Advanced motorcycle virtual rider

作者：Lot R; Massaro M^*; Sartori R

来源：Vehicle System Dynamics, 2008, 46: 215-224.

DOI：10.1080/00423110801935822

• motorcycle
• multibody
• control
• navigation
• guidance

The target of this work is the development of a motorcycle virtual rider model that plans a trajectory and follows it. The reference speed and trajectory Lire obtained by applying the optimal manoeuvre method (i.e. a nonlinear optimal control technique) to a basic model of the motorcycle. Then. the vehicle control and guidance are obtained using a PID architecture and the gains vary with speed. Separated loops for speed and lateral motion controls have been implemented, the lateral motion control is complex because of the motorcycle instability, whereas the longitudinal control is simpler. The characteristics of the PID control are illustrated and discussed in detail, sonic examples are given for a cornering manoeuvre first and then for it run in the Mugello circuit.

• 出版日期2008