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Stability and Controllability Analysis of a Motorcycle

[+] Author Affiliations
Hidekazu Nishimura

Keio University, Tokyo, Japan

Shunsuke Iwamatsu, Shaopeng Zhu

Chiba University, Chiba, Chiba, Japan

Hiroshi Tajima

Nihon University, Tokyo, Japan

Paper No. DETC2007-35038, pp. 2011-2020; 10 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


In this paper, we present a linearized system of a motorcycle and its stability and controllability analysis is done. The equation of motion for the motorcycle have been obtained using the multi-body dynamics analysis assuming that the motorcycle consists of four rigid parts with nine degrees of freedom. In this model the cross-sectional shape of the tire was described as a half circle and its deformation has been taken into account. By carrying out simulations it has been verified that the responses to the front-steering impulsive torque are in good agreement with those of a marketed dynamics analysis software. Two inputs of the steering torque and the driving torque of the rear wheel are taken into consideration. By using the balanced realization method the gramians of the linearized system are obtained to examine the reduced-order model with the frequency responses and the impulsive responses.

Copyright © 2007 by ASME



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