Members

IMMC

Quentin Docquier
Contact


Funding: FRIA
Supervisor(s): Paul Fisette

Nowadays, approximately 50% of the world population lives in cities whereas this number is expected to rise to 75% by the year 2050. As road infrastructures cannot be extended further, innovative vehicle solutions are necessary. Development of NTVs (Narrow Tilting Vehicles with a track of about 80cm) that are able to lean in curves is one of the ways to ensure a fluid urban mobility in the future. Those vehicles are steered like a car by the pilot through the steering wheel, while the vehicle tilt is handled by an embedded actuator. Two different control modes exist for tilting. The first one, named DTC, is efficient at low speed and consists in controlling the vehicle tilt with an actuator located between the suspension assembly and the chassis. The second mode, named STC, is more suitable at high speed and uses an actuator which steers the wheels, so that the lean angle and the vehicle heading can be simultaneously controlled.
The first part of the project focuses on the development of a dual-mode control strategy combining both DTC and STC modes for different vehicle velocities. This involves determining the critical velocity characterizing the transition between DTC and STC and analyzing how this transition must be operated. The dual-mode strategy will be developed on the basis of three criteria: the stability, the energy consumed by the actuators and the pilot vehicle interaction.
The second part of the project consists in approving the developed dual-mode strategy through testing on an experimental demonstrator. The vehicle will be driven according to given scenarios which will allow us to validate the strategy’s performance levels with respect to stability and energy consumption. Concerning the pilot-vehicle interaction, a study of the pilot perceptions with respect to his driving comfort and his safety feeling will be carried out. This will impact the final design of the tilt control strategy.

IMMC main research direction(s):
Dynamical and electromechanical systems

Keywords:
multi-body systems
robotics
vehicle dynamics

Research group(s): MEED

Recent publications

See complete list of publications

Conference Papers


1. Docquier, Quentin; Fisette, Paul. Modelling and analysis of two-wheelers equipped with crowned wheels via a constrained MBS approach. http://hdl.handle.net/2078.1/213569

2. Docquier, Quentin; Habra, Timothée; Docquier, Nicolas; Fisette, Paul. Optimal Control of the tilting modes transition for a Narrow Track Vehicle through MBS Modelling. In: Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, 2017. http://hdl.handle.net/2078.1/213582

3. Docquier, Quentin; Fisette, Paul. Analysis of MBS dynamics formulations for Solving Optimal Control problem. http://hdl.handle.net/2078.1/213572

4. Docquier, Quentin; Verlé, Aubain; Fisette, Paul. Narrow Tilting Vehicle (NTV) Control through MBS Modelling: Comparison of Direct and Steering tilt Controls. http://hdl.handle.net/2078.1/183062


Book Chapters


1. Docquier, Quentin; Brüls, Olivier; Fisette, Paul. Comparison and Analysis of Multibody Dynamics Formalisms for Solving Optimal Control Problem. In: IUTAM Symposium on Intelligent Multibody Systems - Dynamics, Control, Simulation (IUTAM Bookseries; xxx), Evtim Zahariev, Javier Cuadrado, 2019, p. 55-77. 978-3-030-00526-9. doi:10.1007/978-3-030-00527-6. http://hdl.handle.net/2078.1/213574


Dissertations


1. Docquier, Quentin. Dynamic analysis and control of narrow track vehicles via a multibody modeling approach, prom. : Fisette, Paul, 17/01/2020. http://hdl.handle.net/2078.1/227672