SOME INVESTIGATION ON THE MODELLING OF THE BIOMECHANICAL RIDER AND STABILITY OF MOTORCYCLE

Mouad GARZIAD, Abdelmjid SAKA, Hassane MOUSTABCHIR, Maria Luminita SCUTARU, Mihaela Violeta MUNTEANU

Abstract


The goal of this paper is to improve the safety and stability of motorcycle by analyzing the impact of the rider on control of motorcycle and predicting potential unstable scenarios. We are used the multibody approach to design a rider using biomechanical properties. The aim is to create a control strategy that utilizes the electromyogram (EMG) signals from the rider's muscles and that can efficiently handle multi-joint muscles during reaching movements. These signals will be used to give commands for controlling the motorcycle. To achieve our goal, we have introduced a PID feedback control scheme that takes neural commands as input and used a heuristic strategy to determine the required steer and roll angles based on the motion of the rider. The results indicate that the developed controller effectively stabilizes the motorcycle model when operating at high range of speeds mainly in the wobble and capsize mode.


Full Text:

PDF

References


Oliveri SM, Calı` M and Catalano L. Dynamics of motorcycle using flexible elements. In: Proceedings of the international design conference, Dubrovnik, 14–17 May 2002, pp.1227–1236

Imaizumi, H., & Fujioka, T. (1997). Motorcycle-Rider System Dynamics by Multibody Dynamics Analysis-Effects of the Rear Load on Wobble Motions and the Control Assembly. JSAE Review, 2(18), 201.

Doria A, Tognazzo M and Cossalter V. The response of the rider’s body to roll oscillations of two wheeled vehicles; experimental tests and biomechanical models. Proc IMechE, Part D: J Automobile Engineering 2013; 227(4): 561–576.

Schwab, A. L., Meijaard, J. P., & Kooijman, J. D. G. (2012). Lateral dynamics of a bicycle with a passive rider model: stability and controllability. Vehicle system dynamics, 50(8), 1209-1224.

Bulsink, V. E., Doria, A., van de Belt, D., & Koopman, B. (2015). The effect of tyre and rider properties on the stability of a bicycle. Advances in mechanical engineering, 7(12), 1687814015622596.

Saccon A, Hauser J and Beghi A. A virtual rider for motorcycles: an approach based on optimal control and maneuver regulation. In: 3rd International symposium on communications, control and signal processing, ISCCSP 2008, Malta, 12–14 March 2008, pp.243–248. 25.

M. Yokomori, T. Oya, and A. Katayama, Rider control behavior to maintain stable upright position at low speed, JSAE Rev. 21 (2000), pp. 61–65.

DORIA, Alberto, TOGNAZZO, Mauro, et COSSALTER, Vittore. The response of the rider’s body to roll oscillations of two wheeled vehicles; experimental tests and biomechanical models. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2013, vol. 227, no 4, p. 561-576.

Doria A, Tognazzo M. The influence of the dynamic response of the rider’s body on the open-loop stability of a bicycle. Proc Inst Mech Eng, Part K: J Multi-Body Dyn. 2014;228(17):3116–3132.

Cheli F, Pezzola M, Taroni N, et al. Driver’s movements influence on the lateral dynamic of a sport motorbike. In: 19th Mediterranean conference on control and automation, Corfu, Greece, 20–23 June 2011

Lai, H. C., Liu, J. S., Lee, D. T., & Wang, L. S. (2003). Design parameters study on the stability and perception of riding comfort of the electrical motorcycles under rider leaning. Mechatronics, 13(1), 49-76.

Talaia P, Moreno D, Hajzman M, and Hyncik L. A 3D model of a human for powered two-wheeler vehicles. Proceedings of the international conference on noise & vibration engineering; 2008 Sept; Leuven. p. 2229– 2238.

Garziad, M., & Saka, A. (2019). Review on Dynamics, Control and Stability of Two Wheeled Vehicle. International Journal of Mechanical Engineering, 6(7), 1-7.

A.A. Popov, S. Rowell, and J.P. Meijaard, A review on motorcycle and rider modelling for steering control, Veh. Syst. Dyn. 48 (2010), pp. 775–792

Kooijman JDG and Schwab AL. A review on bicycle and motorcycle rider control with a perspective on handling qualities. Veh Syst Dyn 2013; 51(11): 1722–1764.

R.S. Sharp, S. Evangelou, and D.J.N. Limebeer, Advances in the modelling of motorcycle dynamics, Multibody Syst. Dyn. 12 (2004), pp. 251–283

Meijaard, J. P. Derivation of the linearized equations for an uncontrolled bicycle. Internal report, University of Nottingham, UK, 2004.

Schwab, A. L., Meijaard, J. P., & Papadopoulos, J. M. (2005). Benchmark results on the linearized equations of motion of an uncontrolled bicycle. Journal of mechanical science and technology, 19, 292-304.

Meijaard, J. P., & Schwab, A. L. (2006). Linearized equations for an extended bicycle model. In III European Conference on Computational Mechanics: Solids, Structures and Coupled Problems in Engineering: Book of Abstracts (pp. 772-772). Springer Netherlands.

Schwab, A. L., Meijaard, J. P., & Kooijman, J. D. G. (2006, June). Experimental validation of a model of an uncontrolled bicycle. In Proceedings of the Third European Conference on Computational Mechanics: Solids, Structures and Coupled Problems in Engineering (p. 16citation_URL_Access_Date). Lisbon, Portugal.

Schwab, A. L., Meijaard, J. P., & Kooijman, J. D. G. (2007, June). Some recent developments in bicycle dynamics. In Proceedings of the 12th World Congress in Mechanism and Machine Science (pp. 1-6). Moscow, Russia: Russian Academy of Sciences.

Schwab, A. L., Meijaard, J. P., & Kooijman, J. D. (2012). Lateral dynamics of a bicycle with a passive rider model: stability and controllability. Vehicle system dynamics, 50(8), 1209-1224.

Sharp, R. S. (2012). Rider control of a motorcycle near to its cornering limits. Vehicle system dynamics, 50(8), 1193-1208.

Liu, T. S., & Chen, J. S. (1992). Nonlinear analysis of stability for motorcycle–rider systems. International journal of vehicle design, 13(3), 276-294.

Mears, B. C. (1989). Open loop aspects of two-wheeled vehicle stability characteristics. University of Illinois at Urbana-Champaign.

Sharp, R. S., & Limebeer, D. J. (2001). A motorcycle model for stability and control analysis. Multibody system dynamics, 6, 123-142.

Yokomori, M., Nakagawa, T., & Matsumoto, T. (1986). Handlebar vibration of a motorcycle during operation on different road surfaces. Scandinavian journal of work, environment & health, 332-337.

Garziad, M., & Saka, A. (2019). A comparative assessment between LQR and PID strategies in control of two wheeled vehicle. In International Journal of Engineering Research in Africa (Vol. 43, pp. 59-70). Trans Tech Publications Ltd.

Sequenzia, G., Oliveri, S. M., Fatuzzo, G., & Calì, M. (2015). An advanced multibody model for evaluating rider’s influence on motorcycle dynamics. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 229(2), 193-207.

Zhu, S., Murakami, S., & Nishimura, H. (2012). Motion analysis of a motorcycle taking into account the rider's effects. Vehicle system dynamics, 50(8), 1225-1245.

Klinger F, Nusime J, Edelmann J, et al. Wobble of a racing bicycle with a rider hands on and hands off the handlebar. Veh Syst Dyn. 2014;52(Suppl 1):51–68.

Schwab, A. L., & Kooijman, J. D. G. (2010, May). Lateral dynamics of a bicycle with passive rider model. In The 1st Joint International Conference on Multibody System Dynamics.

Imaizumi H, FujiokaT, Omae M. Rider model by use of multibody dynamics analysis. Jpn SAE. 1996;17:75–77.

Huyge, K., Ambrósio, J.; Pereira, M., A control strategy for the dynamics of a motorcycle, including rider, Proceedings of the ENOC-2005, 2005.

Keppler, V., & Solutions, B. (2010, October). Analysis of the biomechanical interaction between rider and motorcycle by means of an active rider model. In Proceedings, Bicycle and Motorcycle Dynamics 2010 Symposium on the Dynamics and Control of Single Track Vehicles (pp. 20-22).

Sequenzia, G., Oliveri, S. M., Fatuzzo, G., & Calì, M. (2015). An advanced multibody model for evaluating rider’s influence on motorcycle dynamics. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 229(2), 193-207.

Garziad, M., & Saka, A. (2019). Influence of rider on the stability and control of two wheeled vehicles. Journal Européen des Systèmes Automatisés, 52(5), 515-520.

Moreno Giner, D., Brenna, C., Symeonidis, I., & Kavadarlic, G. (2008, January). MYMOSA: Towards the Simulation of Realistic Motorcycle Manoeuvres by Coupling Multibody and Control Techniques. In ASME International Mechanical Engineering Congress and Exposition (Vol. 48784, pp. 263-275).

Barbagallo, R., Sequenzia, G., Oliveri, S. M., & Cammarata, A. (2016). Dynamics of a high-performance motorcycle by an advanced multibody/control co-simulation. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 230(2), 207-221.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :