Semi-Active Steering Damper Control in Two-Wheeled Vehicles

被引：21

作者：

De Filippi, Pierpaolo ^{[1
]}

Tanelli, Mara ^{[1
]}

Corno, Matteo ^{[2
]}

Savaresi, Sergio M. ^{[1
]}

Fabbri, Luca ^{[3
]}

机构：

[1] Politecn Milan, Dipartimento Elettron & Informat, I-20133 Milan, Italy

[2] Delft Univ Technol, Delft Ctr Syst & Control, NL-2628 CD Delft, Netherlands

[3] Piaggio & CSpA, Aprilia Brand, I-30033 Venice, Italy

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2011年 / 19卷 / 05期

关键词：

linear parametrically varying (LPV) systems; motorcycle control; motorcycle dynamics; semi-active steering damper; two-wheeled vehicles; OSCILLATIONS; COMPENSATORS; ADD;

D O I：

10.1109/TCST.2010.2070068

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work presents the design of innovative control strategies for a semi-active steering damper aimed at improving two-wheeled vehicles steering stability by controlling the weave and wobble modes. The proposed control strategies arise from a parallelism between steering and vertical dynamics of a motorcycle. According to this parallelism, the Sky-Hook (SH) and Ground-Hook (GH) damping concepts are adapted to the control of steering dynamics. A detailed analysis of the two approaches shows that a tradeoff arises between the damping of wobble and weave mode. It is then shown that the tradeoff can be solved by mixing the SH and GH strategies according to a frequency-range selector. The closed-loop stability properties are investigated via passivity theory. Further, both a multibody simulator and experimental data are employed to validate both the modeling phase and the control strategies performance.

引用

页码：1003 / 1020

页数：18

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