Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 오세훈 | - |
| dc.contributor.author | Seongpil Ju | - |
| dc.date.accessioned | 2024-02-29T21:01:49Z | - |
| dc.date.available | 2024-02-29T21:01:49Z | - |
| dc.date.issued | 2024 | - |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/48077 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000727025 | - |
| dc.description | Novel Narrow Tilting vehicle;Active roll angle control;Zero moment point(ZMP);2-LINK system;Roll stability | - |
| dc.description.tableofcontents | Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i List of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv I.Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 II.Narrow tilt vehicle (NTV) mechanism . . . . . . . . . . . . . . 3 2.1 Mechanism of conventional NTV . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.2 Limitation of the conventional NTV . . . . . . . . . . . . . . . . . . . . . . . 4 2.3 Mechanism of the Novel NTV . . . . . . . . . . . . . . . . . . . . . . . . . . 6 III.Narrow tilt vehicle dynamics . . . . . . . . . . . . . . . . . . . 7 3.1 Roll dynamics and Rollover index . . . . . . . . . . . . . . . . . . . . . . . . 7 3.2 Two-Link System Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 IV.Zero Moment Point(ZMP) . . . . . . . . . . . . . . . . . . . . 12 4.1 Zero Moment Point Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.2 ZMP based vehicle rollover threat index . . . . . . . . . . . . . . . . . . . . . 13 V.Narrow tilt vehicle control . . . . . . . . . . . . . . . . . . . . . 15 5.1 Challenges in tilt control design . . . . . . . . . . . . . . . . . . . . . . . . . 16 5.2 Active roll angle control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 5.3 Disturbance observer (DOB) based tilt control . . . . . . . . . . . . . . . . . . 18 5.4 Overall control structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 VI.Simulation of Novel Narrow Tilt Vehicle . . . . . . . . . . . . . 21 6.1 Simulation setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 6.1.1 Implement the driving situation in CARSIM . . . . . . . . . . . . . . . 22 6.1.2 Matching of CARSIM and Lower Link . . . . . . . . . . . . . . . . . 22 6.1.3 Implement the Lower link’s motion and Upper link’s motion in SimMechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6.1.4 Apply reaction torque to CARSIM to form a closed loop . . . . . . . . 23 VII.Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 7.1 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 7.1.1 Controller performance analysis . . . . . . . . . . . . . . . . . . . . . 24 7.1.2 Reference generator performance analysis . . . . . . . . . . . . . . . . 25 7.2 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 VIII.Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 |
- |
| dc.format.extent | 33 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.title | Zero moment point-based active roll angle control for novel narrow tilt vehicle with disturbance and parameter uncertainty | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22677/THESIS.200000727025 | - |
| dc.description.degree | Master | - |
| dc.contributor.department | Department of Robotics and Mechatronics Engineering | - |
| dc.contributor.coadvisor | Kanghyun Nam | - |
| dc.date.awarded | 2024-02-01 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RM주54 202402 | - |
| dc.date.accepted | 2024-01-30 | - |
| dc.contributor.alternativeDepartment | 로봇및기계전자공학과 | - |
| dc.subject.keyword | Novel Narrow Tilting vehicle | - |
| dc.subject.keyword | Active roll angle control | - |
| dc.subject.keyword | Zero moment point(ZMP) | - |
| dc.subject.keyword | 2-LINK system | - |
| dc.subject.keyword | Roll stability | - |
| dc.contributor.affiliatedAuthor | Seongpil Ju | - |
| dc.contributor.affiliatedAuthor | Sehoon Oh | - |
| dc.contributor.affiliatedAuthor | Kanghyun Nam | - |
| dc.contributor.alternativeName | 주성필 | - |
| dc.contributor.alternativeName | Sehoon Oh | - |
| dc.contributor.alternativeName | 남강현 | - |
| dc.rights.embargoReleaseDate | 2026-02-28 | - |
- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.