Control Behaviour of Motorcycle Riders

Katayama, Tsuyoshi; Aoki, Akira; Nishimi, Tomoo

doi:10.1080/00423118808968903

Cited by 42 publications

(22 citation statements)

References 4 publications

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“…Within in refs. [24,25,26]. The steer angles shown here are noticeably smaller than those in the references but that is likely to be a feature of the particular machine simulated.…”

Section: Path-tracking Simulationscontrasting

confidence: 52%

Optimal linear time-invariant preview steering control for motorcycles

Sharp

2006

Vehicle System Dynamics

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Prior research into the application of optimal linear preview control theory to the steering of a car by a driver is extended into the domain of the motorcycle. The simple car model employed previously is replaced by a much more elaborate motorcycle model, and the control mode is changed from a fixed control for the car to a free control for the motorcycle. Handlebar torque is always the main control input but, in some cases, the rider's upper body lean torque is also included as a control. The machine speed is considered to be constant. The objective of the optimal control is to minimize a weighted sum of path-tracking errors and control power. The time-invariant control corresponding to an infinite optimization horizon and a white noise disturbance is found for each of several cases, involving variations in machine speed and performance priorities.Results demonstrate the relatively minor role of body lean torque control and the strong relationship between the optimal tracking steering control and the motorcycle oscillatory modes of motion. The extent of rider preview necessary for full control is found for cases involving two controls and only one control.The optimal controls are installed on the machine for which they were derived, and simulation results from tracking tasks are shown. The simulations demand the transformation of the problem from a global description, in which the optimal control is found, to a local description corresponding to the rider's view. It is concluded that a motorcycle rider model representing a useful combination of steering control capability and computational economy has been established. The model yields new insights into the rider and motorcycle behaviour.

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“…Within in refs. [24,25,26]. The steer angles shown here are noticeably smaller than those in the references but that is likely to be a feature of the particular machine simulated.…”

Section: Path-tracking Simulationscontrasting

confidence: 52%

Optimal linear time-invariant preview steering control for motorcycles

Sharp

2006

Vehicle System Dynamics

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“…A motorcycle rider model similar to that studied in [73] is investigated in [75] to find those aspects of the rider's control action that are most important in the description of singlelane-change maneuvering behavior. In this case, the rider model comprises upper and lower body masses that are both free to roll relative to the motorcycle's main frame.…”

Section: Rider Modelingmentioning

confidence: 99%

Bicycles, motorcycles, and models

Limebeer¹,

Sharp²

2006

IEEE Control Syst.

137

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“…For each manoeuvre, we employed several setting tests to obtain the driver's behaviour in reasonable agreement with the experimental data and the literature [10][11][12][13][14][15]. For the U-turn manoeuvre, a portion of the Mugello circuit ('Correntaio' curve) was employed because of the availability of many experimental data by Ducati Motor; all data were fitted on a Ducati 999 motorbike.…”

Section: Manoeuvresmentioning

confidence: 99%

Analysis of motorcycle models for the evaluation of the handling performances

Frendo

Sisi²,

Guiggiani

et al. 2006

Vehicle System Dynamics

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In this work. three motorcycle models of increased accuracy are presented. They were developed as a tool for investigating how the level of accuracy, for example. in the front kinematics, affects the handling judgment, as obtained on the basis of some handling indexes taken from the technical literature, in some typical manoeuvres. A simple driver model was also employed, which, by controlling the steering torque and the longitudinal force, makes the vehicle to follow a desired trajectory at a constant forward speed. Both models, the vehicle and the driver, were implemented in the Matlab/Simulink((R)) environment. Results are presented and discussed in detail for a U-turn manoeuvre

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Control Behaviour of Motorcycle Riders

Cited by 42 publications

References 4 publications

Optimal linear time-invariant preview steering control for motorcycles

Optimal linear time-invariant preview steering control for motorcycles

Bicycles, motorcycles, and models

Analysis of motorcycle models for the evaluation of the handling performances

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