This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Free Multibody Cosimulation Based Prototyping of Motorcycle Rider Assistance Systems
ISSN: 0148-7191, e-ISSN: 2688-3627
Published November 30, 2020 by SAE International in United States
This content contains downloadable datasetsAnnotation ability available
Due to the increasing computational power, significant progress has been made over the past decades when it comes to CAD, multibody and simulation software. The application of this software allows to develop products from scratch, or to investigate the static and dynamic behavior of multibody models with remarkable precision. In order to keep the development costs low for highly sophisticated products, more precisely motorcycle rider assistance systems, it is necessary to focus extensively on the virtual prototyping using different software tools. In general, the interconnection of different tools is rather difficult, especially when considering the coupling of a detailed multibody model with a simulation software like MATLAB Simulink. The aim of this paper is to demonstrate the performance of a motorcycle rider assistance algorithm using a cosimulation approach between the free multibody software called FreeDyn and Simulink based on a sophisticated multibody motorcycle model. This multibody model is coupled with Simulink and a suitable motorcycle rider assistance system is developed based on a systematic control approach, ensuring that the motorcycle performs a specified maneuver. For this rider assistance algorithm two different feedback approaches are employed, making use of the frozen-time method and a time-variant approach. Due to the high complexity of the multibody model, the rider design is based on a reduced order nonlinear motorcycle model, that captures the most important dynamics of the sophisticated model. The final cosimulation provides a highly satisfying performance, demonstrating the successful application for a sophisticated multibody model. Compared to commercially available software products for motorcycle dynamics, FreeDyn is a free alternative software tool, which is not restricted to developing motorcycle models, as it is suitable for various multibody applications. Hence, this cosimulation approach creates new opportunities for cost-effective virtual prototyping concepts.
CitationHaas, S., Dück, M., Winkler, A., Grabmair, G. et al., "Free Multibody Cosimulation Based Prototyping of Motorcycle Rider Assistance Systems," SAE Technical Paper 2020-32-2306, 2020.
Data Sets - Support Documents
|[Unnamed Dataset 1]|
- Lich, T., Block, W., Prashanth, S., and Heiler, B. , “Motorcycle Stability Control - The Next Generation of Motorcycle Safety and Riding Dynamics,” SAE Int. J. Engines 9(1):491-498, 2015.
- Corno, M., Panzani, G., and Savaresi, S. , “Single-Track Vehicle Dynamics Control: State of the Art and Perspective,” IEEE/ASME Transactions on Mechatronics 20(4):1521-1532, 2015, doi:10.1109/TMECH.2014.2382717.
- Sharp, R., and Limebeer, D. , “A Motorcycle Model for Stability and Control Analysis,” Multibody System Dynamics 6:123-142, 2001, doi:10.1023/A:1017508214101.
- Sharp, R., Evangelou, S., and Limebeer, D. , “Advances in the Modelling of Motorcycle Dynamics,” Multibody System Dynamics 12:251-283, 2004, doi:10.1023/B:MUBO.0000049195.60868.a2.
- Cossalter, V., and Lot, R. , “A Motorcycle Multi-body Model for Real Time Simulations Based on the Natural Coordinates Approach,” Vehicle System Dynamics 37(6):423-447, 2002, doi:10.1076/vesd.37.6.423.3523.
- Giner, D. , “Symbolic-Numeric Tools for the Analysis of Motorcycle Dynamics. Development of a Virtual Rider for Motorcycles Based on Model Predictive Control,” Ph.D. thesis, Universad Miguel Hernandez, Elche, Spain, 2016.
- Saccon, A., Hauser, J., and Beghi, A. , “Trajectory Exploration of a Rigid Motorcycle Model,” IEEE Transactions on Control Systems Technology 20(2):424-437, 2012, doi:10.1109/TCST.2011.2116788.
- Negrut, D., Ottarson, G., Rampalli, R., and Sajdak, A. , “On an Implementation of the Hilber-Hughes-Taylor Method in the Context of Index 3 Differential-Algebraic Equations of Multibody Dynamics,” ASME Journal of Computational and Nonlinear Dynamics 2(1):73-85, 2007, doi:10.1115/1.2389231.
- Winkler, A. , “Motorcycle Dynamics Modelling: Multibody and Control-Oriented Models,” Internal Report, University of Applied Sciences Upper Austria, 2019.
- Winkler, A. , Motorcycle Dynamics Library (University of Applied Sciences Upper Austria, 2019).
- Dück, M. , “Control-Relevant Aspects of a Motorcycle,” Master’s thesis, University of Applied Sciences Upper Austria, Wels, Austria, 2019.
- Pacejka, H.B. , Tire and Vehicle Dynamics Third Edition (Elsevier, 2012), doi:10.1016/B978-0-08-097016-5.00001-2.
- Haas, S. , “Development of a Rider Model for Agile Maneuvering of a Multibody Motorcycle Based on a Systematic Control Approach,” Master’s thesis, University of Applied Sciences Upper Austria, Wels, Austria, 2019.
- Getz, N.H. , “Dynamic Inversion of Nonlinear Maps with Applications to Nonlinear Control and Robotics,” PhD thesis, University of California, Berkeley, 1995.
- “MFeval Documentation,” https://mfeval.wordpress.com/, accessed Apr. 10, 2019.
- Knorrenschild, M. , Numerische Mathematik Second Edition (Hanser Verlag, 2005), ISBN:978-3-446-43233-8.
- Freund, E. , Zeitvariable Mehrgrößensysteme (Springer Berlin Heidelberg: Berlin, Heidelberg, 1971), doi:10.1007/978-3-642-48185-7.
- Salisbury, I.G., Limebeer, D.J.N., and Massaro, M. , “The Unification of Acceleration Envelope and Driveability Concepts,” in Rosenberger, M., Plöchl, M., Six, K., and Edelmann, J. (eds.), The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (CRC Press, 2016), 563-572, ISBN:978-1-138-02885-2.
- Kamen, E., Khargonekar, P., and Tannenbaum, A. , “Control of Slowly-Varying Linear Systems,” IEEE Transactions on Automatic Control 34(12):1283-1285, 1989, doi:10.1109/9.40776.
- Ilchmann, A., Owens, D., and Prätzel-Wolters, D. , “Sufficient Conditions for Stability of Linear Time-Varying Systems,” Systems & Control Letters 9(2):157-163, 1987, doi:10.1016/0167-6911(87)90022-3.
- Desoer, C. , “Slowly Varying System ẋ = A(t)x,” IEEE Transactions on Automatic Control 14(6):780-781, 1969, doi:10.1109/TAC.1969.1099336.
- Friedland, B., Richman, J., and Williams, D.E. , “On the Adiabatic Approximation for Design of Control Laws for Linear, Time-Varying Systems,” in 1986 American Control Conference, Seattle, WA, 1986, 623-627, IEEE, doi:10.23919/ACC.1986.4789012.
- Valàšek, M., and Olgac, N. , “Efficient Eigenvalue Assignments for General Linear MIMO Systems,” Automatica 31(11):1605-1617, 1995, doi:10.1016/0005-1098(95)00091-A.
- Cossalter, V. , Motorcycle Dynamics Second Edition (LULU, 2006), ISBN:978-1430308614.