Derivation of a pitch angle value for the motorcycle

Abstract

In this paper we consider a new, highly precise model of the kinematics of the motorcycle. We present an iterative method which let us calculate a proper pitch angle value and position of the front wheel tyre-ground contact point. We take into account system with and without the lateral flexibility of the front forks. We reveal different behaviour during maneuver of system with finite lateral stiffness compared to rigid one. We proof the dependence between the capsize mode and the pitching behaviour. We show that presented algorithm can be applied to the electronic control units protecting from wheelie behaviour.