Steering assist control for stabilization of a motorcycle during braking (verification of the control system on cornering simulations)

Author

Murakami, Shintaroh ; Nishimura, Hidekazu ; Zhu, Shaopeng

Author_Institution

Grad. Sch. of Syst. Design & Manage., Keio Univ., Yokohama, Japan

fYear

2011

fDate

20-22 Dec. 2011

Firstpage

1025

Lastpage

1030

Abstract

In this paper, a front-steering assist control system is designed to stabilize a motorcycle during braking by the rider. A rider-motorcycle system is derived by applying multi-body dynamics in consideration of rider´s pitching motion, and is linearized around an equilibrium point of quasi-steady state straight running with a constant deceleration. From the viewpoints of eigenvalues and frequency responses, the linearized model is analyzed and the reduced-order model is obtained to design the control system by using H_∞ control theory. By carrying out simulations, it is demonstrated that the control system can stabilize the motorcycle when the rider applies the brakes during cornering and is robust against parameter variations and other braking situations.

Keywords

H^∞ control; braking; control system synthesis; eigenvalues and eigenfunctions; frequency response; linearisation techniques; motion control; motorcycles; position control; reduced order systems; stability; steering systems; vehicle dynamics; H∞ control theory; braking; constant deceleration; control system design; cornering simulations; eigenvalues; frequency responses; front-steering assist control system; linearized model; multibody dynamics; parameter variations; quasi-steady state straight running; reduced-order model; rider pitching motion; rider-motorcycle system; stabilization; Control systems; Friction; Tires; Torque; Torso; Turning; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2011 IEEE/SICE International Symposium on

Conference_Location

Kyoto

Print_ISBN

978-1-4577-1523-5

Type

conf

DOI

10.1109/SII.2011.6147590

Filename

6147590