Motorcycle Steering Control by-英文学习资料.PDFVIP

Motorcycle Steering Control by Road Preview The main objectives of the work described are to devise an effective path-based motor- cycle simulation capability and to add to understanding of how riders control motor- cycles. Optimal linear preview control theory was previously applied to the tracking of a roadway by a car, using a simple car model operating in fixed control. Similar theory is applied to path control of motorcycles. The simple car previously employed is replaced by a much more elaborate motorcycle. The steering angle control used previously is changed into steering torque control. Rider upper body lean torque is also allowed as a control input. The machine speed is considered constant but is a parameter of the motion. The objective of the optimal control is to minimize a weighted sum of tracking errors, rider lean angle and control power. The time-invariant optimal control corresponding to a white noise disturbance and to an infinite optimization horizon is found for many situa- R. S. Sharp tions, involving variations in machine speed and performance