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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 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 languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Pages5825-5830
Number of pages6
Volume2006
StatePublished - Dec 1 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Other

Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

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