is no book that systematically discusses the mechanism, dynamics, and control of narrow tilting vehicles (NTVs).

In this book, motivations for building NTVs and various tilting mechanisms designs are reviewed, followed by the study of their dynamics. Finally, control algorithms designed to fully utilize the potential of tilting mechanisms in narrow vehicles are discussed. Special attention is paid to an efficient use of the control energy for rollover mitigation, which greatly enhance the stability of NTVs with optimized operational costs.

Table of Contents

  1. Preface
  2. Acknowledgments
  3. Urban Vehicles and Narrow Tilting Vehicles
    1. Issues in Urban Transportation
    2. Narrow Urban Vehicle as a Solution
    3. Toward Narrow Tilting Vehicles
  4. Tilting Mechanisms and Actuators
    1. Mechanisms for Partial Tilting Vehicles
    2. Mechanisms for Full Tilting Vehicles
    3. Challenges in Tilting Mechanism Design
    4. Integrated Suspension Tilting System
    5. Conclusions
  5. Tilting Vehicle Dynamics
    1. Tire Forces and Lateral Dynamics
    2. Roll Dynamics and Rollover Index
    3. Integrated Re-Configurable Model
    4. Suspension Designs for NTV Stability
      1. Roll Angle Analysis
      2. Load Distribution Analysis
      3. Application in Suspension Mechanism Design
    5. Conclusions
  6. Tilting Vehicle Control
    1. Challenges in Tilting Controller Design
    2. Review of Active Roll Control Approaches
      1. Active Roll Control for Conventional Vehicles
      2. Active Roll Control for Narrow Tilting Vehicles
    3. Envelope-Based Roll Stability Control
      1. Motivation for Envelope-Based Control
      2. Steady-State Roll Moment Envelope
      3. Steady-State Roll Angle Envelope
      4. Roll Envelope as State Constraints
    4. Simulation Environment Setup
    5. Feed-Forward Tilting Control
    6. Integrated Feedback Control: SMC Design Example
      1. Motivation and Objective
      2. Control Structure
      3. Simulation Results
    7. Holistic Envelope Control: MPC Design Example
      1. Non-Minimum Phase in Active Tilting Control
      2. Roll Constraint Envelope with MPC
      3. Integrated Stability Envelope
      4. Simulation Results (1/2)
      5. Simulation Results (2/2)
  7. Conclusions
  8. Bibliography (1/2)
  9. Bibliography (2/2)
  10. Authors' Biographies
  11. Blank Page (1/2)
  12. Blank Page (2/2)
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