An attitude stabilization control system for a motorcycle (a front-steering assist control for steady-state circular turning at the low speed)

Shaopeng Zhu, Hidekazu Nishimura

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

In this paper, we design a control system to stabilize a motorcycle which is in the state of steady-state circular turning at the low speed by using an assist actuator of the front steering. The nonlinear dynamical model of a rider-motorcycle system is derived taking into account of leaning of the rider, and is linearized around a certain equilibrium point to perform the eigenvalue analysis and the frequency response analysis. A reduced-order model that can be used to design the control system is derived on the basis of the frequency response analysis. The attitude stabilization control system is designed by using H control theory. It is verified that the H control system designed can stabilize the attitude of motorcycle against a front-steering torque disturbance during steady-state circular turning.

Original languageEnglish
Pages (from-to)1336-1345
Number of pages10
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume75
Issue number753
Publication statusPublished - 2009 May

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Motorcycles
Stabilization
Control systems
Frequency response
Control theory
Actuators
Torque

Keywords

  • H controller
  • Linearization
  • Modeling
  • Motion control
  • Motorcycle
  • Stability

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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AB - In this paper, we design a control system to stabilize a motorcycle which is in the state of steady-state circular turning at the low speed by using an assist actuator of the front steering. The nonlinear dynamical model of a rider-motorcycle system is derived taking into account of leaning of the rider, and is linearized around a certain equilibrium point to perform the eigenvalue analysis and the frequency response analysis. A reduced-order model that can be used to design the control system is derived on the basis of the frequency response analysis. The attitude stabilization control system is designed by using H∞ control theory. It is verified that the H ∞ control system designed can stabilize the attitude of motorcycle against a front-steering torque disturbance during steady-state circular turning.

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