Accurate speed and steering control of a high-performance motorcycle near to its cornering limits have been shown to be possible using optimal linear quadratic regulator control methods with full preview of the path to be followed. Many trim states for variations in speed and lateral acceleration need to be found and the corresponding optimal controls determined offline. Relatively fast simulations compensate the user for the off-line work done to prepare the problem for this stage. Illustrative examples of the nature of the optimal preview gains as functions of time ahead, motorcycle speed and lateral acceleration have been included and the perfect tracking expected within the restrictions implied by small perturbations from a trim state have been demonstrated by closed-loop system frequency-response plots. In simulations, the trim states and the optimal controls constitute data and enable the identification by interpolation of trims and gains that provide a local reference for the motions, such that a linear treatment is appropriate. With the addition of special procedures for dealing with severe braking, it is likely that excellent tracking of general paths will be possible even for racing speeds. Judicious adjustment of the time schedule will then enable the establishment of minimum-time capability for a given machine/rider combination. It is known from previous work that the closed-loop system bandwidth can be increased by using tighter control. This is a mixed blessing, since loose control leads to path smoothing or corner cutting and this can contribute to robustness of the path-tracking performance. If the path to be followed is designed to be smooth in the first instance, this smoothing function will not be needed and it can be expected that tight control will be best. However, if the path contains sharp features implying higher-frequency disturbance to the motorcycle, looser control may well be better. In setting up a rider with generally good properties, and in describing paths to be tracked, these are issues that need to be considered.
Rider control of a motorcycle near to its cornering limits
Symposium on Dynamics and Control of Single Track Vehicles, BMD, Bicycle and Motorcycle Dynamics, 2010 ; 1193-1208
Vehicle System Dynamics ; 50 , 8
2012
16 Seiten, 16 Bilder, 32 Quellen
Aufsatz (Konferenz)
Englisch
Rider control of a motorcycle near to its cornering limits
Taylor & Francis Verlag | 2012
|Rider control of a motorcycle near to its cornering limits
Kraftfahrwesen | 2012
|Rider control of a motorcycle near to its cornering limits
Online Contents | 2012
|Motorcycle Dynamics and Rider Control
Taylor & Francis Verlag | 1977
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