AUTHORS: Andrea Bonci, Riccardo De Amicis, Sauro Longhi, Emanuele Lorenzoni
Download as PDF
ABSTRACT: The study and analysis of motorcycle’s critical driving situations, falls and accidents, are difficult to be described analitically because of the simultaneity of different and complex phenomena which make the dynamics quite elaborate. However, the controllers for active safety systems of motorcycles cannot be synthesized regardless by a suitable analytic model of the vehicle dynamic. In this paper, an analytic model able to describe the strong nonlinearities conveyed by the complex dynamic of a two-wheeled vehicle in curve, is presented. The model takes into account the coupling between the in-plane and out-of-plane dynamics which is accounted for the system nonlinear behaviour, the rear traction and the nonlinear features of the tyres dynamics. The major steps taken to derive such a model are described. Two sets of motion equations with different levels of accuracy have been developed making use of two different linearizations. The first one is obtained as linearization with respect to the roll and the steer angle around the vertical position, while the second is given by the linearization with respect to the steer angle only. A comparison between the two models for a given initial condition have been made by simulating a real scenario representing a critical vehicle condition, the lowside fall. Results show how these two models have no substantial differences in the description of the low side major dynamics making the simpler model a feasible choice for a model-based design of motorcycle’s control system.
KEYWORDS: Motorcycle dynamic, active safety systems, model-based control systems
REFERENCES:
[1] P. Seiniger, K. Schroter, J. Gail, Perspectives ¨ for motorcycle stability control systems, Accident Analysis & Prevention, Volume 44, Issue 1, 2012, pp. 74-81.
[2] European Road Safety Observatory, https://ec.europa.eu/transport/ road_safety/specialist/erso_en
[3] J. Reedy, S. Lunzman, Model Based Design Accelerates the Development of Mechanical Locomotive Controls, SAE Technical Paper, 2010.
[4] C. Koenen, The dynamic behaviour of a motorcycle when running straight ahead and when cornering, PhD Dissertation, 1983, TU Delft.
[5] V. Cossalter, A. Doria, R. Lot, Steady Turning Of Two Wheel Vehicles, Vehicle System Dynamics, 31, 3, 1999, pp. 157-181.
[6] R. Lot, A Motorcycle Tires Model for Dynamic Simulations: Theoretical and Experimental Aspects, Meccanica, vol. 39, 2004, pp. 207-220.
[7] R. S. Sharp, The lateral dynamics of motorcycles and bicycles, Vehicle System Dynamics, 14, 1985, pp. 265-283, (1985)
[8] A. Bonci, R. De Amicis, S. Longhi, G. A. Scala and A. Andreucci, Motorcycle lateral and longitudinal dynamic modeling in presence of tyre slip and rear traction, 21st International Conference on Methods and Models in Automation and Robotics (MMAR), Miedzyzdroje, 2016, pp. 391-396.
[9] A. Bonci, R. De Amicis, S. Longhi, E. Lorenzoni and G. A. Scala, A motorcycle enhanced model for active safety devices in intelligent transport systems, 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Auckland, 2016, pp. 1-6.
[10] A. Bonci, R. De Amicis, S. Longhi, E. Lorenzoni and G. A. Scala, Motorcycle’s lateral stability issues: Comparison of methods for dynamic modelling of roll angle, 20th International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, 2016, pp. 607–612.
[11] H. Dugoff, P. Fancher, L. Segel, Tire performance characteristics affecting vehicle response to steering and braking control inputs. Ed. by Michigan Highway Safety Research Institute, 1969.
[12] A. T. van Zanten, Bosch ESP Systems: 5 Years of Experience, SAE Technical Paper, 2000.
[13] R. A. Serway and Jr. J. W. Jewett, Physics for Scientists and Engineers. 9th Ed, 2013.
[14] J. C. Dixon. Tyres, Suspension and Handling, Cambridge University Press, 1991
