Active Steering Control to Enhance Narrow Tilting Vehicle Stability James Robertson Centre for Power Transmission and Motion Control University of Bath Bath, United Kingdom Supervisors: Dr J. Darling, Prof A. Plummer I’m James Robertson, PhD student here at PTMC Let me introduce you to the compact low emission vehicle for urban transport or CLEVER.

What Are Narrow Tilting Vehicles? Narrow vehicles which tilt during cornering to maintain stability What are NTVs? Narrow vehicles of around 1m width Principally for urban transportation High centre of gravity for track width Tilt during cornering to maintain stability Benefits of Narrow Tilting Vehicles Reduced CO2 emissions Reduced urban congestion Easy to park Safer and more comfortable than alternatives such as motorcycles The aim of the project was to produce a vehicle of short urban commutes which minimised traffic congestion and CO2 emissions. The vehicle had to emit less than 60g/km of CO2, to reach this target a small frontal area was required hence the restricted 1m width. The narrow width also reduces CLEVER’s road footprint freeing up both road and parking capacity. In addition the vehicle had to offer good passive safety, car like controls and two seats. 9 Partners were involved in the project, notably BMW and Bath 5 vehicles were made, 3 were crash tested, BMW retain one and Bath have one. Research continues into the tilting system at bath to this day Can provide a low carbon alternative to existing personal transportation methods in urban environments

Direct Tilt Control (DTC) This is a short clip in which the limitations of the CLEVER tilting system are apparent. #Click on video to play# Subsequent research here at Bath has shown that an active steering system could be used to reduce the torque output required from the tilting system.

Steering Direct Tilt Control (SDTC) Combines STC and DTC into one system Aims to provide transient stability of STC with the low speed and steady state stability of DTC. Active steering enables controller to make alterations to the steer angle and actuators provide tilting moment Stability SDTC Systems demonstrated by a number of authors: Snell [1] Kidane et al [2] So and Karnopp [3] Berote [4] I’m sure that everyone is familiar with the Elk test. It’s the rapid lane change test famously failed by the original Mercedes A class. . The dashed blue line is the steer angle output from the active steering system. You can see that the system momentarily countersteers in response to each of the driver’s steer inputs. #Click to highlight countersteer.# Limits

Stability Improvement Combines STC and DTC into one system Aims to provide transient stability of STC with the low speed and steady state stability of DTC. Active steering enables controller to make alterations to the steer angle and actuators provide tilting moment Stability SDTC Systems demonstrated by a number of authors: Snell [1] Kidane et al [2] So and Karnopp [3] Berote [4] I’m sure that everyone is familiar with the Elk test. It’s the rapid lane change test famously failed by the original Mercedes A class. . The dashed blue line is the steer angle output from the active steering system. You can see that the system momentarily countersteers in response to each of the driver’s steer inputs. #Click to highlight countersteer.#

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