{"title":"带有反馈延迟的转向控制平衡静止摩托车","authors":"Hanna Zsofia Horvath, D. Takács","doi":"10.59490/647daeb569d559aa327d02f6","DOIUrl":null,"url":null,"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.","PeriodicalId":141471,"journal":{"name":"The Evolving Scholar - BMD 2023, 5th Edition","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Balancing Standstill Motorcycles by Steering Control with Feedback Delay\",\"authors\":\"Hanna Zsofia Horvath, D. Takács\",\"doi\":\"10.59490/647daeb569d559aa327d02f6\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":141471,\"journal\":{\"name\":\"The Evolving Scholar - BMD 2023, 5th Edition\",\"volume\":\"10 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The Evolving Scholar - BMD 2023, 5th Edition\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.59490/647daeb569d559aa327d02f6\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The Evolving Scholar - BMD 2023, 5th Edition","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.59490/647daeb569d559aa327d02f6","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Balancing Standstill Motorcycles by Steering Control with Feedback Delay
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.
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