Modélisation et simulation dynamique d'un véhicule urbain innovant en utilisant le formalisme de la robotique

Modeling and simulating are fundamental tools to develop new vehicles. The aim of this thesis is to model and simulate a urban narrow tilting car whose structure contains closed mechanical chains. Hence the goal is to build a physical model more precise and realistic than the bicycle model or quarter vehicle model used usually for some control purposes. The modeling approach is based on the modified Denavit&Hartenberg description, commonly used in robotics, by considering the vehicle as a multi-body poly-articulated system whose the terminal links are the wheels. This description allows calculating automatically the symbolic expression of the geometric, kinematic and dynamic models, by using robotics techniques and a symbolic software package named SYMORO+. The dynamic model is calculated recursively thanks to the Newton-Euler algorithm. Simulations of different dynamical model of vehicles have been performed, analyzed and compared. They validate in some sense the modeling methodology presented as an efficient way to get realistic model of non-standard vehicles.La modélisation et la simulation numérique sont des outils fondamentaux pour la conception et le développement de nouveaux véhicules. Les travaux de cette thèse portent sur la modélisation et la simulation d’un véhicule innovant, étroit et inclinable, en appliquant une description systématique et générique du véhicule considéré comme un robot dont la base est mobile et les roues sont les organes terminaux. Le système d’inclinaison motorisé entraîne une cinématique complexe et comporte des chaines fermées. Le but du travail est de construire un modèle physique précis, au contraire des modèles simplifiés de type bicyclette ou quart de véhicule utilisés habituellement pour l’étude de la commande des véhicules. L’approche procède à la description de l’architecture mécanique du véhicule, le considérant comme un système multi-corps poly-articulés, s’appuyant sur le formalisme de la robotique et précisément sur la représentation géométrique de Denavit-Hartenberg modifié. Cette approche permet de calculer automatiquement les expressions symboliques des modèles géométriques, cinématiques et dynamiques des structures simples et arborescentes. Les modèles qui en résultent comportent un nombre minimum d’opérations par la mise à profit du calcul symbolique itératif et des techniques de simplification de modèles propres à la robotique. Ces techniques sont implémentées dans le logiciel de calcul symbolique SYMORO+. Le modèle dynamique est calculé d’une manière récursive à l’aide de l’algorithme de Newton-Euler. La simulation dynamique utilise un simulateur édité sous Matlab/Simulink qui intègre le modèle dynamique direct calculé automatiquement à partir du modèle inverse. Des simulations réalisées sur des modèles de complexité croissante, pour des scénarios de freinage ou d’accélération, en ligne droite ou en virage, valident la méthodologie de modélisation mécanique proposée

Modelling and Simulation of a Two wheeled vehicle with suspensions by using Robotic Formalism

International audienceModels, simulators and control strategies are required tools for the conception of secure and comfortable vehicles. The aim of this paper is to present an efficient way to develop models for dynamic vehicle, focusing on a two wheeled vehicles whose body involves six degrees of freedom. The resulting model is sufficiently generic to perform simulation of realistic cornering and accelerating behavior in various situations. It may be used in the context of motorcycle modeling, but also in various situations (e.g. for control application) as simplified model for 3 or 4 wheeled (tilting) cars. The approach is based on considering the vehicle as a multi-body poly-articulated system and the modeling is carried out using the robotics formalism based on the modified Denavit-Hartenberg geometric description. In that way, the dynamic model is easy to implement and the system can be used for control applications

Modelling and Simulation of a Two wheeled vehicle with suspensions by using Robotic Formalism

International audienceModels, simulators and control strategies are required tools for the conception of secure and comfortable vehicles. The aim of this paper is to present an efficient way to develop models for dynamic vehicle, focusing on a two wheeled vehicles whose body involves six degrees of freedom. The resulting model is sufficiently generic to perform simulation of realistic cornering and accelerating behavior in various situations. It may be used in the context of motorcycle modeling, but also in various situations (e.g. for control application) as simplified model for 3 or 4 wheeled (tilting) cars. The approach is based on considering the vehicle as a multi-body poly-articulated system and the modeling is carried out using the robotics formalism based on the modified Denavit-Hartenberg geometric description. In that way, the dynamic model is easy to implement and the system can be used for control applications

Geometric Model of a Narrow Tilting CAR using Robotics formalism

International audienceThe use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given