Front-Steering Assist Control System Design for a Motorcycle Stabilization during Braking

• MURAKAMI Shintaroh

  Graduate School of System Design and Management, Keio University

• NISHIMURA Hidekazu

  Graduate School of System Design and Management, Keio University

• ZHU Shaopeng

  Department of Energy Engineering, Faculty of Engineering, Zhejiang University

Abstract

In braking situations, it is known that a motorcycle may become unstable. In this paper, a front-steering assist control is designed to stabilize a motorcycle during braking. The rider-motorcycle system with its pitching motions is linearized around an equilibrium point of quasi-steady state straight running with constant deceleration. From the viewpoints of eigenvalues and frequency responses, the linearized model is analyzed and a 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 a motorcycle during braking when receiving a sudden disturbance from the front wheel, and its applicable scope is discussed for several situations including different maneuvering of a rider.

Journal

• Journal of System Design and Dynamics

  Journal of System Design and Dynamics 6 (4), 431-446, 2012

  The Japan Society of Mechanical Engineers

Keywords

• Vehicle Dynamics
• Multibody Dynamics
• Stability
• Modeling
• Motion Control

Details

• CRID: 1390282680249107712
• NII Article ID: 130002100226
• DOI: 10.1299/jsdd.6.431
• BIBCODE: 2012JSDD....6..431M
• ISSN: 18813046
• Web Site: https://www.jstage.jst.go.jp/article/jsdd/6/4/6_431/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed