Dynamics Simulation and Control for Motorcycle Riding

• Main Authors: Liang-Chun Yao, 姚良駿
• Other Authors: Chih-Keng Chen
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/13051079045671829426

碩士 === 大葉大學 === 機械工程研究所 === 90 === This thesis is to develop the equations of motion of rider-motorcycle system by using the Lagrange’s equation with nine degrees of freedom. The six coordinates for the position and orientation of the real wheel, the rolling of rear wheel, the fork’s steering angle and the rider’s lean angle are used. The pure rolling constrains between ground and wheels are also considered in the dynamical equations of the rider-motorcycle system. We use the symbolical mathematic software MAPLE to derive the three-dimensional rider-motorcycle dynamical model. The C programs are written to solve the differential-algebra equations. The simulation studies are divided into two parts. The first part is on the steady-state conditions. From the equations of motion, we solve the system equilibrium points to verify the steady behavior in computer simulation. The second part is the stabilizing control under different speed, steering angle and side disturbance. The forces of three directions are investigated during the motorcycle changing its direction of motion. The equations of motion developed are verified by energy conservation and equilibrium points. By changing the parameters in the model, the dynamic behavior of the motorcycle is studied and the result can be used to improve the motorcycle design.