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Front-Steering Assist Control for a Motorcycle Considering Nonlinearity of Its Tire Cornering Force
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- MURAKAMI Shintaroh
- Keio Univ. Graduate School of System Design and Management
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- ZHU Shaopeng
- 慶應義塾大学 総合医科学研究センター
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- NISHIMURA Hidekazu
- Keio Univ. Graduate School of System Design and Management
Bibliographic Information
- Other Title
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- タイヤコーナリングフォースの非線形特性を考慮した二輪自動車に対する前輪操舵アシスト制御
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Description
This paper describes a front-steering assist control system design for a motorcycle taking into account of nonlinearity of tire cornering forces. Utilizing hyperbolic tangent functions to approximate Magic Formula tire forces, the rider-motorcycle system model can be linearized around an equilibrium point of steady-state circular turning. From the view points of eigenvalues and frequency responses, the linearized model is analyzed and a reduced-order model is obtained to design the control system by using H∞ control theory. By carrying out the steady-state circular turning simulation in the low road friction condition, it is demonstrated that the control system can stabilize a motorcycle when receiving a sudden disturbance from the front wheel.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 77 (775), 822-835, 2011
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282681363506560
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- NII Article ID
- 130000873792
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- ISSN
- 18848354
- 03875024
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- Article Type
- journal article
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed