Title

Zero moment point-based active roll angle control for novel narrow tilt vehicle with disturbance and parameter uncertainty

DGIST Authors

Seongpil Ju ; Sehoon Oh ; Kanghyun Nam

Advisor

오세훈

Co-Advisor(s)

Kanghyun Nam

Issued Date

2024

Awarded Date

2024-02-01

Citation

Seongpil Ju. (2024). Zero moment point-based active roll angle control for novel narrow tilt vehicle with disturbance and parameter uncertainty. doi: 10.22677/THESIS.200000727025

Type

Thesis

Description

Novel Narrow Tilting vehicle;Active roll angle control;Zero moment point(ZMP);2-LINK system;Roll stability

Table Of Contents

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

URI

http://hdl.handle.net/20.500.11750/48077
http://dgist.dcollection.net/common/orgView/200000727025

DOI

10.22677/THESIS.200000727025

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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