Modelling, Simulation and Control of Two-Wheeled Vehicles, Enhanced Edition

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 ¿G 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