Modelling, Simulation and Control of Two-Wheeled Vehicles (eBook, PDF)
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Modelling, Simulation and Control of Two-Wheeled Vehicles (eBook, PDF)
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Enhanced e-book includes videos Many books have been written on modelling, simulation and control of four-wheeled vehicles (cars, in particular). However, due to the very specific and different dynamics of two-wheeled vehicles, it is very difficult to reuse previous knowledge gained on 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 to address the modelling, simulation and control design issues. With contributions from leading…mehr
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- Produktdetails
- Verlag: John Wiley & Sons
- Seitenzahl: 368
- Erscheinungstermin: 4. Februar 2014
- Englisch
- ISBN-13: 9781118536377
- Artikelnr.: 40464366
- Verlag: John Wiley & Sons
- Seitenzahl: 368
- Erscheinungstermin: 4. Februar 2014
- Englisch
- ISBN-13: 9781118536377
- Artikelnr.: 40464366
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
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