| Abstract: | This paper analyses the dynamic response of a motorcycle with an anti-lock brake system (ABS) and camber or steering angle. Most studies have assumed that motorcycles brake in a straight line – that is, without a steering or camber angle. In this work, the performance of an ABS modulator is designed and analysed at first. Then, a controller is designed for motorcycle turning. The controller uses angular acceleration and the pressure value in brake calipers on the front and rear wheels, camber angle and lateral acceleration as commands to control brake pressure on each wheel to prevent wheel locking. The equation of motion for a motorcycle is based on Weir's equations. This motorcycle model combines a mathematical equation of the ABS modulator, tyre model and controller in simulations. |
