Control-Oriented Modeling of Motorcycle Dynamics
2012 (English)In: IFAC Proceedings Volumes, IFAC Papers Online, 2012, 769-774 p.Conference paper (Refereed)
Recent technology advances in the field of ride-by-wire technology for motorcycle (namely active braking and full electronic throttle) open the way to the design of innovative control strategies to improve two-wheeled vehicles stability. As such, it is of growing importance to devise control oriented models of the bike dynamics to be employed for control design purposes. This paper proposes an analytical model of a two-wheeled vehicle tuned to capture the coupling between longitudinal variables (i.e. traction and braking torque) and out-of-plane modes. The model is derived from first principles. The model parameters are identified from a complete multi-body simulator. The proposed model offers a good tradeoff between complexity and accuracy.
Place, publisher, year, edition, pages
IFAC Papers Online, 2012. 769-774 p.
System identification, control-oriented model, motorcycle model
IdentifiersURN: urn:nbn:se:kth:diva-132235DOI: 10.3182/20120711-3-BE-2027.00226ScopusID: 2-s2.0-84867064125ISBN: 978-390282306-9OAI: oai:DiVA.org:kth-132235DiVA: diva2:659208
16th IFAC Symposium on System Identification; Bruxelles, Belgium, 11-13 July 2012
QC 201312112013-10-242013-10-242015-09-22Bibliographically approved