AUTHORS: Andrea Bonci, Riccardo De Amicis, Sauro Longhi, Emanuele Lorenzoni
Download as PDF
ABSTRACT: The controllers for active safety systems of motorcycles cannot be synthesized regardless by a suitable analytic dynamic model of the vehicle. Generally the analytical study and analysis of critical driving situations, falls and accidents is a complex task, since these events take place due to the simultaneity of different and complex phenomena. An analytical model able to capture the dynamics of a two-wheeled vehicle in curve is considered. In this paper the performance of the proposed model in describing the low side fall, a critical vehicle condition involving the safety of the rider, is investigated. The model has the minimum degree of complexity needed to describe complex dynamics and two different assumptions of accuracy have been made on it. The linearized version of the model has been compared with a nonlinearized version and the results have shown no substantial differences in the description of the lowside major dynamics.
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] 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.
[8] 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.
[9] 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.
[10] 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.
[11] A. T. van Zanten, Bosch ESP Systems: 5 Years of Experience, SAE Technical Paper, 2000.