DYNAMICS SIMULATION AND CONTROL FOR MOTORCYCLE RIDING 姚良駿、陳志鏗
E-mail: [email protected]
ABSTRACT
THIS THESIS IS TO DEVELOP THE EQUATIONS OF MOTION OF RIDER-MOTORCYCLE SYSTEM BY USING THE LAGRANGE'S EQUATION WITH NINE DEGREES OF FREEDOM. THE SIX COORDINATES FOR THE POSIT -ION AND ORIENTATION OF THE REAL WHEEL, THE ROLLING OF REAR WHEEL, THE FORK'S STEERING ANGLE AND THE RIDER'S LEAN ANGLE ARE USED. THE PURE ROLLING CONSTRAINS BETWEEN GROUND AND WHEELS ARE ALSO CONSIDERED IN THE DYNAMICAL EQUATIONS OF THE RIDER-MOTORCYCLE SYSTEM. WE USE THE SYMBOLICAL MATHEMATIC SOFTWARE MAPLE TO DERIVE THE
THREE-DIMENSIONAL RIDER- MOTORCYCLE DYNAMICAL MODEL. THE C PROGRAMS ARE WRITTEN TO SOLVE THE DIFFERENTIAL-ALGEBRA EQUATIONS. THE SIMULATION STUDIES ARE DIVIDED INTO TWO PARTS.THE FIRST PART IS ON THE ST -EADY-STATE CONDITIONS. FROM THE EQUATIONS OF MOTION, WE SOLVE THE SYSTEM EQUILIBRIUM PO -INTS TO VERIFY THE STEADY BEHAVIOR IN COMPUTER
SIMULATION.THE SECOND PART IS THE STABIL -IZING CONTROL UNDER DIFFERENT SPEED, STEERING ANGLE AND SIDE DISTURBANCE. THE FORCES OF THREE DIRECTIONS ARE INVESTIGATED DURING THE MOTORCYCLE CHANGING ITS DIRECTION OF MOTION. THE EQUATIONS OF MOTION DEVELOPED ARE VERIFIED BY ENERGY CONSERVATION AND EQUILIBRIUM PO -INTS.BY CHANGING THE PARAMETERS IN THE MODEL,THE DYNAMIC BEHAVIOR OF THE MOTORCYCLE IS STUDIED AND THE RESULT CAN BE USED TO IMPROVE THE MOTORCYCLE DESIGN.
Keywords : RIDER-MOTORCYCLE SYSTEM, LAGRANGE EQUATION, MOTORCYCLE HANDLING, EQUILIBRIUMS ANALYSIS, MOTORCYCLE SIMULATION DYNAMIC.
Table of Contents
第一章 緒論--P1 1.1 前言--P1 1.2 文獻回顧--P2 1.3 研究目的及本文架構--P4 第二章 機車運動數學模式推導--P6 2.1 運動方程 式推導--P6 2.1.1 騎士-機車系統數學模型--P6 2.1.2 轉換矩陣之定義--P12 2.1.3 LAGRANGE方程式推導--P15 2.1.4 矩陣型式 的LAGRANGE方程式--P23 2.2 輪胎受力模式--P26 2.2.1 輪胎的拘束條件推導--P27 2.2.2 後輪之拘束條件--P28 2.2.3 前輪之 拘束條件--P29 2.2.4 拘束條件數值解方法的推導--P30 第三章 機車運動模式之數值模擬--P33 3.1 程式架構--P34 3.2 數值模擬 與驗證--P36 3.3 穩態值計算--P38 第四章 結果與分析--P44 4.1 穩態彎行--P44 4.2 切換軌跡之運動控制與分析--P48 4.2.1 彎行 時車速切換--P49 4.2.2 繞圓軌跡切換--P53 4.2.3 穩態彎行受側向擾動--P57 第五章 完整電腦動態模型建立--P62 5.1 騎士-機 車系統模型之建構--P62 5.1.1 騎士-機車系統各零件之質量特性--P63 5.1.2 組合騎士-機車系統電腦模型--P64 5.2 系統運動條 件之設定--P65 5.2.1 設定限制條件--P65 5.2.2 騎士-機車系統參數設定--P66 5.2.3 輪胎與路面間的接觸碰撞力設定--P68 5.3 電腦動態控制介面之建立--P70 5.3.1 動態控制介面連結--P70 5.3.2 電腦模型之數值模擬--P73 第六章 結論--P76 參考文 獻--P77 附錄A 騎士-機車系統之物理量--P80 附錄B 騎士-機車系統運動方程式推導之MAPLE程式--P82 B.1推導機車與騎士 運動方程式--P82 B.2矩陣型式之LAGRANGE運算--P86
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