Fuzzy-PID Implementation of Steering Tilt Enhanced Direct Tilt Controller for a Narrow Tilting Vehicle
Date Issued
2016
Date
2016
Author(s)
Tseng, Kuo-Wei
Abstract
Narrow Vehicle implementation can greatly relieve traffic congestion and improve roadway utilization. However, the greater height-to-width ratio may easily lead to tip off during a turn. Active tilt control aims at preventing from tip off by shifting the center of gravity of the vehicle to offset the tip-off moment. This thesis presents a hybrid design of steering tilt control and direct tilt control to implement the active tilt control concept.The hybrid design is in a sense of using steering tilt control during a high speed turn and using direct tilt control during a low speed turn. The objective is reducing both the toque exerting by direct tilt control and the deviation introduced by steering tilt control using counter-steer operation. The fuzzy PID controller which realizes the hybrid design receives vehicle’s longitudinal speed and turning radius as premise inputs. Then, in real-time manner it infers suitable values for the PID parameters. Simulation results of many scenarios show that the proposed hybrid design can deal with the nonlinear behaviors of the vehicle system to maintain vehicle’s directional and tilt stabilities, and robust against disturbances.
Subjects
Narrow Tilting Vehicl
,Direct Tilt Control
Steering Tilt Contro
Fuzzy-PID Controller
Type
thesis