Prévention du renversement d'engins tous terrains pendant des man½uvres rapides en utilisant sur un observateur multi-modèle. Application aux quads tous-terrains
| Autor: | Benoit Thuilot, Mathieu Richier, Roland Lenain, Christophe Debain |
|---|---|
| Přispěvatelé: | Technologies et systèmes d'information pour les agrosystèmes (UR TSCF), Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA), Laboratoire Conception des Systèmes Mécaniques et Robotiques - EA 7398 (COSMER), Université de Toulon (UTLN), Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS), Dune, Claire, Irstea Publications, Migration |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
[SDE] Environmental Sciences
050210 logistics & transportation 0209 industrial biotechnology Engineering Observer (quantum physics) business.industry 05 social sciences Stability (learning theory) Extrapolation QUAD Control engineering Context (language use) 02 engineering and technology Rollover [SPI.AUTO]Engineering Sciences [physics]/Automatic Vehicle dynamics Model predictive control Aggressive driving [SPI.AUTO] Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation [SDE]Environmental Sciences 0502 economics and business business ComputingMilieux_MISCELLANEOUS |
| Zdroj: | Applied Electrical Engineering and Computing Technologies (AEECT), 2013 IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies (AEECT), 2013 IEEE Jordan Conference on, 2013, Unknown, Unknown Region. pp.1--6 |
| Popis: | International audience; In this paper, a multi-model observer dedicated to ATV (All-Terrain Vehicle) rollover prevention is proposed. Beyond the stability estimation thanks to an observer, the main contribution of this paper lies in the independent reconstruction of front and rear cornering stiffnesses to describe the vehicle dynamics, with a low cost sensing equipment. This advance allows to take into account the two main vehicle behaviours (over/under-steering) encountered during aggressive manoeuvres in off-road context. Dynamic instability evaluation is then based on the on-line estimation and prediction of the Lateral Load Transfer (LLT) from a vehicle 2D multi-model. More precisely, a predictive control algorithm, relying on the extrapolation of rider’s action and the estimated data from the observer, allows the rollover risk to be anticipated, enabling to warn the pilot and to consider the implementation of active actions. Full-scale experimentations are presented to discuss the efficiency of the proposed solution. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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