Modelling, Simulation and Control of Two-Wheeled Vehicles

About the Editors xi List of Contributors xiii Series Preface xv Introduction xvii Part One TWO-WHEELED VEHICLES MODELLING AND SIMULATION 1 Motorcycle Dynamics 3 Vittore Cossalter, Roberto Lot, and Matteo Massaro 1.1 Kinematics 3 1.2 Tyres 6 1.3 Suspensions 13 1.4 In-Plane Dynamics 18 1.5 Out-of-Plane Dynamics 29 1.6 In-Plane and Out-of-Plane Coupled Dynamics 40 References 41 2 Dynamic Modelling of Riderless Motorcycles for Agile Manoeuvres 43 Yizhai Zhang, Jingang Yi, and Dezhen Song 2.1 Introduction 43 2.2 Related Work 44 2.3 Motorcycle Dynamics 45 2.4 Tyre Dynamics Models 51 2.5 Conclusions 55 Nomenclature 55 Appendix A: Calculation of Ms 56 Appendix B: Calculation of Acceleration vG 57 Acknowledgements 57 References 57 3 Identification and Analysis of Motorcycle Engine-to-Slip Dynamics 59 Matteo Corno and Sergio M. Savaresi 3.1 Introduction 59 3.2 Experimental Setup 60 3.3 Identification of Engine-to-Slip Dynamics 61 3.4 Engine-to-Slip Dynamics Analysis 73 3.5 Road Surface Sensitivity 78 3.6 Velocity Sensitivity 79 3.7 Conclusions 80 References 80 4 Virtual Rider Design: Optimal Manoeuvre Definition and Tracking 83 Alessandro Saccon, John Hauser, and Alessandro Beghi 4.1 Introduction 83 4.2 Principles of Minimum Time Trajectory Computation 86 4.3 Computing the Optimal Velocity Profile for a Point-Mass Motorcycle 90 4.4 The Virtual Rider 102 4.5 Dynamic Inversion: from Flatland to State-Input Trajectories 103 4.6 Closed-Loop Control: Executing the Planned Trajectory 107 4.7 Conclusions 115 4.8 Acknowledgements 116 References 116 5 The Optimal Manoeuvre 119 Francesco Biral, Enrico Bertolazzi, and Mauro Da Lio 5.1 The Optimal Manoeuvre Concept: Manoeuvrability and Handling 121 5.2 Optimal Manoeuvre as a Solution of an Optimal Control Problem 133 5.3 Applications of Optimal Manoeuvre to Motorcycle Dynamics 145 5.4 Conclusions 152 References 152 6 Active Biomechanical Rider Model for Motorcycle Simulation 155 Valentin Keppler 6.1 Human Biomechanics and Motor Control 156 6.2 The Model 161 6.3 Simulations and Results 167 6.4 Conclusions 179 References 180 7 A Virtual-Reality Framework for the Hardware-in-the-Loop Motorcycle Simulation 183 Roberto Lot and Vittore Cossalter 7.1 Introduction 183 7.2 Architecture of the Motorcycle Simulator 184 7.3 Tuning and Validation 188 7.4 Application Examples 191 References 194 Part Two TWO-WHEELED VEHICLES CONTROL AND ESTIMATION PROBLEMS 8 Traction Control Systems Design: A Systematic Approach 199 Matteo Corno and Giulio Panzani 8.1 Introduction 199 8.2 Wheel Slip Dynamics 202 8.3 Traction Control System Design 206 8.4 Fine tuning and Experimental Validation 212 8.5 Conclusions 218 References 219 9 Motorcycle Dynamic Modes and Passive Steering Compensation 221 Simos A. Evangelou and Maria Tomas-Rodriguez 9.1 Introduction 221 9.2 Motorcycle Main Oscillatory Modes and Dynamic Behaviour 222 9.3 Motorcycle Standard Model 224 9.4 Characteristics of the Standard Machine Oscillatory Modes and the Influence of Steering Damping 226 9.5 Compensator Frequency Response Design 228 9.6 Suppression of Burst Oscillations 233 9.7 Conclusions 240 References 240 10 Semi-Active Steering Damper Control for Two-Wheeled Vehicles 243 Pierpaolo De Filippi, Mara Tanelli, and Matteo Corno 10.1 Introduction and Motivation 243 10.2 Steering Dynamics Analysis 245 10.3 Control Strategies for Semi-Active Steering Dampers 252 10.3.1 Rotational Sky-Hook and Ground-Hook 253 10.4 Validation on Challenging Manoeuvres 257 10.5 Experimental Results 266 10.6 Conclusions 267 References 268 11 Semi-Active Suspension Control in Two-Wheeled Vehicles: a Case Study 271 Diego Delvecchio and Cristiano Spelta 11.1 Introduction and Problem Statement 271 11.2 The Semi-Active Actuator 272 11.3 The Quarter-Car Model: a Description of a Semi-Active Suspension System 275 11.4 Evaluation Methods for Semi-Active Suspension Systems 277 11.5 Semi-Active Control Strategies 279 11.6 Experimental Set-up 281 11.7 Experimental Evaluation 281 11.8 Conclusions 289 References 289 12 Autonomous Control of Riderless Motorcycles 293 Yizhai Zhang, Jingang Yi, and Dezhen Song 12.1 Introduction 293 12.2 Trajectory Tracking Control Systems Design 294 12.3 Path-Following Control System Design 305 12.4 Conclusion 315 Acknowledgements 317 Appendix A: Calculation of the Lie Derivatives 317 References 318 13 Estimation Problems in Two-Wheeled Vehicles 319 Ivo Boniolo, Giulio Panzani, Diego Delvecchio, Matteo Corno, Mara Tanelli, Cristiano Spelta, and Sergio M. Savaresi 13.1 Introduction 319 13.2 Roll Angle Estimation 320 13.3 Vehicle Speed Estimation 329 13.4 Suspension Stroke Estimation 337 13.5 Conclusions 342 References 342 Index 345