Modelling, Simulation and Control of Two-Wheeled Vehicles

  • Tanelli M
  • Corno M
  • Savaresi S
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Abstract

This chapter presents a systematic approach to the design of traction control (TC) systems for motorcycles. Several aspects are considered: activation strategy, reference generation and gain-scheduling. Tests on instrumented motorcycles are used to show several critical aspects. The chapter presents a complete and systematic treatment of the issues that practitioners face when designing a TC system for a road motorcycle. It first discusses the most relevant concepts regarding wheel slip dynamics. Next, the TC system is designed, taking into account many aspects: activation, deactivation, wheel slip reference generation and robustness. Fine tuning and testing of the TC system are explained in the last section.

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