Multibody Modeling and Robust Double-loop PID Tilting Motion Controller Design by Using QFT/H∞ Theorem for a Diamond-shaped Narrow Tilting Vehicle
| Autor: | Chih-Liang Chen, 陳志良 |
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| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 97 In this dissertation, a personal electric narrow tilting vehicle (NTV) called “IPM (intelligent personal mobility)” is developed to solve problem of oil shortage, pollution and traffic jam. The vehicle has four wheels arranged in a diamond shape. It is capable of operating in vehicular tilts with less weight and width. In order to simulate hazardous driving conditions, IPM was built a model by using planar multibody system method. A planar multibody system tire model was proposed to represent ground-vehicle interaction. In order to verify the IPM multibody model experimentally, we also proposed a separate calculation method using two acceleration sensors and one angular position sensor for the purpose of obtaining ground forces. The multibody model was verified by comparing with the real IPM in designed slalom tests. It matched with the real vehicle effectively and accurately. This model can applied to analyze the joint reaction force of IPM to assist in controller design. An IPM tilting motion controller designed by using Quantitative Feedback Theory (QFT) and H∞ theory was proposed in this dissertation. For implement purpose, this controller was systematically translated into a double-loop PID controller (two loop PID control, one tilting position control loop enclosed one tilting rate control loop). The controller was verified by working with the verified IPM multibody model. After the verification, the designed controller was verified that it has high tracking robustness. It also was verified it can resist the load disturbance from lumpy roads and inadequate tilting command (Focus on driver position, if the gravity antiroll torque can balance with the centripetal force rollover torque, it is called adequate tilting command.) by working with the verified model. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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