System identification and attitude control of motorcycle by computer-aided dynamics analysis

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System identification and attitude control of motorcycle by computer-aided dynamics analysis

Kamata, Y. / Nishimura, H.

With improvement in car performance, increments in velocity are marked and the chances of having a serious accident are increasing. As a result, the safety of motorcycles is of increasing concern to the public. Since a motorcycle in itself is unstable, it is difficult for a rider to stabilize the attitude of the motorcycle against a large disturbance. In recent years, simulations of the motorcycle-rider system model using the computer-aided dynamics analysis program DADS have been carried out and have been compared with the real motorcycle-rider system. It has been verified that the simulation model is almost in agreement with real motorcycles. In this study, system identification of the motorcycle model constructed by DADS to design a control system for attitude stabilization by front-wheel steering is introduced. A reduced-order model is derived. As a result of the modal analysis of the identified model, it can be seen that the transfer characteristics from the front-steering torque input to the roll angle was approximately reduced to the first order lag system. Controllers for the identified model and the reduced-order model were designed, so that the motorcycle attitude was stabilized by the front-steering torque input using the roll angle as the feedback signal. The robustness of the reduced-order controller at a running velocity varied by +/- 20 % is demonstrated.