Optimal control to modelling motorcycle rider steering: local versus global coordinate systems in rider preview

The response of a motorcycle is heavily dependent on the rider’s control actions, and consequently a means of replicating the rider’s behaviour provides an important extension to motorcycle dynamics. The primary objective here is to develop effective path-following simulations and to understand how riders control motorcycles. Optimal control theory is applied to the tracking of roadway by a motorcycle, using a non-linear motorcycle model operating in free control by steering torque input. A path-following controller with road preview is designed by minimising tracking errors and control effort. Tight controls with high weightings on performance and loose controls with high weightings on control power are defined. Special attention is paid to the modelling of multipoint preview in local and global coordinate systems. The controller model is simulated over a standard single lane-change manoeuvre. It is argued that the local coordinates point of view is more representative of the way that a human rider operates and interprets information. The simulations suggest that for accurate path following, using optimal control, the problem must be solved by the local coordinates approach in order to achieve accurate results with short preview horizons. Furthermore, some weaknesses of the optimal control approach are highlighted here.     

On the wobble mode of a bicycle

Wheel shimmy and wobble are well-known dynamic phenomena at automobiles, aeroplanes and motorcycles. In particular, wobble at the motorcycle is an (unstable) eigenmode with oscillations of the wheel about the steering axis, and it is no surprise that unstable bicycle wobble is perceived unpleasant or may be dangerous, if not controlled by the rider in time. Basic research on wobble at motorcycles within the last decades has revealed a better understanding of the sudden onset of wobble, and the complex relations between parameters affecting wobble have been identified. These fundamental findings have been transferred to bicycles. As mass distribution and inertial properties, rider influence and lateral compliances of tyre and frame differ at bicycle and motorcycle, models to represent wobble at motorcycles have to prove themselves, when applied to bicycles. For that purpose numerical results are compared with measurements from test runs, and parametric influences on the stability of the wobble mode at bicycles have been evolved. All numerical analysis and measurements are based on a specific test bicycle equipped with steering angle sensor, wheel-speed sensor, global positioning system (GPS) 3-axis accelerometer, and 3-axis angular velocity gyroscopic sensor.     

A review on motorcycle and rider modelling for steering control

The paper is a review of the state of knowledge and understanding of steering control in motorcycles and of the existing rider models. Motorcycles are well known to have specific instability characteristics, which can detrimentally affect the rider's control, and as such a suitable review of these characteristics is covered in the first instance. Next, early models which mostly treat riding as a regulatory task are considered. A rider applies control based on sensory information available to him/her, predominantly from visual perception of a target path. The review therefore extends to cover also the knowledge and research findings into aspects of road preview control. Here, some more emphasis is placed on recent applications of optimal control and model predictive control to the riding task and the motorcycle–rider interaction. The review concludes with some open questions which naturally present a scope for further study.     

A nonlinear virtual rider for motorcycles

This work presents a virtual rider for the guidance of a nonlinear motorcycle model. The target motion is defined in terms of roll angle and speed. The virtual rider inputs are the steering torque, the rear-wheel driving/braking torque and front-wheel braking torque. The virtual rider capability is assessed by guiding the nonlinear motorcycle model in demanding manoeuvres with roll angles of 50° and longitudinal accelerations up to 0.8 g. Considerations on the effective preview distance used by the virtual rider are included.     

A study on the stability of a motorcycle wheel–swingarm suspension with chain transmission

The present study describes a possible driving mechanism for a self-excited oscillation observed in motorcycle dynamics, often referred to as chatter. This phenomenon, affecting the performance of road racing motorcycles, has been simulated in straight running braking manoeuvres with multibody motorcycle models. It involves rear suspension bounce and driveline oscillation in the frequency range between 17 and 22?Hz. A simplified model of a motorcycle rear suspension with chain transmission is proposed and its stability in equilibrium configurations is studied via eigenvalue analysis. The sensitivity with respect to all its governing parameters is analysed by means of stability maps and the self-excitation mechanism is explained with the aid of energy balance analysis and phase diagrams. It is found that the key role for the instability onset is played by the gradient of the nonlinear characteristic slip function of the tyre.     

Control Behaviour of Motorcycle Riders

The control behaviour of motorcycle riders is studied by means of a simulation model for the ridermotorcycle system, which stresses the control actions of the riders. The rider model describes the major steering torque control as well as the rider's own body control actions. This simulation model is applied to a single lane change maneuver and the results of this simulation are compared with the experiments in order to examine its validity.     

Dynamic modelling and experimental validation of three wheeled tilting vehicles

The present paper describes the study of the stability in the straight running of a three-wheeled tilting vehicle for urban and sub-urban mobility. The analysis was carried out by developing a multibody model in the Matlab/SimulinkSimMechanics environment. An Adams-Motorcycle model and an equivalent analytical model were developed for the cross-validation and for highlighting the similarities with the lateral dynamics of motorcycles. Field tests were carried out to validate the model and identify some critical parameters, such as the damping on the steering system. The stability analysis demonstrates that the lateral dynamic motions are characterised by vibration modes that are similar to that of a motorcycle. Additionally, it shows that the wobble mode is significantly affected by the castor trail, whereas it is only slightly affected by the dynamics of the front suspension. For the present case study, the frame compliance also has no influence on the weave and wobble.     

Lateral Dynamics of an Offroad Motorcycle by System Identification

An instrumented offroad motorcycle was run at a range of speeds in approximately straight lines whilst the rider excited its lateral dynamics by shaking the steering. Autoregressive models were fitted to the resulting multiple output time series data using system identification. The method allowed statistical estimation of state space models to represent the dynamics of an unstable or marginally stable vehicle under manual control. A symbolic algebra computer package was used to derive an analytical state space model to describe the lateral dynamics of the motorcycle. Results from the experiments and analysis compared well with respect to frequency, damping and modal shape of weave and wobble modes, frequency response and model order.     

Control effects of steer-by-wire system for motorcycles on lane-keeping performance

This study discusses the control effects of the steer-by-wire (SBW) system for motorcycles on the lane-keeping performance by examining computer simulation with a rider-vehicle system which consists of a simplified vehicle model, a rider control model and the controller of the SBW system. The SBW system, which compensates the rolling angle deviation between the desired rolling angle intended by the rider and the actual rolling angle, improves the lane-keeping performance of the rider-vehicle system under the steering torque disturbance. The SBW system is, on the other hand, not effective in the lane-keeping performance under the lateral force disturbance. In addition, the lane-keeping assistance (LKA) system is applied to the SBW system and the cooperativeness of the SBW and the LKA systems is examined. The LKA system improves the lane-keeping performance of the SBW system under not only the steering torque disturbance but also the lateral force disturbance.     

土耳其摩托车市场和准入管理制度（1）

土耳其的摩托车市场在近几年发展比较迅猛,目前,土耳其全国的摩托车保有量达到250万辆,每千人拥有30辆摩托车。土耳其由于在地理上靠近欧洲,因此在车辆产品的管理和技术法规方面受欧洲影响很大,与国际惯例相符合的程度也很高。土耳其负责车辆产品市场准入管理的政府主管和批准机关为土耳其工业与贸易部,该机关负责整车产品和零部件的型式批准。     

Steering control of motorcycles using steer-by-wire system

This study proposes a steering control method to improve motorcycle handling and stability. Steer-by-wire (SBW) technology is applied to the motorcycle's steering system to remove characteristic difficulties of vehicle maneuvers. By examining computer simulation using a simplified motorcycle model, the actual rolling angle of the SBW motorcycle is controlled to follow the desired rolling angle intended by the rider. A state feedback control such as linear quadratic control gives the SBW vehicle a good follow-through performance compared with proportional-derivative control because it can decouple rolling motion from the other motions, which affect the rolling motion in the strongly coupled motorcycle system.     

谈摩托车燃油蒸发排放

燃油蒸发排放成份被称为摩托车排放污染的第2大公害。目前,由于国家在燃油蒸发污染物控制方面无相关标准可依,缺乏必要的监管,绝大多数摩托车生产企业对此基本未采取任何控制措施。为进一步完善摩托车排放标准体系,呼吁有关部门尽快出台摩托车燃油蒸发标准,强制控制我国摩托车燃油蒸发。     

Steady Turning of Two-Wheeled Vehicles

When driving along a circular path, the driver of a motorcycle controls the vehicle mainly by means of steering torque. If low steering torque is necessary, the driver feels that the vehicle is manoeuvrable. In this paper, a mathematical model concerning steering torque is developed; it takes into account the actual kinematic behaviour of the vehicle and the properties of motorcycle tyres. Tyre forces act at the contact points of toroidal tyres, which are calculated according to kinematic analysis. Non-linear equations are solved using an iterative approach. Several numerical results are presented, and the influence of tyre properties and some geometrical and inertial properties of the vehicle on steering torque are discussed.     

Steady Turning of Two-Wheeled Vehicles

When driving along a circular path, the driver of a motorcycle controls the vehicle mainly by means of steering torque. If low steering torque is necessary, the driver feels that the vehicle is manoeuvrable. In this paper, a mathematical model concerning steering torque is developed; it takes into account the actual kinematic behaviour of the vehicle and the properties of motorcycle tyres. Tyre forces act at the contact points of toroidal tyres, which are calculated according to kinematic analysis. Non-linear equations are solved using an iterative approach. Several numerical results are presented, and the influence of tyre properties and some geometrical and inertial properties of the vehicle on steering torque are discussed.     

A review of behavioural issues contribution to motorcycle safety

Motorcycles are considered as one of the extreme modes of conveyance contributing to road accidents. Reports revealed that the number of deaths caused by motorcycles is significantly higher than by any other means of transportation. A large percentage of motorcycle accidents occurred mainly due to human behaviour. The objectives of this paper are to unveil and analyse certain behavioural patterns of riders influencing the motorcycle mishaps through literature reviews on various aspects of riding behaviours including the lack of visibility and alertness, and speeding issues. This is important for a comprehensive and broad understanding of the riders' behavioural and performance traits associated with speeding, visibility, and alertness issues. Thus, collisions due to these issues may be avoided. This study summarizes 104 selected articles published in Springer, Elsevier, Tylor & Francis, IEEE, US Patent, WHO and others, distributed over the year of 1981 to 2019, which were further separated into four classes; 22 articles (21%) on the speeding issues, 25 articles (24%) on the visibility issues, 24 articles (23%) related to alertness issues, and 33 articles (32%) comprising of other studies related to motorcycles. All these research papers highlighted the ways to reduce the risks from speeding and to improve the visibility and alertness of motorcycle riders. As a conclusion, the study found that by applying the Intelligent Transport System (ITS) in motorcycles, road accidents may be reduced. It is also well noticed that the headlight of motorcycle and the use of fluorescent jacket increase the conspicuity of a motorcyclist. Moreover, the Daytime Running Light (DRL) of a motorcycle may also reduce accidents. It is also noted that the use of sensors on steering wheel increases the alertness of drivers. Finally, a framework to gain an improved understanding on the motorcycle riders' behaviour related issues and the ways to handling them were recommended. On top of that, this study had also suggested a new technological utilisation to improve the management of speeding, visibility and alertness issues. Provided that these concerns are addressed, a drop in the number of accident occurrences is possible.     

Empirical analysis of hazard perception and driving behaviors among high school and college students on motorcycles in Phnom Penh,Cambodia

In Cambodia, motorcycle use has spread rapidly in recent years, and serious accidents involving motorcycles have increased. Motorcycle accidents involving young people are particularly common, and there are various issues concerning traffic safety. To understand the situation in Phnom Penh, Cambodia, we conducted a questionnaire survey on driving attitude and behavior of motorcycle users targeted at high school and college students and a video observation survey of motorcycle driving conditions. Based on the survey analysis results, we held a traffic safety workshop (WS) comprising practical skills and classroom learning centered on hazard anticipation. In this study, we conducted a statistical comparative analysis of driving behavior frequency on non-intersection intervals of arterial roads before and after the WS, based on observational results from video cameras mounted on motorcycles. The results showed that the WS effects were associated with a reduction in average travel speeds and changes in driving behavior, such as frequency of lane changing. Different responses to the WS were observed according to attributes, and thus, the relationship between the content of this kind of traffic safety WS and behavioral changes needs to be clarified and a more advanced traffic safety WS program developed.     

闭环电喷系统中的氧传感器波形分析(1)

在电喷摩托车发动机进入闭环控制工况时,ECM将根据氧传感器的电压信号来修正喷油脉宽,使混合气浓度保持在理论空燃比附近。借助发动机数据分析系统对各工况下的氧传感器波形进行分析判断,有助于快速检测出电喷系统中是否存在影响尾气排放的空燃比反馈故障。同时对于完成故障维修的车辆,通过氧传感器波形分析可以验证出维修是否有效,故障是否彻底排除。使车辆在日常使用中的尾气排放也能达到一个良好的状态。     

摩托车及驾驶员气动特性的数值模拟研究

基于计算流体力学(CFD)的数值模拟技术,研究摩托车部件及驾驶员对整车气动特性的影响.对通过数值模拟获得的摩托车周围的流场、气动阻力系数和速度分布进行了深入分析;就风挡导流罩、驾驶员和摩托车本身的不同组合对整车气动阻力的影响进行了归纳;最后提出了一些减小摩托车气动阻力的具体建议.     

调结构 稳出口 保持摩托车外贸可持续发展

我国摩托车工业已经取得了一定的成绩，尤其在近几年已经实现了一系列战略转变，但在金融危机的影响下，摩托车出口面临了严峻的挑战，在这种情况下，只有调结构、稳出口，才能保持摩托车外贸可持续发展。