Abstract
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.
Highlights
Motorcycling is a popular means of transportation in urban areas, used for sports and entertainment, so a number of drivers increase
The paper presents a motorcycle dynamics model developed for testing and future model based controller designs for accelerated maneuvers on variable slip terrains
When designing control strategies and algorithms for wheeled vehicles like mobile robots, cars or motorcycles, the development of mathematical models that describe the dynamics of real systems is of a significant importance
Summary
Motorcycling is a popular means of transportation in urban areas, used for sports and entertainment, so a number of drivers increase. The paper presents a motorcycle dynamics model developed for testing and future model based controller designs for accelerated maneuvers on variable slip terrains. When designing control strategies and algorithms for wheeled vehicles like mobile robots, cars or motorcycles, the development of mathematical models that describe the dynamics of real systems is of a significant importance. It allows using model-based approaches to controller designs, which achieve better implementation of control laws and their better performance. It is a motorcycle dynamics model developed for testing and future model based controller designs for accelerated maneuvers on variable slip terrains and a simplified tire terrain Pacejka model, which satisfactory reproduce the motorcycle behaviors. The paper closes with conclusions and a list of references
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