Bicycle Rider Control Modelling for Path Tracking
作者： Johannes Edelmann , Martin Haudum , Manfred Plöchl
DOI: 10.1016/J.IFACOL.2015.05.070
关键词:
摘要: Abstract Rider models are employed to gain insight into bicycle rider steering behaviour and improve characteristic properties of bicycles. In this paper, stability as well basic dynamic characteristics the passive (uncontrolled) bicycle-rider system consequences on control modelling addressed. particular, unstable motion at low velocities bandwidth limitations caused by non-minimum phase dynamics emphasized. To analyse effectiveness torque lean possible rider's inputs bicycle, a controllability analysis has been performed. It turns out that input, in contrast marginal impact system. Finally, model considering human is presented, its capabilities demonstrated performing curve entering manoeuvre.
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