Inverse Vehicle Dynamic Model of a Two Wheeler with Power Steering: A Graphical Approach
Journal Title: GRD Journal for Engineering - Year 2017, Vol 2, Issue 8
Abstract
As the traffic is increasing day by day the chances of accidents are increased. These accidents are mostly happen due to human errors. Development of inverse dynamic controller necessary as it can replace the driver and track the predefined path. A bond graph model of a two wheeler vehicle is developed and in this model manual and electrical power steering systems are attached and a comparison of both systems for evaluating the response is done. An inverse vehicle dynamics model is developed. This inverse model gives a torque to this model to follow a predefined path. An expression is derived to compute the steering angle in terms of longitudinal velocity and vehicle projectile rate for a predefine path. The inverse vehicle dynamics model is connected by an overwhelming controller in such a way that the output of forward model is feedback to inverse two wheeler model. The vehicle’s position is compared with the desired trajectory and the error signal is given to the inverse two wheeler model to produce the desired output
Authors and Affiliations
Desh Deepak Gautam
Keywords
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