Abstract
In this paper we consider a new, highly precise model of the kinematics of the motorcycle. We present an iterative method which let us calculate a proper pitch angle value and position of the front wheel tyre-ground contact point. We take into account system with and without the lateral flexibility of the front forks. We reveal different behaviour during maneuver of system with finite lateral stiffness compared to rigid one. We proof the dependence between the capsize mode and the pitching behaviour. We show that presented algorithm can be applied to the electronic control units protecting from wheelie behaviour.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
H.B. Pacejka,Tyre and Vehicle Dynamics (Butterworth Heinemann, Oxford, U.K., 2002)
C. Koenen, The dynamic behaviour of motorcycles when running straight ahead and when cornering, Ph.D. dissertation, Delft Univ. Technol., 1983
R.S. Sharp, D.J.N. Limebeer, Multibody Syst. Dyn. 6, 123 (2001)
R.A. Lot, Meccanica 39, 207 (2004)
G. Franke, W. Suhr, F. Riess, Eur. J. Phys. 11, 116 (1990)
A. Saccon, J. Hauser, Veh. Syst. Dyn. 47, 221 (2009)
L. Leonelli, N. Mancinelli, Veh. Syst. Dyn. 53, 775 (2015)
Y. Miyamaru, G. Yamasaki, K. Aoki, Development of a motorcycle riding simulator, Soc. Auto. Eng. Jpn. 23, 121 (2002)
L. Nehaoua, S. Hima, H. Arioui, N. Seguy, S. Espie, Design and Modeling of a New Motorcycle Riding Simulator,American Control Conference USA, July 11–13, 2007
R. Sharp, C. Alstead, The influence of structural flexibilities on the straight-running stability of motorcycles, Veh. Syst. Dyn. 9, 327 (1980)
P. Spierings, The effects of lateral front fork flexibility on the vibrational modes of straight-running single-track vehicles, Veh. Syst. Dyn. 10, 21 (1981)
V. Cossalter,Motorcycle Dynamics (Lulu.com, 2006)
Society of Automotive Engineers “Vehicle dynamics terminology, ” inProc. SAE, Warrendale, PA, 1976
J. Fajans, Steering in bicycles and motorcycles, Am. J. Phys. 68, 654 (2000)
J. Craig,Introduction to Robotics: Mechanics and Control (Pearson/Prentice Hall, Boston, 2005)
S. Wolfram,The Mathematica Book (Wolfram Media, Incorporated 1996)
D.J.N. Limebeer, R.S Sharp, IEEE Control Syst. Mag. 26, 34 (2006)
V. Cossalter, R. Lot, A Motorcycle Multi-Body Model for Real Time Simulations Based on the Natural Coordinates Approach, Veh. Syst. Dyn. 3, 423 (2002)
S. Evangelou, D.J.N. Limebeer, Lisp programming of the Sharp 1971 motorcycle model, 2000, http://www.ee.ic.ac.uk/control/motorcycles
FIM World Championship Grand Prix Regulations, 2016
E. David, Everything You Wanted To Know About MotoGP’s 2016 Unified Software, But Were Afraid To Ask, 2015, motomatters.com
SA-GY200/500V4-000 gyro datasheet, http://datrontechnology.co.uk/files/SA-GYxxxV4-000-DINA4.pdf
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
The EPJ Publishers remain neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Open Access This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
About this article
Cite this article
Lazarek, M., Grabski, J. & Perlikowski, P. Derivation of a pitch angle value for the motorcycle. Eur. Phys. J. Spec. Top. 229, 2225–2238 (2020). https://doi.org/10.1140/epjst/e2020-900278-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1140/epjst/e2020-900278-4