A New Motorcycle Simulator Platform: Mechatronics Design, Dynamics Modeling and Control (original) (raw)
Related papers
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.
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.
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.
Open-Loop Tests and Validation of a New Two-Wheeled Vehicle Riding Simulator
HAL (Le Centre pour la Communication Scientifique Directe), 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.
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
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
When riding a motorcycle, the applied steering torque and the lateral rider body movement influence its trajectory. Reproducing the effect of body and motorcycle roll on a simulator would improve its realism. However, this goal is still challenging, especially on low-complexity simulators such as the MOVING simulator of the University of Florence. In order to achieve this result, this study defined a control logic to introduce steering effects linked with the mockup passive inclination operated by the rider. The logic computed a roll-related steering input consisting of equivalent steering torque. This contribution was added to that the rider exerted on the handlebar. A validation test with participants revealed improvements over the baseline, roll-insensitive approach, especially in stationary and medium-high speed manoeuvres. Interestingly, the riders unconsciously tended to use larger mockup roll angles as the roll sensitivity increased. The logic was optimised for stationary man...
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.
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.
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.