Study on construction of a rider robot for two-wheeled vehicle

Miyagishi, Shunichi; Kageyama, Ichiro; Takama, Kouhei; Baba, Masayuki; Uchiyama, Haruo

doi:10.1016/s0389-4304(03)00045-6

Cited by 14 publications

(8 citation statements)

References 1 publication

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“…Ruijs and Pacejka [16] built a rider robot to validate their computer model eliminating disturbances originating from the human rider. Rider robots have also been built by the group of Kageyama [10] and the Blue Team [2], a group of Berkeley students engaged in the DARPA challenge. The group led by Cossalter [1,3] over the past decade performed an extensive range of measurements on several aspects of the dynamic behaviour of motorcycles.…”

Section: Introductionmentioning

confidence: 99%

Experimental validation of a model of an uncontrolled bicycle

2007

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In this paper, an experimental validation of some modelling aspects of an uncontrolled bicycle is presented. In numerical models, many physical aspects of the real bicycle are considered negligible, such as the flexibility of the frame and wheels, play in the bearings, and precise tire characteristics. The admissibility of these assumptions has been checked by comparing experimental results with numerical simulation results.The numerical simulations were performed on a three-degree-of-freedom benchmarked bicycle model. For the validation we considered the linearized equations of motion for small perturbations of the upright steady forward motion. The most dubious assumption that was validated in this model was the replacement of the tires by knife-edge wheels rolling without slipping (non-holonomic constraints).The experimental system consisted of an instrumented bicycle without rider. Sensors were present for measuring the roll rate, yaw rate, steering angle, and rear wheel rotation. Measurements were recorded for the case in which the bicycle coasted freely on a level surface. From these measured data, eigenvalues were extracted by means of curve fitting. These eigenvalues were then compared with the results from the linearized equations of motion of the model. As a result, the model appeared to be fairly accurate for the low-speed low-frequency behaviour.

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Section: Introductionmentioning

confidence: 99%

Experimental validation of a model of an uncontrolled bicycle

2007

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“…The steering input to the motorcycle can only be provided by applying the steering torque (T). 13 Thus, it is essential to estimate it accurately from the experimental data. In general, steering torque (T) is a function of steering angle ( δ ) , steering rate ( δ · ) and steering acceleration ( δ ·· ) .…”

Section: Control Algorithmmentioning

confidence: 99%

Steering control to balance a motorcycle at low speeds based on riders’ input

Singhania

Kageyama

Karanam

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Motorcycles are a primary mode of daily transportation in many developing countries, especially in towns and cities. The increased traffic congestion constrains the average speed of the motorcycle, causing stability and safety concerns for the riders. A controller that assists the riders can improve this scenario. This paper presents a new controller developed using an experimental study that improves the low-speed stability of a motorcycle. The experiments were conducted on a motorcycle with the riders of three experience levels: beginner, intermediate and expert. The input parameters: steering angle and steering torque; the output parameters: roll angle, yaw angle, roll rate and yaw rate were measured. Critical input and output parameters were identified statistically from the experimental measurements and used for the controller modelled in Simulink. The controller model was co-simulated with a multi-body dynamics model of the motorcycle. The co-simulation results showed the controller developed herein stabilises the motorcycle model at low speeds.

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“…It is adapted for driver model for lane keeping and rider leaning movement. This type of rider control assumes that the rider tries to stabilize the motorcycle by inclining left and right his upper body [17]. This model contains several components [11], [8].…”

Section: B Rider Modelmentioning

confidence: 99%

Motorcycle modelling and roll motion stabilization by rider leaning and steering torque

Mammar

Éspié²,

Honvo³

2005

Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

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This paper is devoted to the modelling and the stabilization of the roll motion of a motorcycle. The proposed model processes a nonlinear tire-road interaction forces, and includes the rider leaning movement for stabilization. The embedded rider-motorcycle model is then stabilized using H ∞ control. A prefilter is finally added in order to ensure reference model tracking. Simulation results show the effectiveness of the approach.

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Study on construction of a rider robot for two-wheeled vehicle

Cited by 14 publications

References 1 publication

Experimental validation of a model of an uncontrolled bicycle

Experimental validation of a model of an uncontrolled bicycle

Steering control to balance a motorcycle at low speeds based on riders’ input

Motorcycle modelling and roll motion stabilization by rider leaning and steering torque

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