Apply & Innovate 2016 September 20-21, 2016 Karlsruhe Motorcycle stability: riding safety improvement via ADAS and semi-active applications F.Cheli 1 , E.Leo 2 , M.E.Pezzola 2 , Niccolò Taroni 2 , 1 Department of Mechanic, Politecnico di Milano (www.mecsys.mecc.polimi.it) 2 Soluzioni Ingegneria, start-up of technological innovation (www.si-ita.it) Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 1
MOTIVATIONS What does stability mean? Turist trophy Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 2 All road drive
MOTIVATIONS Stability problems with Crossover vehicles… Motorcycles Manufacturer Crossover category... Load capacity High confort level Critical riding Powerfull engine stability! More than 100 cv Off-road Sporting drive Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 4 All road drive
STATE OF ART Weave mode Weave is a low frequency oscillation of the entire motorcycle. Root-locus 12 5% 10% 25% 10 4.5 8 Imaginary part (1/s) 50% 4 3.5 6 Imaginary part (1/s) 3 2.5 Speed + 4 2 1.5 2 1 0 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 Real part (1/s) Real part (1/s) Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 5
STATE OF ART Wobble mode Wobble is a higher frequency oscillation of the steering handle around its axis. Root-locus 12 5% 10% 25% 10 10 8 Imaginary part (1/s) 50% 9 6 Imaginary part (1/s) 8 7 4 Speed + 6 2 5 0 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 Real part (1/s) Real part (1/s) Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 6
MOTIVATIONS MOTORCYCLE ACCIDENT CAUSE FACTORS AND IDENTIFICATION OF COUNTERMEASURES VOLUME I: TECHNICAL REPORT Traffic Safety Center University of Southern California Accident with single-vehicle involved (25% of total accident) Young rider Experienced rider Weave Weave Weave and wobble DO NOT depend on rider Wobble Wobble Causes capabilities but only on Capsize Motorcycle features. Wide on turn Slide out Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 7
MOTIVATIONS Target : Increase riding safety “Passive strategy” “Active strategy“ • Development of Multibody model • algorithms aimed to instability of motorcycle. identification. • semi-active control logics to • Sensitivity analysis both in increase riding safety. straight running and steady state curve. Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 8
INDEX OF CONTENTS 3.2 : 3.3 : 3.1 : model Sensitivity Numerical verification analysis model PASSIVE STRATEGY 5 : 1 : 2 : Conclusions Motivation Experimental test and instability identification ACTIVE STRATEGY 4.1 : 4.2 : controllability Control logic Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 9
INDEX OF CONTENTS 3.2 : 3.3 : 3.1 : model Sensitivity Numerical verification analysis model PASSIVE STRATEGY 5 : 1 : 2 : Conclusions Motivation Experimental test and instability identification ACTIVE STRATEGY 4.1 : 4.2 : controllability Control logic Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 10
Phenomenal identification and misurability Gyro on steering axis GPS and IMU Acquisition system Accelerometer Based on NI hardware on handlebar Linear potentiometer on front suspension Linear potentiometer on rear suspension Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 11
Phenomenal identification and misurability Nardò Circuit Speed profile 220 200 Driver shakes his hips 180 160 speed [km/h] 140 120 100 80 F 60 40 0 20 40 60 80 100 120 140 160 180 time [s] Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 12
Phenomenal identification and misurability 150 Speed [km/h] how is possible to 100 evaluate an index of instability? 50 75 80 85 90 95 time [s] Channel: Gyro. Motorcycles Manufacturer 2 3 1 40 Gyro [°/s] 20 0 -20 Gyro on steering axis -40 75 80 85 90 95 time [s] Damping calculation through Hilbert trasform 90 100 110 Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 13
Phenomenal identification and misurability Is this problem generalized to whole VS crossover category? Motorcycles Manufacturer Damping factor 30 - Crossover 1 moto A - Crossover 2 moto B - Crossover 3 moto C 25 - Super sport 20 Damping factor [%] 15 10 5 drivers feedback: below 5% riding can be very dangerous. 0 40 60 80 100 120 140 160 180 200 220 240 speed [km/h] Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 14
Phenomenal identification and misurability Is this problem related to load conditions? Damping factor Motorcycles Manufacturer 25 No load Full load 20 Damping factor [%] 15 10 5 0 60 80 100 120 140 160 180 200 220 240 speed [km/h] Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 15
INDEX OF CONTENTS 3.2 : 3.3 : 3.1 : model Sensitivity Numerical verification analysis model PASSIVE STRATEGY 5 : 1 : 2 : Conclusions Motivation Experimental test ACTIVE STRATEGY 4.1 : 4.2 : controllability Control logic Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 16
NUMERICAL MODEL Non linear model with 12 degress of freedom • 6 d.o.f. for the main frame 1 • 1 d.o.f. for steering rotation 2 • 2 d.o.f. for structural compliances 1 3 2 2 3 1 Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 17
NUMERICAL MODEL Non linear model with 12 degress of freedom 6 • 1 d.o.f. for the swing arm rotation 4 5 • 1 d.o.f. for the front suspenion travel 5 4 • 1 d.o.f. for the rider rotation 6 6 5 4 Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 18
TIRE MODEL Features... ϕ Resulting forces: V • The longitudinal force Fx α • The lateral force Fy • The vertical load Fz • 1° order dynamic response for Fy force Fy Fx Fz Where: ϕ = roll angle α = Slip angle Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 19
TIRE MODEL Features... ϕ V Resulting moments: α • The overturning moment Mx • The aligning torque Mz • 1° order dynamic response for Mz torque Mx Mz Where: ϕ = roll angle α = Slip angle Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 20
INDEX OF CONTENTS 3.2 : 3.3 : 3.1 : model Sensitivity Numerical verification analysis model PASSIVE STRATEGY 5 : 2 : 1 : Conclusions Experimental test Motivation ACTIVE STRATEGY 4.1 : 4.2 : controllability Control logic Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 21
MODEL VERIFICATION R.S. Sharp and D. Limebeer in 2001 My model Straight running 60 wobble wobble 50 40 [Rad/s] 30 weave weave 20 [Rad/s] 10 0 -20 -15 -10 -5 0 5 Real part (1/s) Very good corrispondence can be evidenced. Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 22
MODEL VERIFICATION My model R.S. Sharp and D. Limebeer in 2001 Steady-state curve 60 wobble wobble 50 40 [Rad/s] 30 weave weave 20 10 [Rad/s] 0 -20 -15 -10 -5 0 5 Real part (1/s) Very good corrispondence can be evidenced. Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 23
MODEL VERIFICATION Vehicle used for experimental test has been implemeted in the numerical model Experimental Experimental • Numerical d • Numerical Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 24
INDEX OF CONTENTS 3.3 : 3.2 : 3.1 : Sensitivity model Numerical analysis verification model PASSIVE STRATEGY 5 : 1 : 2 : Conclusions Motivation Experimental test ACTIVE STRATEGY 4.1 : 4.2 : controllability Control logic Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 25
SENSITIVITY ANALYSIS weave Tire pressure 4.5 5% 10% 4 25% +P 3.5 Imaginary part (1/s) 3 2.5 2 wobble 5% 1.5 50% 1 9 +P 8.5 0.5 8 -0.8 -0.6 -0.4 -0.2 0 0.2 Real part (1/s) Imaginary part (1/s) 7.5 25% 10% 7 60 km/h 6.5 6 150 km/h Legend • +10% 50% 5.5 250 km/h • Neutral 5 • -10% 4.5 -3 -2.5 -2 -1.5 -1 -0.5 0 Real part (1/s) Strictly confidential. Any unauthorized usage is forbidden unless authorized by written 20/09/2016 26
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