Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles

S. Kidane; L. Alexander; Rajesh Rajamani; P. Starr; Max Donath

doi:10.1109/acc.2006.1657654

Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles

S. Kidane, L. Alexander, Rajesh Rajamani, P. Starr, Max Donath

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

21 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the 2006 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5825-5830
Number of pages	6
ISBN (Print)	1424402107, 9781424402106
DOIs	https://doi.org/10.1109/acc.2006.1657654
State	Published - 2006
Event	2006 American Control Conference - Minneapolis, MN, United States Duration: Jun 14 2006 → Jun 16 2006

Publication series

Name	Proceedings of the American Control Conference
Volume	2006
ISSN (Print)	0743-1619

Other

Other	2006 American Control Conference
Country/Territory	United States
City	Minneapolis, MN
Period	6/14/06 → 6/16/06

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/acc.2006.1657654

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Kidane, S., Alexander, L., Rajamani, R., Starr, P., & Donath, M. (2006). Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles. In Proceedings of the 2006 American Control Conference (pp. 5825-5830). Article 1657654 (Proceedings of the American Control Conference; Vol. 2006). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2006.1657654

Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles. / Kidane, S.; Alexander, L.; Rajamani, Rajesh et al.
Proceedings of the 2006 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2006. p. 5825-5830 1657654 (Proceedings of the American Control Conference; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kidane, S, Alexander, L, Rajamani, R, Starr, P & Donath, M 2006, Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles. in Proceedings of the 2006 American Control Conference., 1657654, Proceedings of the American Control Conference, vol. 2006, Institute of Electrical and Electronics Engineers Inc., pp. 5825-5830, 2006 American Control Conference, Minneapolis, MN, United States, 6/14/06. https://doi.org/10.1109/acc.2006.1657654

Kidane S, Alexander L, Rajamani R, Starr P, Donath M. Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles. In Proceedings of the 2006 American Control Conference. Institute of Electrical and Electronics Engineers Inc. 2006. p. 5825-5830. 1657654. (Proceedings of the American Control Conference). doi: 10.1109/acc.2006.1657654

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title = "Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles",

abstract = "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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series = "Proceedings of the American Control Conference",

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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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Road bank angle considerations in modeling and tilt stability controller design for narrow commuter vehicles

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