Open-Loop Tests and Validation of a New Two-Wheeled Vehicle Riding Simulator (original) (raw)
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Open-loop test and validation of a new two-wheeled vehicle riding simulator
2007 European Control Conference (ECC), 2007
This paper highlights the mechanical and mechatronic properties of a two-wheeled driving simulator. It gives also the important motivation which facilitates the specification movement and inertial effect choice. Considering the principles purpose of this simulator: • as a training tool for new riders with different scenarios: normal traffic environment, dangerous riding situations (avoidance, emergency braking, nearly failling or slipping situations, bad weather conditions, etc.) • to study riders behaviours in such situations the study has lead to an original 5 degree of freedom (DOF). These mobilities consisting in roll, yaw, pitch and 2DOF applied on the handlebar. The kinematics of the platform is lightly described. Finally, some performances results are shown validating the initial requirement.
Construction of Riding Simulator for Two-wheeled Vehicle
2012
This paper describes the development and evaluation of a riding simulator (RS) for two-wheeled vehicles to analyze rider control behavior from the viewpoints of human factors and control engineering. In simulator development, sense of realism is divided into riding sensation and handling feeling. In addition, they are governed by the motion equation and the required pseudo-experience. In this study, we show the effectiveness of wide-angle change and stereoscopic vision in the front visual information. Also, we show that we could lower the degree of freedom of the system in normal travelling conditions. After that, we ensured the equation of motion could be stable at all speed ranges. Through these measures, we were able to reproduce the sense of a real vehicle's riding feeling and handling feeling. Since this simulator is able to generate a higher sense of presence than conventional RS, we were able to create a tool for analyzing the behavior of rider steering.
Design and Modeling of a New Motorcycle Riding Simulator
Proceedings of the ... American Control Conference, 2007
This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for two purposes: • as a training tool for new riders with different scenarios: normal traffic environment, dangerous riding situations (avoidance, emergency braking, nearly failling or slipping situations, bad weather conditions, etc.) • to study riders behaviours in such situations Our studies have lead to an original 5 degrees of freedom (DOF) mechanical platform including a double haptic feedback on the handlebar. The three basic movements are classical and consist of pitch, roll and yaw one. The choices of the platform movements and the system actuation are motivated and described. Also, some performances results are shown validating the initial requirements.
Mechatronics, Design, and Modeling of a Motorcycle Riding Simulator
IEEE/ASME Transactions on Mechatronics, 2010
This paper describes a new motorcycle riding simulator whose purpose is twofold: (1) it can be used as a training tool for new riders in different scenarios, such as a normal traffic environments or in dangerous riding situations (avoidance, emergency braking, nearly failing or slipping situations and bad weather conditions); and (2) it can be used to study cyclist behavior in such situations and rider-motorcycle interaction. Our studies have led to the development of an original five degrees-of-freedom (DOF) mechanical platform including double haptic feedback on the handlebar. The remaining components are the basic movements consisting of pitch, roll, and yaw. These components are gathered in a parallel kinematics-type platform to enhance the movement bandwidth of the two-wheeled riding simulator. Despite its simplicity, the particular appeal of this simulator lies in the possibility of reproducing important motorcycle movements and inertial effects which allow for the perception of sensations close to reality. The motivation behind the choice of platform movements and system actuation are described. Also, theoretical issues (modeling, identification and control aspects) and performance results are provided.
A New Motorcycle Simulator Platform: Mechatronics Design, Dynamics Modeling and Control
IFAC Proceedings Volumes, 2008
This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for three purposes: • as a training tool for new riders in normal traffic environment • sensibilization for dangerous riding situations (avoidance, emergency braking, failling, etc.) • to study riders behaviours in such situations Our studies have lead to an original 5 degrees of freedom (DOF) mechanical platform including a double haptic feedback on the handlebar. The choices of the platform movements and the system actuation are motivated and described. Also, a detailed kinematics and dynamics modeling will be presented. Some results are shown, validating the actutation requirements and platform control.
inertia was tuned to obtain a motorcycle-like steering response. Finally, the calibrated car model was implemented into a low-complexity motorcycle simulator for objective validation. It was verified that an understeering single-track model with high yaw inertia has amplitude and phase responses analogous to a motorcycle. The experimental results of the simulator test confirmed these findings for a diverse set of manoeuvres, validating the method. This straightforward approach allows the development of low-complexity simulators with good steering fidelity, using an objective procedure to reproduce the behaviour of a chosen motorcycle class. In addition, the low computational cost of the model makes it a potential candidate for use in assistance systems. Keywords Motorcycle simulator • Car and motorcycle manoeuvrability • Car and motorcycle dynamics • Simulation • Frequency response and transfer functions • Objective and quantitative validation 1 Introduction Riding simulators are a fundamental tool for driver training and the development of assistance systems. However, the complexity of realistically simulating two-wheeled vehicles has meant that the development and adoption of motorcycle simulators have Abstract Motorcycle simulators are employed for rider training, studying human-machine interaction, and developing assistance systems. However, existing simulators are either too simple and, therefore, unsuitable or significantly complex, with higher hardware costs and familiarisation times. This study aimed to use a tuned single-track car model as the basis of a motorcycle simulator, leading to considerable software simplification while preserving its fidelity. In particular, the approach defined a conversion between motorcycle steering torque and car steering angle. It modified the parameters of the latter to reproduce the response of various motorcycle models in quasistatic and transient conditions for different speeds and radii of curvature. A robust manoeuvrability index was chosen. For the car, it was possible to calculate it from its parameters analytically. Next, the car yaw
Motorcycle simulator subjective and objective validation for low speed maneuvering
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2022
The use of driving simulators for training and for development of new vehicles is widely spread in the automotive industry. In the last decade, a few motorcycle riding simulators have been developed for similar purposes, with focus on maneuvering at high speed. This article presents the subjective and objective evaluation of a motorcycle riding simulator specifically for low speed longitudinal and lateral maneuvering, between 0 and 10 ms-1. An experiment was conducted with and without platform motion, focusing on three maneuvers: acceleration from standstill, braking to standstill and turning at constant speed. Participants briefly evaluated the fidelity of the simulator after each maneuver and more extensively after each motion condition. Behavioral fidelity was evaluated using experimental data measured on an instrumented motorcycle. Overall, the results show that the participants could reproduce the selected maneuvers without falling or losing balance, reporting a sufficient level of simulator realism. In terms of subjective fidelity, platform motion had a positive effect on simulator presence, significantly increasing the feeling of being involved in the virtual environment. In terms of behavioral fidelity, the comparison between the simulator and experimental results shows good agreement, with a limited positive influence of motion for the braking maneuver, which indicates that for this maneuver the use of motion is beneficial to reproduce the real-life experience and performance.
Motorcycle Dynamic Model Synthesis for Two Wheeled Driving Simulator
2007 IEEE Intelligent Transportation Systems Conference, 2007
This paper presents the development of motorcycle dynamics model. The considered vehicle contains six bodies linked with simple joints and parametrised by 11 degrees of freedom (DOF). The motorcycle model is to be used as a component in driving simulator application. It serves to investigate the influence of using a complete motorcycle dynamics model in inertial cues realism. The choice of the modeling method is based on the algorithmic Lagrange equation representation. This method makes the implementation of the dynamic model very easy. In addition, the principal external forces affecting the motorcycle behavior are considered (pneumatic forces, driver actions, brakes ... etc). At the end of this article, some simulation results are presented in the case of street line motion.
The control and stability analysis of two-wheeled road vehicles
Submitted to the University of London for the degree of …, 2003
The multibody dynamics analysis software, AUTOSIM, is used to develop automated linear and nonlinear models for the hand derived motorcycle models presented in (Sharp, 1971, 1994b). A more comprehensive model, based on previous work (Sharp and Limebeer, 2001), is also derived and extended. One version of the code uses AUTOSIM to produce a FORTRAN or C program which solves the nonlinear equations of motion and generates time histories, and a second version generates linearised equations of motion as a MATLAB file that contains the state-space model in symbolic form. Local stability is investigated via the eigenvalues of the linearised models that are associated with equilibrium points of the nonlinear systems. The time histories produced by nonlinear simulation runs are also used with an animator to visualise the result. A comprehensive study of the effects of acceleration and braking on motorcycle stability with the use of the advanced motorcycle model is presented. The results show that the wobble mode of a motorcycle is significantly destabilised when the machine is descending an incline, or braking on a level surface. Conversely, the damping of the wobble mode is substantially increased when the machine is ascending an incline at constant speed, or accelerating on a level surface. Except at very low speeds, inclines, acceleration and deceleration appear to have little effect on the damping or frequency of the weave mode. A theoretical study of the effects of regular road undulations on the dynamics of a cornering motorcycle with the use of the same model is also presented. Frequency response plots are used to study the propagation of road forcing signals to the motorcycle steering system. It is shown that at various critical cornering conditions, regular road undulations of a particular wavelength can cause severe steering oscillations. The results and theory presented here are believed to explain many of the stability related road accidents that have been reported in the popular literature. The advanced motorcycle model is improved further to include a more realistic tyre-road contact geometry, a more comprehensive tyre model based on Magic Formula methods utilising modern tyre data, better tyre relaxation properties and other features of contemporary motorcycle designs. Parameters describing a modern high performance machine and rider are also included. 1 I wish to thank Professor David Limebeer and Professor Robin Sharp for their support and guidance throughout this project and for taking care of the necessary funding. It has been a unique experience to work with such outstanding researchers and to know that I could constantly trust their scientific judgements, which, I must say, they always explained with great enthusiasm. I really enjoyed their pleasant, humorous and open-hearted character and I doubt I will ever forget the exhilarating trip to Snetterton race track on the back seat of Prof. Limebeer's Kawasaki ZX-9R. Finally, my deepest gratitude goes towards my family for their endless love and support. Their confidence in me has been tremendously encouraging and provided me with strength to accomplish my task. I feel very lucky to have such a caring family and to know that I can always rely upon them.
Design and hardware selection for a bicycle simulator
Mechanical Sciences
With the resurgence in bicycle ridership in the last decade and the continuous increase of electric bicycles in the streets a better understanding of bicycle rider behaviour is imperative to improve bicycle safety. Unfortunately, these studies are dangerous for the rider, given that the bicycle is a laterally unstable vehicle and most of the time in need for rider balance control. Moreover, the bicycle rider is very vulnerable and not easily protected against impact injuries. A bicycle simulator, on which the rider can balance and manoeuvre a bicycle within a simulated environment and interact with other simulated road users, would solve most of these issues. In this paper, we present a description of a recently build bicycle simulator at TU Delft, were mechanical and mechatronics aspects are discussed in detail.