Horváth, Hanna Zsófia and Takács, Dénes (2023) Balancing Standstill Motorcycles by Steering Control with Feedback Delay. In: Bicycle and Motorcycle Dynamics 2023 : Symposium on the Dynamics and Control of Single Track Vehicles, 2023. október 18. - 2023. október 20., Delft (The Netherlands).
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Abstract
A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated.
| Item Type: | Conference or Workshop Item (Paper) |
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| Subjects: | T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 22 Sep 2023 10:04 |
| Last Modified: | 22 Sep 2023 10:04 |
| URI: | http://real.mtak.hu/id/eprint/174425 |
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