WSEAS Transactions on Systems and Control

Print ISSN: 1991-8763
E-ISSN: 2224-2856

Volume 12, 2017

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.

Volume 12, 2017

Comparison of Dynamical Behaviours of Two Motorcycle’s Models in the Simulation of Lowside Fall

AUTHORS: Andrea Bonci, Riccardo De Amicis, Sauro Longhi, Emanuele Lorenzoni

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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


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WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 12, 2017, Art. #5, pp. 31-44

Copyright © 2017 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

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