Nonlinear effects on the self-excited chatter oscillations in motorcycle dynamics, including tyre relaxation

Schramm, Alexander E.; Sorrentino, Silvio; Felice, Alessandro De

doi:10.1007/s11071-023-08571-y

Cited by 2 publications

(1 citation statement)

References 24 publications

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“…On the one hand, the dynamics of motorcycles [5,20,25,[27][28][29]31] and bicycles [2,6,[11][12][13]16,18,22,26,32,33,37] have been investigated for a long time. Therefore, experts in the field know a lot about the dynamic properties of these vehicles, both in theoretical and practical aspects.…”

Section: Introductionmentioning

confidence: 99%

Balancing riderless electric scooters at zero speed in the presence of feedback delay

Horvath,

Takacs

2023

Preprint

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The nonlinear dynamics of electric scooters is investigated using a spatial mechanical model. The equations of motion are derived with the help of Kane's method. Two control algorithms are designed in order to balance the e-scooter in a vertical position at zero longitudinal speed. Hierarchical, linear state feedback controllers with feedback delay are considered. In the case of a delay-free controller, the linear stability properties are analyzed analytically, with the help of the Routh-Hurwitz criteria. The linear stability charts of the delayed controllers are constructed with the help of the D-subdivision method and semi-discretization. The control gains of the controllers are optimized with respect to the robustness against perturbations. The effects of the feedback delay of the controllers, the rake angle, the trail, and the center of gravity of the handlebar on the linear stability are shown. The performance of the control algorithms is verified by means of numerical simulations. Mathematics Subject Classification (2020) MSC 34A30 · MSC 34A34 · MSC 34D08 · MSC 34H05 · MSC 37C75 · MSC 93B52

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Section: Introductionmentioning

confidence: 99%

Balancing riderless electric scooters at zero speed in the presence of feedback delay

Horvath,

Takacs

2023

Preprint

View full text Add to dashboard Cite

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Balancing riderless electric scooters at zero speed in the presence of a feedback delay

Horvath,

Takacs

2024

Multibody Syst Dyn

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The nonlinear dynamics of electric scooters are investigated using a spatial mechanical model. The equations of motion are derived with the help of Kane’s method. Two control algorithms are designed in order to balance the e-scooter in a vertical position at zero forward speed. Hierarchical, linear state feedback controllers with feedback delay are considered. In the case of a delay-free controller, the linear stability properties are analyzed analytically, with the help of the Routh–Hurwitz criteria. The linear stability charts of the delayed controllers are constructed with the help of the D-subdivision method and semi-discretization. The control gains of the controllers are optimized with respect to the robustness against perturbations. The effects of the feedback delay of the controllers, the rake angle, the trail, and the center of gravity of the handlebar on the linear stability are shown. The performance of the control algorithms is verified by means of numerical simulations.

show abstract

Nonlinear effects on the self-excited chatter oscillations in motorcycle dynamics, including tyre relaxation

Cited by 2 publications

References 24 publications

Balancing riderless electric scooters at zero speed in the presence of feedback delay

Balancing riderless electric scooters at zero speed in the presence of feedback delay

Balancing riderless electric scooters at zero speed in the presence of a feedback delay

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