Browse > Article

Turning Dynamics and Equilibrium of Two-Wheeled Vehicles  

Chen Chih-Keng (Department of Mechanical and Automation Engineering, Da-Yeh University)
Dao Thanh-Son (Department of Mechanical and Automation Engineering, Da-Yeh University)
Yang Chih-Kai (Department of Mechanical and Automation Engineering, Da-Yeh University)
Publication Information
Journal of Mechanical Science and Technology / v.19, no.spc1, 2005 , pp. 377-387 More about this Journal
Abstract
The equations of motion of two-wheeled vehicles, e.g. bicycles or motorcycles, are developed by using Lagrange's equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given.
Keywords
Bicycle Dynamics; Two-Wheeled Vehicle; Nonholonomic Constraint; Multibody;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Yavin, Y., 1998, Navigation and Control of the Motion of a Riderless Bicycle, Compute. Methods Appl. Mech. Engrg., 160, pp. 193-202   DOI   ScienceOn
2 Yavin, Y., 1999, Stabilization and Control of the Motion of an Autonomous Bicycle by Using a Rotor for the Tilting Moment, Computer Methods in Applied Mechanics and Engineering, Vol. 178, pp.233-243   DOI   ScienceOn
3 Suryanarayanan, S., Tomizuka, M. and Weaver, M., 2002, System Dynamics and Control of Bicycles at High Speeds, American Control Conference, Vol. 2, pp. 845-850   DOI
4 Yao, Y. S. and Chellappa, R., 1994, Estimation of Un stabilized Components in Vehicular Motion, Proceedings of the 12th IAPR International Conference on Computer Vision & Image Processing, Vol. 1, pp. 641-644
5 Yavin, Y., 1997, Navigation and Control of the Motion of a Riderless Bicycle by Using a Simplified Dynamic Model, Mathematical and Computer Modelling, Vol. 25, pp. 67-74   DOI   ScienceOn
6 Getz, N. H. and Hedrick, J. K., 1995, An Internal Equilibrium Manifold Method of Tracking for Nonlinear Nonminimum Phase Systems, Proceedings of the American Control Conference, Seattle, Washington
7 Getz, N. H. and Marsden, J. E., 1995, Control for an Autonomous Bicycle, IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1397-1402   DOI
8 Indiveri, G., 1999, Kinematic Time-invariant Control of a 2D Nonholonomic Vehicle, Proceedings of the 38th IEEE Conference on Decision & Control, Vol. 3, pp. 2112-2117   DOI
9 Getz, N. H., 1994, Control of Balance for a Nonlinear Nonholonomic Non-minimum Phase Model of a Bicycle, Proceedings of the American Control Conference, Baltimore, Maryland   DOI
10 Lee, S. and Ham, W., 2002, Self Stabilizing Strategy in Tracking Control of Unmanned Electric Bicycle with Mass Balance, IEEE/ RSJ International Conference on Intelligent Robots and System, Vol. 3, pp. 2200-2205   DOI
11 Getz, N. H., 1995, Internal Equilibrium Control of a Bicycle, Proceedings of the 34th Conference on Decision & Control, New Orleans, LA-December, Vol. 4, pp.4286-4287   DOI
12 Beznos, A. V., Formalsky, A. M., Gurfinkel, E. V., Jicharev, D. N., Lensky, A. V., Savitsky, K. V. and Tchesalin, L. S., 1998, Control of Autonomous Motion of Two-wheel Bicycle with Gyroscopic Stabilisation, Proceedings of the 1998 IEEE International Conference on Robotics & Automation, Leuven, Belgium May, Vol. 3, pp.2670-2675   DOI
13 Chen, C. and Tan, H. S., 1998, Steering Control of High Speed Vehicles: Dynamic Look Ahead and Yaw Rate Feedback, Proceedings of the 37th IEEE Conference on Decision & Control, Tampa, Florida USA   DOI
14 Feng, K. T., Tan, H. S. and Tomizuka, M., 1998, Automatic Steering Control of Vehicle Lateral Motion with the Effect of Roll Dynamics, Proceedings of the American Control Conference, Philadelphia, Pennsylvania   DOI
15 Getz, N. H., 1993, Control of Nonholonomic Systems With Dynamically Decoupled Actuators, Proceedings of the 3rd Conference on Decision and Control, San Antonio, Texas   DOI
16 Baruh, H., 1999, Analytical Dynamics, McGraw-Hill
17 Alleyne, A. and DePoorter, M., 1997, Lateral Displacement Sensor Placement and Forward Velocity Effects on Stability of Lateral Control of Vehicles, American Control Conference, Vol. 3, pp. 1593-1597   DOI
18 Amirouche, F. M. L., 1992, Computational Methods in Multibody Dynamics, Prentice-Hall