Title :
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
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;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147590
