Balancing Standstill Motorcycles by Steering Control with Feedback Delay

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2023Publisher:The Evolving Scholar - BMD 2023, 5th EditionJournal:The Evolving Scholar - BMD 2023, 5th Edition

Authors: Hanna Zsofia Horvath; Denes Takacs;

doi: 10.59490/647daeb569d559aa327d02f6 , 10.24404/63fdc191b7265d4b80e41ab6

Balancing Standstill Motorcycles by Steering Control with Feedback Delay

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Abstract

A steering control algorithm is constructed in order to balance a standstill motorcycle using its steering mechanism. The governing equations are derived with the help of Kane's method. The linear stability properties and the effect of the feedback delay in the control loop are analyzed via stability charts. It is shown that the presence of a small time delay already restricts the stable domain of the control gains significantly. The effect of the positive/negative trail of the steering wheel is also investigated.

Related Organizations

Budapest University of Technology and Economics
Hungary

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