Enhanced e-book includes videos Many books have been written on modelling, simulation andcontrol of four-wheeled vehicles (cars, in particular). However,due to the very specific and different dynamics of two-wheeledvehicles, it is very difficult to reuse previous knowledge gainedon cars for two-wheeled vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles presents all of the unique features of two-wheeled vehicles,comprehensively covering the main methods, tools and approaches toaddress the modelling, simulation and control design issues. Withcontributions from leading…mehr
Many books have been written on modelling, simulation andcontrol of four-wheeled vehicles (cars, in particular). However,due to the very specific and different dynamics of two-wheeledvehicles, it is very difficult to reuse previous knowledge gainedon cars for two-wheeled vehicles.
Modelling, Simulation and Control of Two-Wheeled Vehicles presents all of the unique features of two-wheeled vehicles,comprehensively covering the main methods, tools and approaches toaddress the modelling, simulation and control design issues. Withcontributions from leading researchers, this book also offers aperspective on the future trends in the field, outlining thechallenges and the industrial and academic development scenarios.Extensive reference to real-world problems and experimental testsis also included throughout.
Key features:
The first book to cover all aspects of two-wheeled vehicledynamics and control Collates cutting-edge research from leading internationalresearchers in the field Covers motorcycle control - a subject gaining more andmore attention both from an academic and an industrialviewpoint Covers modelling, simulation and control, areas that areintegrated in two-wheeled vehicles, and therefore must beconsidered together in order to gain an insight into this veryspecific field of research Presents analysis of experimental data and reports on theresults obtained on instrumented vehicles. Modelling, Simulation and Control of Two-Wheeled Vehicles is a comprehensive reference for those in academia who areinterested in the state of the art of two-wheeled vehicles, and isalso a useful source of information for industrialpractitioners.
Mara Tanelli was born in Lodi, Italy, in 1978. She is an Assistant Professor of Automatic Control at the Dipartimento di Elettronica, Informazione e Bioingegneria of the Politecnico di Milano, Italy, where she obtained the Laurea degree in Computer Engineering in 2003 and the Ph.D. in Information Engineering in 2007. She also holds a M.Sc. in Computer Science from the University of Illinois at Chicago. Her main research interests focus on control systems design for vehicles, energy management of electric vehicles, control for energy aware IT systems and sliding mode control. She is co-author of more than 100 peer-reviewed scientific publications and 7 patents in the above research aras. She is also co-author of the monograph "Active braking control systems design for vehicles", published in 2010 by Springer. Matteo Corno was born in Italy in 1980. He received his Master of Science degree in Computer and Electrical Engineering (University of Illinois) and his Ph.D. cum laude degree with a thesis on active stability control of two-wheeled vehicles (Politecnico di Milano) in 2005 and 2009. He is currently an Assistant Professor with the Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Italy. In 2011, his paper "On Optimal Motorcycle Braking" was awarded the best-paper prize for Control Engineering Practice, published in the period 2008-2010. In 2012 and 2013, he co-founded two highly innovative start-ups: E-Novia and Zehus. His current research interests include dynamics and control of vehicles, Lithium-ion battery modelling, estimation and control and modelling and control of human powered electric vehicles. He held research positions at Thales Alenia Space, University of Illinois, Harley Davidson, University of Minnesota, Johannes Kepler University in Linz, and TU Delft. Born in Manerbio, Italy, in 1968, Sergio Savaresi holds an MSc in Electrical Engineering and a PhD in Systems and Control Engineering, both from the Politecnico di Milano, and an MSc in Applied Mathematics from Università Cattolica. After receiving the PhD, he was a consultant for McKinsey&Co, Milan Office. He is Full Professor in Automatic Control since 2006. He has been visiting scholar at Lund University, Sweden, University of Twente, The Netherlans, Canberra National University, Australia, Minnesota University at Minneapolis, USA, Johannes Kepler University, Linz, Austria. He is Associate Editor of several international journals and he has been in the International Program Committee of many International Conferences. His main research interests are in the areas of vehicles control, automotive systems, data analysis and modeling, non-linear control, and industrial control applications. He is the head of the MoVE research group at the Politecnico di Milano, active in many public and industrial projects in all vehicle-related areas.
Inhaltsangabe
About the Editors xi List of Contributors xiii Series Preface xv Introduction xvii Part One TWO-WHEELED VEHICLES MODELLING AND SIMULATION 1 Motorcycle Dynamics 3 Vittore Cossalter, Roberto Lot, and Matteo Massaro 1.1 Kinematics 3 1.2 Tyres 6 1.3 Suspensions 13 1.4 In-Plane Dynamics 18 1.5 Out-of-Plane Dynamics 29 1.6 In-Plane and Out-of-Plane Coupled Dynamics 40 References 41 2 Dynamic Modelling of Riderless Motorcycles for Agile Manoeuvres 43 Yizhai Zhang, Jingang Yi, and Dezhen Song 2.1 Introduction 43 2.2 Related Work 44 2.3 Motorcycle Dynamics 45 2.4 Tyre Dynamics Models 51 2.5 Conclusions 55 Nomenclature 55 Appendix A: Calculation of Ms 56 Appendix B: Calculation of Acceleration vG 57 Acknowledgements 57 References 57 3 Identification and Analysis of Motorcycle Engine-to-Slip Dynamics 59 Matteo Corno and Sergio M. Savaresi 3.1 Introduction 59 3.2 Experimental Setup 60 3.3 Identification of Engine-to-Slip Dynamics 61 3.4 Engine-to-Slip Dynamics Analysis 73 3.5 Road Surface Sensitivity 78 3.6 Velocity Sensitivity 79 3.7 Conclusions 80 References 80 4 Virtual Rider Design: Optimal Manoeuvre Definition and Tracking 83 Alessandro Saccon, John Hauser, and Alessandro Beghi 4.1 Introduction 83 4.2 Principles of Minimum Time Trajectory Computation 86 4.3 Computing the Optimal Velocity Profile for a Point-Mass Motorcycle 90 4.4 The Virtual Rider 102 4.5 Dynamic Inversion: from Flatland to State-Input Trajectories 103 4.6 Closed-Loop Control: Executing the Planned Trajectory 107 4.7 Conclusions 115 4.8 Acknowledgements 116 References 116 5 The Optimal Manoeuvre 119 Francesco Biral, Enrico Bertolazzi, and Mauro Da Lio 5.1 The Optimal Manoeuvre Concept: Manoeuvrability and Handling 121 5.2 Optimal Manoeuvre as a Solution of an Optimal Control Problem 133 5.3 Applications of Optimal Manoeuvre to Motorcycle Dynamics 145 5.4 Conclusions 152 References 152 6 Active Biomechanical Rider Model for Motorcycle Simulation 155 Valentin Keppler 6.1 Human Biomechanics and Motor Control 156 6.2 The Model 161 6.3 Simulations and Results 167 6.4 Conclusions 179 References 180 7 A Virtual-Reality Framework for the Hardware-in-the-Loop Motorcycle Simulation 183 Roberto Lot and Vittore Cossalter 7.1 Introduction 183 7.2 Architecture of the Motorcycle Simulator 184 7.3 Tuning and Validation 188 7.4 Application Examples 191 References 194 Part Two TWO-WHEELED VEHICLES CONTROL AND ESTIMATION PROBLEMS 8 Traction Control Systems Design: A Systematic Approach 199 Matteo Corno and Giulio Panzani 8.1 Introduction 199 8.2 Wheel Slip Dynamics 202 8.3 Traction Control System Design 206 8.4 Fine tuning and Experimental Validation 212 8.5 Conclusions 218 References 219 9 Motorcycle Dynamic Modes and Passive Steering Compensation 221 Simos A. Evangelou and Maria Tomas-Rodriguez 9.1 Introduction 221 9.2 Motorcycle Main Oscillatory Modes and Dynamic Behaviour 222 9.3 Motorcycle Standard Model 224 9.4 Characteristics of the Standard Machine Oscillatory Modes and the Influence of Steering Damping 226 9.5 Compensator Frequency Response Design 228 9.6 Suppression of Burst Oscillations 233 9.7 Conclusions 240 References 240 10 Semi-Active Steering Damper Control for Two-Wheeled Vehicles 243 Pierpaolo De Filippi, Mara Tanelli, and Matteo Corno 10.1 Introduction and Motivation 243 10.2 Steering Dynamics Analysis 245 10.3 Control Strategies for Semi-Active Steering Dampers 252 10.3.1 Rotational Sky-Hook and Ground-Hook 253 10.4 Validation on Challenging Manoeuvres 257 10.5 Experimental Results 266 10.6 Conclusions 267 References 268 11 Semi-Active Suspension Control in Two-Wheeled Vehicles: a Case Study 271 Diego Delvecchio and Cristiano Spelta 11.1 Introduction and Problem Statement 271 11.2 The Semi-Active Actuator 272 11.3 The Quarter-Car Model: a Description of a Semi-Active Suspension System 275 11.4 Evaluation Methods for Semi-Active Suspension Systems 277 11.5 Semi-Active Control Strategies 279 11.6 Experimental Set-up 281 11.7 Experimental Evaluation 281 11.8 Conclusions 289 References 289 12 Autonomous Control of Riderless Motorcycles 293 Yizhai Zhang, Jingang Yi, and Dezhen Song 12.1 Introduction 293 12.2 Trajectory Tracking Control Systems Design 294 12.3 Path-Following Control System Design 305 12.4 Conclusion 315 Acknowledgements 317 Appendix A: Calculation of the Lie Derivatives 317 References 318 13 Estimation Problems in Two-Wheeled Vehicles 319 Ivo Boniolo, Giulio Panzani, Diego Delvecchio, Matteo Corno, Mara Tanelli, Cristiano Spelta, and Sergio M. Savaresi 13.1 Introduction 319 13.2 Roll Angle Estimation 320 13.3 Vehicle Speed Estimation 329 13.4 Suspension Stroke Estimation 337 13.5 Conclusions 342 References 342 Index 345
About the Editors xi List of Contributors xiii Series Preface xv Introduction xvii Part One TWO-WHEELED VEHICLES MODELLING AND SIMULATION 1 Motorcycle Dynamics 3 Vittore Cossalter, Roberto Lot, and Matteo Massaro 1.1 Kinematics 3 1.2 Tyres 6 1.3 Suspensions 13 1.4 In-Plane Dynamics 18 1.5 Out-of-Plane Dynamics 29 1.6 In-Plane and Out-of-Plane Coupled Dynamics 40 References 41 2 Dynamic Modelling of Riderless Motorcycles for Agile Manoeuvres 43 Yizhai Zhang, Jingang Yi, and Dezhen Song 2.1 Introduction 43 2.2 Related Work 44 2.3 Motorcycle Dynamics 45 2.4 Tyre Dynamics Models 51 2.5 Conclusions 55 Nomenclature 55 Appendix A: Calculation of Ms 56 Appendix B: Calculation of Acceleration vG 57 Acknowledgements 57 References 57 3 Identification and Analysis of Motorcycle Engine-to-Slip Dynamics 59 Matteo Corno and Sergio M. Savaresi 3.1 Introduction 59 3.2 Experimental Setup 60 3.3 Identification of Engine-to-Slip Dynamics 61 3.4 Engine-to-Slip Dynamics Analysis 73 3.5 Road Surface Sensitivity 78 3.6 Velocity Sensitivity 79 3.7 Conclusions 80 References 80 4 Virtual Rider Design: Optimal Manoeuvre Definition and Tracking 83 Alessandro Saccon, John Hauser, and Alessandro Beghi 4.1 Introduction 83 4.2 Principles of Minimum Time Trajectory Computation 86 4.3 Computing the Optimal Velocity Profile for a Point-Mass Motorcycle 90 4.4 The Virtual Rider 102 4.5 Dynamic Inversion: from Flatland to State-Input Trajectories 103 4.6 Closed-Loop Control: Executing the Planned Trajectory 107 4.7 Conclusions 115 4.8 Acknowledgements 116 References 116 5 The Optimal Manoeuvre 119 Francesco Biral, Enrico Bertolazzi, and Mauro Da Lio 5.1 The Optimal Manoeuvre Concept: Manoeuvrability and Handling 121 5.2 Optimal Manoeuvre as a Solution of an Optimal Control Problem 133 5.3 Applications of Optimal Manoeuvre to Motorcycle Dynamics 145 5.4 Conclusions 152 References 152 6 Active Biomechanical Rider Model for Motorcycle Simulation 155 Valentin Keppler 6.1 Human Biomechanics and Motor Control 156 6.2 The Model 161 6.3 Simulations and Results 167 6.4 Conclusions 179 References 180 7 A Virtual-Reality Framework for the Hardware-in-the-Loop Motorcycle Simulation 183 Roberto Lot and Vittore Cossalter 7.1 Introduction 183 7.2 Architecture of the Motorcycle Simulator 184 7.3 Tuning and Validation 188 7.4 Application Examples 191 References 194 Part Two TWO-WHEELED VEHICLES CONTROL AND ESTIMATION PROBLEMS 8 Traction Control Systems Design: A Systematic Approach 199 Matteo Corno and Giulio Panzani 8.1 Introduction 199 8.2 Wheel Slip Dynamics 202 8.3 Traction Control System Design 206 8.4 Fine tuning and Experimental Validation 212 8.5 Conclusions 218 References 219 9 Motorcycle Dynamic Modes and Passive Steering Compensation 221 Simos A. Evangelou and Maria Tomas-Rodriguez 9.1 Introduction 221 9.2 Motorcycle Main Oscillatory Modes and Dynamic Behaviour 222 9.3 Motorcycle Standard Model 224 9.4 Characteristics of the Standard Machine Oscillatory Modes and the Influence of Steering Damping 226 9.5 Compensator Frequency Response Design 228 9.6 Suppression of Burst Oscillations 233 9.7 Conclusions 240 References 240 10 Semi-Active Steering Damper Control for Two-Wheeled Vehicles 243 Pierpaolo De Filippi, Mara Tanelli, and Matteo Corno 10.1 Introduction and Motivation 243 10.2 Steering Dynamics Analysis 245 10.3 Control Strategies for Semi-Active Steering Dampers 252 10.3.1 Rotational Sky-Hook and Ground-Hook 253 10.4 Validation on Challenging Manoeuvres 257 10.5 Experimental Results 266 10.6 Conclusions 267 References 268 11 Semi-Active Suspension Control in Two-Wheeled Vehicles: a Case Study 271 Diego Delvecchio and Cristiano Spelta 11.1 Introduction and Problem Statement 271 11.2 The Semi-Active Actuator 272 11.3 The Quarter-Car Model: a Description of a Semi-Active Suspension System 275 11.4 Evaluation Methods for Semi-Active Suspension Systems 277 11.5 Semi-Active Control Strategies 279 11.6 Experimental Set-up 281 11.7 Experimental Evaluation 281 11.8 Conclusions 289 References 289 12 Autonomous Control of Riderless Motorcycles 293 Yizhai Zhang, Jingang Yi, and Dezhen Song 12.1 Introduction 293 12.2 Trajectory Tracking Control Systems Design 294 12.3 Path-Following Control System Design 305 12.4 Conclusion 315 Acknowledgements 317 Appendix A: Calculation of the Lie Derivatives 317 References 318 13 Estimation Problems in Two-Wheeled Vehicles 319 Ivo Boniolo, Giulio Panzani, Diego Delvecchio, Matteo Corno, Mara Tanelli, Cristiano Spelta, and Sergio M. Savaresi 13.1 Introduction 319 13.2 Roll Angle Estimation 320 13.3 Vehicle Speed Estimation 329 13.4 Suspension Stroke Estimation 337 13.5 Conclusions 342 References 342 Index 345
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