Posture stabilization of two-wheel drive electric motorcycle by slip ratio control considering camber angle

Recently, global warming is the serious world problem. To solve this issue, many new vehicles appear today. For example, there is electric motorcycle. This has good environmental performance because of zero emission. However, there has been relatively few researches of two-wheel drive electric motorcycle dynamics. In the past reports, many analysis have not taken into the consideration the slip ratio involved road condition in the case of two-wheel drive yet. Also, the electric motorcycle has an unstable structure. In the conventional approaches, however, the slip ratio definition does not include the camber angle effect and it is not good enough for two-wheel drive system. This paper considers the camber angle effect in the slip ratio and proposes a new slip ratio estimation with camber angle (SREC) and slip ratio control with camber angle (SRCC). By the proposed approach, the improvement of posture stabilization and operability of steering are achieved.