The Evolving Scholar - BMD 2023, 5th Edition最新文献

{"title":"Using a steer-into-the-fall based control law to stabilize a pedelec","authors":"Yannick Hanakam, J. Wrede, M. Pfeiffer, S. Hillenbrand","doi":"10.59490/6482e9b4d8611d76b7ba3369","DOIUrl":"https://doi.org/10.59490/6482e9b4d8611d76b7ba3369","url":null,"abstract":"Despite having complex dynamics, a bicycle can be stabilized easily by steering into the direction the bicycle leans, also known as steer-into-the-fall. Although this can be a difficult task for the cyclist, this basic control law can easily be implemented by a technical system to help the cyclist to stabilize the bicycle. As several studies on bicycle dynamics show, at least theoretically in simulations, a proportional controller based on the steer-into-the-fall principle is sufficient to stabilize a bicycle (Åström et al., 2005; Schwab et al., 2008). A steering assistance system consisting of a proportional controller and an electric motor applying torque to the handlebars can provide steering assistance and thus help stabilizing the bicycle. However, the design of a proportional controller working in parallel with the rider can be tricky. To prevent the cyclist from being irritated, the natural steering behavior of the bicycle must be affected as little as possible by the steering interventions. In addition, the cyclist always must be in control of the handlebars.\u0000In this study, we propose a control strategy based on a proportional controller that is designed using classical control engineering methods. Used in a pedelec with a prototype steering assistance system, this study investigates the effect of the controller on the stability of the pedelec and the impact of the steering interventions on the cyclist's riding experience.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125103624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Innovative whole Vehicle-In the-Loop approach for Advanced Rider Assistance Systems calibration and verification: application to self-braking Adaptive Cruise Control","authors":"M. Pezzola, E. Leo, N. Taroni, simone calamari, F. Cheli","doi":"10.59490/6491cea96173c4e52306e06f","DOIUrl":"https://doi.org/10.59490/6491cea96173c4e52306e06f","url":null,"abstract":"On board motorcycles’ control logics are arising in number and complexity. It follows how on road testing, for correct response verification, becomes danger and time consuming. E.g. the mandatory ABS system, that shall be tested on both the high and the low road friction with installation of outriggers to prevent falling (UNECE Reg. No. 78). The testing complexity induces the acceptance criteria to be mostly limited to the subjective feeling of the tester. With the more challenging Cornering-ABS it is almost not possible to test due to limited availability of steering lanes with dedicated road frictions, where calibration and verification can be successfully accomplished. It is becoming harder and harder to objectify systems’ performances with reproducible and repeatable metric. This becomes even harder when dealing with several interacting control logics. The latest Advanced Rider Assistance System (ARAS)s, for example, such as the self-braking, radar-based Adaptive Cruise Control (ACC): there is a lack of real scenarios on which to execute calibration and verification tests and, even when available, the dangerousness in execution increases, and the subjective final assessment falters, bringing the rider’s psychophysical capabilities to the limits (N.Valsecchi, 2020). With multiple demanding control logics’ performances and state dependencies, the needed time for on-road calibration amplifies in duration and mileage; moreover, weather conditions and proving ground availability may frustrate the calibration and verification results.\u0000The possibility of doing most of the work in-door, in safe and repeatable conditions, despite adverse weather, already exists exploiting the HIL approach, that nowadays is becoming more and more popular. But still some limitations occur, when attempting to make multiple control logics working together, with real systems in the loop operating as on the real riding conditions. It may result more efficient to have the human in the loop able to ride the real vehicle, fully connected to a real time (RT) computer, reproducing road scenarios in the simulation environment. Human reactions and scenarios-dependent behavior can be realistically reproduced.\u0000Driven by the above motivations, the innovative idea to connect the whole motorbike in the RT simulations loop enables this investigation capability and allows to reduce the on-road riding risks to properly verify the behavior of all the involved systems operating together and include the real human response as well. The whole Vehicle-In the-Loop proposed in this work allows testing in full safe, manned or unmanned riding modes, through the exploitation of the automation suite, decoupling systems complexity and, finally, executing hard to replicate on-road scenarios otherwise. The final scope of the work is to stress the ARAS ACC implemented on a state-of-the art motorcycle, investigating the performances of the system when running the typical public road scenarios. To achieve","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"379 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122860384","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bicycle fork longitudinal vibrations induced by front braking","authors":"M. Formentini, E. Marconi, Enrico Giolo, Alessandro Rovarin","doi":"10.59490/6489dba0d56c14e8d00e85c3","DOIUrl":"https://doi.org/10.59490/6489dba0d56c14e8d00e85c3","url":null,"abstract":"This work deals with the longitudinal vibrations of the front fork of a bicycle that may originate under front braking, reporting novel experimental evidence and proposing interpretative models to gain insights into the possible causes. In order to acquire experimental evidence of the phenomenon under study, specific road tests were conducted using four component combinations. A modal analysis was performed to investigate the dynamic properties of the front-end components of the bicycle involved in the vibrations observed on the road and estimate the parameters necessary to populate the lumped-element model, devised with the aim of seeking a set of structural parameters that can reduce the sensitivity of the vehicle to different combinations of brake friction materials.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132236731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Study of Suspension Geometry for Personal Mobility Vehicles (PMVs) with Inward Tilt Mechanism","authors":"T. Haraguchi, T. Kaneko","doi":"10.59490/647bd5221539af025bb4e5a2","DOIUrl":"https://doi.org/10.59490/647bd5221539af025bb4e5a2","url":null,"abstract":"Studying the relationship between the suspension geometry and the pitching posture during turning in a personal mobility vehicle with two front wheels and one rear wheel that tilts inward when turning, it is shown that the combination of front telescopic type suspension and rear swing arm type suspension is appropriate to simultaneously avoid pitching of the vehicle body during turning and disturbance from the road surface due to the tread change on wheel stroke.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125667716","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Planar Dynamics of a Motorcycle: Parameter Sensitivity of Ride Comfort to Engine Mounting System Nonlinearities","authors":"S. Kaul","doi":"10.59490/645b85b32e41cde9599a9048","DOIUrl":"https://doi.org/10.59490/645b85b32e41cde9599a9048","url":null,"abstract":"This paper examines the influence of several nonlinearities of an engine mounting system on the planar (in-plane) dynamics of a motorcycle. While the primary aim of the engine mounting system is to enhance ride comfort, some of the nonlinearities associated with the system can influence handling in a motorcycle due to the coupled dynamics of the rear unsprung mass and the swing arm. The use of engine mounts (or vibration isolation systems) is not common in motorcycle powertrains except for a few commercial manufacturers who use isolators to mitigate shaking forces produced by the engine, or to isolate the frame from torque recoil, or to provide isolation at idling or low speeds.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126522051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Balancing Standstill Motorcycles by Steering Control with Feedback Delay","authors":"Hanna Zsofia Horvath, D. Takács","doi":"10.59490/647daeb569d559aa327d02f6","DOIUrl":"https://doi.org/10.59490/647daeb569d559aa327d02f6","url":null,"abstract":"A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133931800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"2-Skate-Single-Track-Vehicle with Zero-Fork-Angle & Zero-Trail & Zero-Power: Tested for Rideability, Phase-Lag and Steady-State-Lean-Angles","authors":"P. Ethier","doi":"10.59490/645be2c02d0b52c3ea6fba8d","DOIUrl":"https://doi.org/10.59490/645be2c02d0b52c3ea6fba8d","url":null,"abstract":"The 2-Skate was tested but the rider might have been a circus acrobat. So the present study aimed at determining if ordinary persons can ride it with confidence, with the same phase lag between torso and vehicle leaning when slaloming, and the same torso and vehicle lean angles in steady state curves as predicted. 12 riders tested the 2-Skates and on their first trial, they could ride it and go slaloming. Phase lag and lean angle were as predicted by the Torso-Arms-Handlebar Steering Theory presented by Ethier, with differential non-holonomic and servomechanism system equations. This confirmation (a) sheds light on how bicycles are steered, (b) clarifies that Countersteering is done automatically at low speeds, (c) supports and clarifies the way mountain bike steering is taught, (d) suggests a slight modification in teaching motorcycle Countersteering, (e) can be used to develop different approachs to 2-Wheeler simulators, (f) and can renew interest for motorcycles with seat belts and protective structure like the BMW-C1 and the award winning Peraves e-Tracer.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128138197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Parameterized and validated equations of motion for a tadpole style cargo tricycle","authors":"Clemens Groß, Steffen Müller","doi":"10.59490/6461fae57a7554ff28deada4","DOIUrl":"https://doi.org/10.59490/6461fae57a7554ff28deada4","url":null,"abstract":"In the past years, cargo bicycles in different configurations have gained popularity for many use cases. Their configurations differ substantially. Single-track cargo bicycles and their kinematics are linked closely to conventional bicycles. The kinematics of inverted tricycles, so-called tadpole trikes, are very different. In the final paper, we will present a novel physical model of a tadpole style cargo tricycle for the mathematical description of the driving behavior, which can be used for e.g. stability analysis or motion prediction. We will furthermore present our instrumented tadpole cargo tricycle which is used to parametrize our kinematic model and used to validate the theoretically derived equations of motion.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131868406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Simulator validation – a new methodological approach applied to motorcycle riding simulators","authors":"S. Will, T. Hammer, R. Pleß, Nora Leona Merkel, A. Neukum","doi":"10.59490/6454fe8ebbbd7753dc6d1d39","DOIUrl":"https://doi.org/10.59490/6454fe8ebbbd7753dc6d1d39","url":null,"abstract":"Whenever driving simulators are used in research and development, to a certain extent the generalizability of the gained results is subject to discussion. Typically, a simulator gets validated in a rather effortful and complex process in order to prove the adequacy of the use of this specific simulator as research tool for a given research question. This paper proposes a new methodological approach to assess a simulator’s overall characteristics and therefore to assess its potential fields of application on a wider basis. The methodology was developed focusing on motorcycle riding simulators.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122178026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Towards Black-Box Dynamics Modelling within Learning-based Nonlinear Model Predictive Control for Virtual Motorcycles","authors":"Francesco Bianchin, Enrico Picotti, M. Bruschetta","doi":"10.59490/64664617311fc849d76663c1","DOIUrl":"https://doi.org/10.59490/64664617311fc849d76663c1","url":null,"abstract":"Learning-based Nonlinear Model Predictive Control (LbNMPC) is a promising framework for applying NMPC using dynamics models obtained directly from riding data. We developed a LbNMPC controller based on a black-box dynamics model and compare it with a previously published NMPC controller based on a physics-based description. The controllers have been tested in a high-fidelity simulation framework, and the LbNMPC outperforms the nominal one in terms of tracking indexes, while requiring twice the solution time.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121597252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}