Multibody simulations represent an important instrument for the design of motorcycles, especially in the early stages of the process. It should be pointed out that simulations results may be remarkably influenced by the rider model used. Therefore it is important that the virtual rider has a behaviour compatible with human riders. The target of this work is the development of a motorcycle virtual rider model that plans a trajectory and follows it. The reference speed and trajectory are obtained by applying the optimal manoeuvre method (i. e. a nonlinear optimal control technique) to a basic model of the motorcycle. Then the vehicle control and guidance are obtained using a PID architecture and the gains vary with speed. Separated loops for speed and lateral motion controls have been implemented. The lateral motion control is complex because of the motorcycle instability whereas the longitudinal control is simply. The characteristics of the PID control are illustrated and discussed in detail. Some examples are given for a cornering manoeuvre.
Advanced motorcycle virtual rider
2008
10 Seiten, 11 Bilder, 10 Quellen
Conference paper
English
Advanced motorcycle virtual rider
Taylor & Francis Verlag | 2008
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