Two Wheeled Vehicle Dynamics Synthesis for Real-Time Applications
Résumé
In this paper, we present a modeling technique for deriving the motorcycles equation of motion. The proposed technique is based on the recursive Newton-Euler approach and adapted to tree structure with floating base multibody systems. The derived model presents a low number of arithmetic operations, and hence, suitable for implementation into a two wheeled vehicles real-time applications such as driving simulators. The synthesized model takes in consideration the main wrenches that affect the behavior of motorcycle such as: pneumatic, aerodynamic, suspensions, contact constraints and control inputs.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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