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A study of bicycle dynamics via system identification

机译:通过系统识别研究自行车动力学

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摘要

This study investigates bicycle dynamic properties by using system identification approaches. The nonlinear bicycle model with configuration parameters from a previously developed benchmark model is studied. The roll angle of the bicycle is controlled at different speeds to generate input-output data including steering torque, roll and steering angles. The collected data are then used to identify the one-input two-output linear model by a prediction-error identification method using parameterization in canonical state-space form. Numerous properties for various speed ranges are discussed from the pole and zero locations of the identified linear model. The system stability, limit-cycle phase portraits of the roll and steering angles, and the non-minimum phase property of the nonlinear system are further investigated and compared.
机译:本研究通过使用系统识别方法来调查自行车动态特性。研究了来自先前开发的基准模型的配置参数的非线性自行车模型。以不同的速度控制自行车的卷角,以产生包括转向扭矩,辊和转向角的输入输出数据。然后,使用使用规范状态空间形式的参数化来识别收集的数据来识别一输入二输出线性模型。从识别的线性模型的极点和零位置讨论了各种速度范围的许多性质。进一步研究并比较了辊子和转向角的限制周期阶段肖像,以及非线性系统的非最小相位性能。

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