Dynamic modelling of a two-wheeled vehicle: Jourdain formalism

This paper presents a motorcycle direct dynamic formulation by the Jourdain's principle approach. This vehicle is considered as an assembly of six rigid bodies and the resulting equation of motion allows to simulate 11 degrees of freedom. The vehicle geometry is described and a step-by-step pro...

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Bibliographic Details
Published in:Vehicle system dynamics 2013-05, Vol.51 (5), p.648-670
Main Authors: Nehaoua, L., Arioui, H., Seguy, N., Mammar, S.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic
Drives
Dynamics
Engineering Sciences
Exact sciences and technology
Jourdain's dynamics principle
Machine components
Mechanical engineering. Machine design
motorcycle control
motorcycle modelling
Shafts, couplings, clutches, brakes
Springs and dampers
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Summary:This paper presents a motorcycle direct dynamic formulation by the Jourdain's principle approach. This vehicle is considered as an assembly of six rigid bodies and the resulting equation of motion allows to simulate 11 degrees of freedom. The vehicle geometry is described and a step-by-step procedure is introduced to evaluate the kinematics and the generalised efforts of the considered vehicle. In addition, to simulate the equation of motion, a Lyapunov-based stabilisation is developed to assess the vehicle behaviour in response to a propulsion/braking torque applied on the vehicle's wheels and a rider torque exerted on the motorcycle's handlebar. Simulation results reveal some dynamic features such as load transfer and counter-steering phenomena.
ISSN:0042-3114
1744-5159
DOI:10.1080/00423114.2012.762536