| Issue |
MATEC Web Conf.
Volume 148, 2018
International Conference on Engineering Vibration (ICoEV 2017)
|
|
|---|---|---|
| Article Number | 03004 | |
| Number of page(s) | 6 | |
| Section | Nonlinear Oscillations and Controls of Mechanical, Civil, Aerospace and Naval Structures | |
| DOI | https://doi.org/10.1051/matecconf/201814803004 | |
| Published online | 02 February 2018 | |
Motorcycle control-oriented dynamics modeling for accelerated maneuvers on slippy terrains
Warsaw University of Technology, Power and Aeronautical Engineering Dept., 00-665 Warsaw, Nowowiejska 24 st., Poland
* Corresponding author: elajarz@meil.pw.edu.pl
The paper presents a motorcycle dynamics model developed for testing and future model based controller designs for accelerated maneuvers on variable slip terrains. The dynamics is simplified, yet it captures real motorcycle behaviors when it accelerates and decelerates on a curvy trajectory and contact forces due to variable ground properties change and allow to generate slip. The tire - terrain model is based upon a simplified Pacejka model. The paper objective is not to obtain complex dynamical systems of equations like those required for high-fidelity simulations. Instead, the aim is to derive simple but reliable and manageable models that enable designing and implementing, and verifying control laws, as well as maintaining their capability to capture the main behaviors of real systems. The paper applies the adopted assumptions to develop the motorcycle model, and presents simulation tests for the motorcycle acceleration and deceleration during turn maneuvers, and during changes of the ground the vehicle moves on.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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