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首页> 外文期刊>Proceedings of the institution of mechanical engineers >Dynamics of a high-performance motorcycle by an advanced multibody/control co-simulation
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Dynamics of a high-performance motorcycle by an advanced multibody/control co-simulation

机译：先进的多体/控制协同仿真技术可为高性能摩托车提供动力

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摘要

The present work aims at the development of an advanced control system implemented through Adams/View-Matlab/Simulink co-simulation for a high-performance motorcycle dynamics study. In particular, the purpose of this study is to create a model able to consider several aspects of the rider-motorbike dynamic simulation and its control system, generally treated separately in the literature, making also use of an original and accurate modelling of the rider. From a previous multi-body model of motorcycle/virtual rider, developed by the authors, a flexible tool is created to simulate system dynamics to follow any trajectory at a prescribed velocity profile. Considering high-performance motorcycle dynamics are greatly influenced by the rider's weight, his movements have been accurately replicated to obtain the most realistic results. To simulate the passive impedance of rider's arms, a torque was applied to the steering as per the literature. The aerodynamic force was modelled as a function of kinematics variables and rider's posture. The control system is very flexible and adaptable to different manoeuvres realistically reproducing engine and braking performance, steering torque and rider movements. Numerical results show that the control system can accurately direct the motorcycle/rider system along an entire lap of the Monza circuit, following a desired path at a given velocity profile. The model developed allows a complete view of the motorbike-rider dynamic behaviour thus being useful during both design phase and set-up, with a considerable saving in terms of both cost and time; it can also evaluate the influence on the system dynamics of riders with different anatomical characteristics and driving styles.
机译：本工作旨在开发通过Adams / View-Matlab / Simulink联合仿真实现的高级控制系统，以进行高性能的摩托车动力学研究。特别地，本研究的目的是创建一个模型，该模型能够考虑到骑手-摩托车动态仿真及其控制系统的多个方面，在文献中通常将其分开处理，并且还使用了骑手的原始且准确的模型。根据作者先前开发的摩托车/虚拟骑手的多体模型，创建了一个灵活的工具来模拟系统动力学，以在指定的速度曲线下遵循任何轨迹。考虑到高性能摩托车的动力在很大程度上受骑手体重的影响，他的动作已被精确复制以得到最真实的结果。为了模拟驾驶员手臂的被动阻抗，根据文献，在转向系统上施加了扭矩。空气动力学力被建模为运动学变量和骑手姿势的函数。该控制系统非常灵活，可适应实际再现引擎和制动性能，转向扭矩和骑乘者运动的各种操作。数值结果表明，该控制系统可以按照给定速度曲线上的所需路径，沿着蒙扎赛道的整个圈准确地引导摩托车/骑行系统。开发的模型可以完整地了解摩托车骑手的动态行为，因此在设计阶段和设置过程中都非常有用，并且在成本和时间上都节省了很多；它还可以评估对具有不同解剖特征和驾驶方式的骑手的系统动力学的影响。

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