Study on Evaluation of Personal Mobility Vehicle with Leaning Behavior using Driver Model (original) (raw)
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Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM), 2017
Most of the time, the dynamic performances of a vehicle is depending on the driving behavior of the driver. The driving behavior can be analyzed from the way they control the vehicle during cornering, accelerating, braking and driving through uneven roads. This paper presents the vehicle dynamics performance analysis based on driving behavior among teenagers' drivers. The analysis was concentrated on how they handle the vehicle that can be seen from the values of moments consists of roll, pitch and yaw and accelerations (vibrations) at x, y and z axes. From the data collected, the dynamic performances of the vehicle were analyzed based on the driving behavior. It can observed that, the aggressive drivers produced significant values in moments and accelerations especially roll moment and vertical acceleration. Significant values in moments and vibrations can compensate the safety part of the driving and serious accident may occur
IFAC Proceedings Volumes, 2011
Narrow tilting commuter vehicles are expected to be the new generation of city cars, considering their practical dimensions and lower energy consumption. But their dimensions increase their tendency to overturn during cornering, facing lateral acceleration. This problem can be solved by tilting the vehicle in a way that reduces the perceived lateral acceleration at the cabin during cornering, as it is seen on two wheeled vehicles. So far in literature, the corresponding tilting angle is computed, and the control strategy aims at reaching this desired angle. This paper, presents another control approach, achieving a direct control of the perceived acceleration. The proposed strategy is interesting since it is simple to implement, takes advantage of accelerometer's and gyroscope's measures, and valid on roads with non zero banking angle. As the lateral speed is not practically measured, the paper proposes, for comparison purpose, different (original) ways to get its value without deteriorating robustness. Finally, the proposed solution is a simple robust state feedback controller exploiting all the available measures.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
This paper investigates Stability and maneuverability of Personal Mobility Vehicle (PMV). The purpose of PMV is to provide mobility in city centers. Suspension design concept of PMV is based on accommodating different road scenarios. Non conventional suspension mechanism is adopted to conform stability and handling. Analyses are performed on simple full scale vehicle model to validate the stability of the vehicle. Road scenarios are realized by modeling different terrain profiles. Multi-body analysis techniques are used to obtain the suspension parameters. The vehicle is analyzed on different roads to observe the effect of inertia on system dynamics. The results present the angular velocity, angular acceleration, roll, yaw and pitch variations about center of gravity of the vehicle. J 1 J 2 J 3 J 4 J 6 J 7 J 9 J 8 J 11 J 5 J 10
The control and stability analysis of two-wheeled road vehicles
Submitted to the University of London for the degree of …, 2003
The multibody dynamics analysis software, AUTOSIM, is used to develop automated linear and nonlinear models for the hand derived motorcycle models presented in (Sharp, 1971, 1994b). A more comprehensive model, based on previous work (Sharp and Limebeer, 2001), is also derived and extended. One version of the code uses AUTOSIM to produce a FORTRAN or C program which solves the nonlinear equations of motion and generates time histories, and a second version generates linearised equations of motion as a MATLAB file that contains the state-space model in symbolic form. Local stability is investigated via the eigenvalues of the linearised models that are associated with equilibrium points of the nonlinear systems. The time histories produced by nonlinear simulation runs are also used with an animator to visualise the result. A comprehensive study of the effects of acceleration and braking on motorcycle stability with the use of the advanced motorcycle model is presented. The results show that the wobble mode of a motorcycle is significantly destabilised when the machine is descending an incline, or braking on a level surface. Conversely, the damping of the wobble mode is substantially increased when the machine is ascending an incline at constant speed, or accelerating on a level surface. Except at very low speeds, inclines, acceleration and deceleration appear to have little effect on the damping or frequency of the weave mode. A theoretical study of the effects of regular road undulations on the dynamics of a cornering motorcycle with the use of the same model is also presented. Frequency response plots are used to study the propagation of road forcing signals to the motorcycle steering system. It is shown that at various critical cornering conditions, regular road undulations of a particular wavelength can cause severe steering oscillations. The results and theory presented here are believed to explain many of the stability related road accidents that have been reported in the popular literature. The advanced motorcycle model is improved further to include a more realistic tyre-road contact geometry, a more comprehensive tyre model based on Magic Formula methods utilising modern tyre data, better tyre relaxation properties and other features of contemporary motorcycle designs. Parameters describing a modern high performance machine and rider are also included. 1 I wish to thank Professor David Limebeer and Professor Robin Sharp for their support and guidance throughout this project and for taking care of the necessary funding. It has been a unique experience to work with such outstanding researchers and to know that I could constantly trust their scientific judgements, which, I must say, they always explained with great enthusiasm. I really enjoyed their pleasant, humorous and open-hearted character and I doubt I will ever forget the exhilarating trip to Snetterton race track on the back seat of Prof. Limebeer's Kawasaki ZX-9R. Finally, my deepest gratitude goes towards my family for their endless love and support. Their confidence in me has been tremendously encouraging and provided me with strength to accomplish my task. I feel very lucky to have such a caring family and to know that I can always rely upon them.
Development of a vehicle dynamic model to evaluation of the vertical behavior on the road
2016
During a century of development of automobile industry, major technological advances were achieved. Detailed studies with relation to the dynamic behavior of vehicles are needed for a better understanding of design and development of auto-vehicles. This work aims to develop a computational model used for dynamic analysis of vehicles, offering to the user a better knowledge about the mathematical methods implemented, through a friendly interface. The Vehicle Dynamic Model (VDM) software provides four types of results. The first one presents the results in a steady state. The second shows the frequency response curves of the vehicle. The third present’s animation features of the vehicle running the track profile. The forth present’s natural frequencies and vibration modes of the vehicle. The software allowed the definition of the characteristics of tires, springs, dampers and geometric parameters of the vehicle. The dynamic response of the vehicle is then checked. The model was run us...
inertia was tuned to obtain a motorcycle-like steering response. Finally, the calibrated car model was implemented into a low-complexity motorcycle simulator for objective validation. It was verified that an understeering single-track model with high yaw inertia has amplitude and phase responses analogous to a motorcycle. The experimental results of the simulator test confirmed these findings for a diverse set of manoeuvres, validating the method. This straightforward approach allows the development of low-complexity simulators with good steering fidelity, using an objective procedure to reproduce the behaviour of a chosen motorcycle class. In addition, the low computational cost of the model makes it a potential candidate for use in assistance systems. Keywords Motorcycle simulator • Car and motorcycle manoeuvrability • Car and motorcycle dynamics • Simulation • Frequency response and transfer functions • Objective and quantitative validation 1 Introduction Riding simulators are a fundamental tool for driver training and the development of assistance systems. However, the complexity of realistically simulating two-wheeled vehicles has meant that the development and adoption of motorcycle simulators have Abstract Motorcycle simulators are employed for rider training, studying human-machine interaction, and developing assistance systems. However, existing simulators are either too simple and, therefore, unsuitable or significantly complex, with higher hardware costs and familiarisation times. This study aimed to use a tuned single-track car model as the basis of a motorcycle simulator, leading to considerable software simplification while preserving its fidelity. In particular, the approach defined a conversion between motorcycle steering torque and car steering angle. It modified the parameters of the latter to reproduce the response of various motorcycle models in quasistatic and transient conditions for different speeds and radii of curvature. A robust manoeuvrability index was chosen. For the car, it was possible to calculate it from its parameters analytically. Next, the car yaw
Motorcycle modelling and roll motion stabilization by rider leaning and steering torque
Control Applications, 2005. …, 2005
This paper is devoted to the modelling and the stabilization of the roll motion of a motorcycle. The proposed model processes a nonlinear tire-road interaction forces, and includes the rider leaning movement for stabilization. The embedded rider-motorcycle model is then stabilized using H ∞ control. A prefilter is finally added in order to ensure reference model tracking. Simulation results show the effectiveness of the approach.
Study of the dynamic behaviour of a human driver coupled with a vehicle
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2014
In this paper a 15-degree-of-freedom human–seat vibratory model is developed using anthropomorphic modelling and the model is coupled with a typical seven-degree-of-freedom small passenger car to study the dynamic response of a human driver due to vehicle vibrations. The coupled model is analysed by MATLAB simulation for the ride dynamic behaviour of the human driver under a harmonic input excitation in the frequency range 0–40 Hz. The ride behaviours in terms of the vertical accelerations of different segments of the human driver are compared with respect to the ride comfort using the ISO 2631-1:1997 standard. Further, parametric analysis is carried out to improve the ride comfort of the human driver.
Advanced motorcycle-infrastructure-driver roll angle profile for loss control prevention
2009 12th International IEEE Conference on Intelligent Transportation Systems, 2009
In this paper, we present a new method for the calculation of the maximum roll angle of a motorcycle authorized during driving in curve situation. The proposed approach takes into account the three elements of the driving situation which are the vehicle the driver and the infrastructure. The vehicle dynamics are represented by a dynamic four degrees of freedom model which include longitudinal and lateral dynamics of the motorcycle. The driver behaviour considers his ability in deceleration taking into account his mobilized friction while the infrastructure characteristics introduce a precise definition of the road geometry and the maximal available friction.
A driver model for vehicle lateral dynamics
International Journal of Vehicle Design, 2011
There have been several studies aiming to develop a realistic driver model in accordance with the increased interest in vehicle safety issues and in computer simulation for a vehicle design. This study is especially considering the human driver's steering process; path planning, feed-forward steering, and preview feedback steering. Important human factors, such as the view angle and the neuromuscular system, are also regarded. The suggested driver model is simulated based on the CarSim vehicle model in a Simulink environment. The simulation results are then compared to the actual vehicle test data and to the driving simulator test data with regard to the four human driver levels. The driver model suggested in this study represents the human steering behaviour and well matches the real vehicle test data.