A Multibody Motorcycle Model With LMS VirtualLab Motion

Torsional Flexibility of theSwing-arm

TIRE modelexternal Fortran subroutine

TIRE modelcalculation of forces and torquesFORCES AND TORQUES DEPEND ON:•CAMBER ANGLEAS ONRIGID BODY•VERTICAL DEFLECTIONDISTANCEWHEEL-HUBTO ROAD•SIDESLIP ANGLE•LONGITUDINAL SLIPRELAXATIONLENGTH EQUATIONSdyτ + y = y0dt

RIDER Model

CONTROL SYSTEMKINEMATICINPUTDYNAMICALGORITHMKINEMATICOUTPUT

CONTROL SYSTEMHandlebar controlRider leaning &swingingbased on a PID controldetermining the steering torquesemi-active rider actinglike an actuatorTraction controlto adjust the speed

MODEL VALIDATIONCOMPARISON BETWEEN THE SIMULATEDMODEL RESULTS WITH THE EXPERIMENTALMEASURES OF THE ACTUAL MOTORCYCLEMANEUVERS CARRIED OUT:• lane change• slalom1. Slalom 7m1. left 5x20m3. left 7x20m5m7m20m20m2. Slalom 14m2. right 5x20m4. right 7x20m3. Slalom 21m

LANE CHANGE MANEUVER RESULTSlane change left 7x20 mc.1211d.Speed [m/s]Steering torque [Nm]1096040200-20-40-60-80-10087VL_SpeedTest_Speed62 4 6 8 10 12Time [s]a.0.80-0.2-0.4-0.6Test_Steering torqueVL_Steering torque2 4 6 8 10 12Time [s]Roll angle [rad]0.60.40.2Test_Roll angleVL_Roll angle-0.82 4 6 8 10 12Time [s]

c.SLALOM MANEUVER RESULTSslalom 21m1817Speed [m/s]16151413VL_SpeedTest_Speed122 4 6 8 10 12Time [s]a.Roll angle [rad]10.50-0.5VL_Roll angleTest_Roll_angled.Steering torque [Nm]100500-50-100-150VL_St.eering torqueTest_Steering torque2 4 6 8 10 12Time [s]2 4 6 8 10 12Time [s]

VEHICLE STABILITY STUDYWOBBLE MODEWEAVE MODEsteering oscillationsoscillations: · yaw·roll· steering

WEAVE MODE: sensitivity studylateral stiffness of the rear tire0.0200.015Klat=125000 N/mKlat=75000 N/mKlat=75000 Klat=50000 N/mSteering anlge [rad]0.0100.0050.000-0.005-0.010-0.015-0.0203.5 4 4.5 5 5.5 6Time [S]

WEAVE MODE: sensitivity studyspeed0.0200.01535 m/s45 m/s55 m/sSteering anlge [rad]0.0100.0050.000-0.005-0.010-0.015-0.0203.5 4 4.5 5 5.5 6Time [S]

WOBBLE MODE: sensitivity studysteering damperYaw rate [rad/s]1.501.000.500.00-0.50-1.00-1.50C=8 (kgm2)/(srad)C=4 (kgm2)/(srad)C=4 C=0 (kgm2)/(srad)4 5 6 7 8Time [s]

WOBBLE MODE: sensitivity studysideslip stiffness of the front tireSteering anlge [rad]0.150.100.050.00-0.05-0.10-0.15k = 21.79k = 23.97k = 26.373.5 4 4.5 5 5.5 6Time [s]

WOBBLE MODE: sensitivity studylateral stiffness of the front forkSteering angle [rad]0.150.100.050.00-0.05-0.1035000Nm/rad25000Nm/rad15000Nm/rad-0.15-0.203.5 4 4.5 5 5.5 6 6.5Time [s]

UNIVERSITÀ DEGLI STUDI DI PADOVADipartimento di Ingegneria MeccanicaUNIVERSITY OF PADUADepartment of Mechanical EngineeringA Multibody Motorcycle Model With LMS VirtualLab Motion- Thanks for your attention -Any question?MDRGMotorcycle Dynamics Research GroupDipartimento di Ingegneria MeccanicaVia Venezia,135131 PadovaItalyprof. Roberto Loting. Pasquale de Luca