Modelling, Simulation and Control of Two-Wheeled Vehicles

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.

• About the Editors xiList of Contributors xiiiSeries Preface xvIntroduction xviiPart One TWO-WHEELED VEHICLES MODELLING AND SIMULATION1 Motorcycle Dynamics 3Vittore Cossalter, Roberto Lot, and Matteo Massaro1.1 Kinematics 31.2 Tyres 61.3 Suspensions 131.4 In-Plane Dynamics 181.5 Out-of-Plane Dynamics 291.6 In-Plane and Out-of-Plane Coupled Dynamics 40References 412 Dynamic Modelling of Riderless Motorcycles for Agile Manoeuvres 43Yizhai Zhang, Jingang Yi, and Dezhen Song2.1 Introduction 432.2 Related Work 442.3 Motorcycle Dynamics 452.4 Tyre Dynamics Models 512.5 Conclusions 55Nomenclature 55Appendix A: Calculation of Ms 56Appendix B: Calculation of Acceleration ̇G 57Acknowledgements 57References 573 Identification and Analysis of Motorcycle Engine-to-Slip Dynamics 59Matteo Corno and Sergio M. Savaresi3.1 Introduction 593.2 Experimental Setup 603.3 Identification of Engine-to-Slip Dynamics 613.4 Engine-to-Slip Dynamics Analysis 733.5 Road Surface Sensitivity 783.6 Velocity Sensitivity 793.7 Conclusions 80References 804 Virtual Rider Design: Optimal Manoeuvre Definition and Tracking 83Alessandro Saccon, John Hauser, and Alessandro Beghi4.1 Introduction 834.2 Principles of Minimum Time Trajectory Computation 864.3 Computing the Optimal Velocity Profile for a Point-Mass Motorcycle 904.4 The Virtual Rider 1024.5 Dynamic Inversion: from Flatland to State-Input Trajectories 1034.6 Closed-Loop Control: Executing the Planned Trajectory 1074.7 Conclusions 1154.8 Acknowledgements 116References 1165 The Optimal Manoeuvre 119Francesco Biral, Enrico Bertolazzi, and Mauro Da Lio5.1 The Optimal Manoeuvre Concept: Manoeuvrability and Handling 1215.2 Optimal Manoeuvre as a Solution of an Optimal Control Problem 1335.3 Applications of Optimal Manoeuvre to Motorcycle Dynamics 1455.4 Conclusions 152References 1526 Active Biomechanical Rider Model for Motorcycle Simulation 155Valentin Keppler6.1 Human Biomechanics and Motor Control 1566.2 The Model 1616.3 Simulations and Results 1676.4 Conclusions 179References 1807 A Virtual-Reality Framework for the Hardware-in-the-Loop Motorcycle Simulation 183Roberto Lot and Vittore Cossalter7.1 Introduction 1837.2 Architecture of the Motorcycle Simulator 1847.3 Tuning and Validation 1887.4 Application Examples 191References 194Part Two TWO-WHEELED VEHICLES CONTROL AND ESTIMATION PROBLEMS8 Traction Control Systems Design: A Systematic Approach 199Matteo Corno and Giulio Panzani8.1 Introduction 1998.2 Wheel Slip Dynamics 2028.3 Traction Control System Design 2068.4 Fine tuning and Experimental Validation 2128.5 Conclusions 218References 2199 Motorcycle Dynamic Modes and Passive Steering Compensation 221Simos A. Evangelou and Maria Tomas-Rodriguez9.1 Introduction 2219.2 Motorcycle Main Oscillatory Modes and Dynamic Behaviour 2229.3 Motorcycle Standard Model 2249.4 Characteristics of the Standard Machine Oscillatory Modes and the Influence of Steering Damping 2269.5 Compensator Frequency Response Design 2289.6 Suppression of Burst Oscillations 2339.7 Conclusions 240References 24010 Semi-Active Steering Damper Control for Two-Wheeled Vehicles 243Pierpaolo De Filippi, Mara Tanelli, and Matteo Corno10.1 Introduction and Motivation 24310.2 Steering Dynamics Analysis 24510.3 Control Strategies for Semi-Active Steering Dampers 25210.3.1 Rotational Sky-Hook and Ground-Hook 25310.4 Validation on Challenging Manoeuvres 25710.5 Experimental Results 26610.6 Conclusions 267References 26811 Semi-Active Suspension Control in Two-Wheeled Vehicles: a Case Study 271Diego Delvecchio and Cristiano Spelta11.1 Introduction and Problem Statement 27111.2 The Semi-Active Actuator 27211.3 The Quarter-Car Model: a Description of a Semi-Active Suspension System 27511.4 Evaluation Methods for Semi-Active Suspension Systems 27711.5 Semi-Active Control Strategies 27911.6 Experimental Set-up 28111.7 Experimental Evaluation 28111.8 Conclusions 289References 28912 Autonomous Control of Riderless Motorcycles 293Yizhai Zhang, Jingang Yi, and Dezhen Song12.1 Introduction 29312.2 Trajectory Tracking Control Systems Design 29412.3 Path-Following Control System Design 30512.4 Conclusion 315Acknowledgements 317Appendix A: Calculation of the Lie Derivatives 317References 31813 Estimation Problems in Two-Wheeled Vehicles 319Ivo Boniolo, Giulio Panzani, Diego Delvecchio, Matteo Corno, Mara Tanelli, Cristiano Spelta, and Sergio M. Savaresi13.1 Introduction 31913.2 Roll Angle Estimation 32013.3 Vehicle Speed Estimation 32913.4 Suspension Stroke Estimation 33713.5 Conclusions 342References 342Index 345