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rear suspension
• Introduction
• Motorcycle model
• Results
• Conclusions
2 /18
Introduction
5 /18
Monoshock rear suspension
6 /18
Variable geometry rear suspension model
Fb
X
p13
!
Z
spring/damper
l = l02 − da2
unit
∂l l0 ∂l0
=
Fa
Fa
∂θ l ∂θ
Fs
p21
" ∂l da
p21 =−
Fs p13 to p21 is l0;
Fb
p13 to p"21 is l ∂da l
da
actuation 7 /18
Variable geometry rear suspension
8 /18
Spring/damper unit length and leverage ratio
0.3005
0.3
0.2995
0.299
−0.03 −0.02 −0.01 0 0.01 0.02 0.03
Leverage ratio dl /dθ
0.316
0.3155
0.315
0.3145
0.314
−0.03 −0.02 −0.01 0 0.01 0.02 0.03
Actuator displacement da (m)
9 /18
Equivalent moment
Equivalent moment M(θ, da, θ̇, d˙a) about the swing arm pivot
is $ %
∂l ∂l ˙ ∂l
M = f l, θ̇ + da ,
∂θ ∂da ∂θ
10 /18
Control design – Nyquist diagram
• da → ψ̇
1 +
• 75 m/s speed
Imaginary axis
0.5
0 • 15 deg roll
−0.5
• weave 27.5 rad/s
−1
11 /18
Control design – frequency response
−5
Magnitude (dB)
−10
da = K (s) sψ −15
−20
−25
kcs −30
270
K (s) =
Phase (deg)
225
s2 + 2ζ ωs + ω2 180
135
kc = −5, ζ = 0.5, ω = 10 90
10
0 1
10
2
10
Frequency (rad/sec)
12 /18
Displacement controller with nonlinear saturation
kd
+ −
kv
2ζ ω
− − −
ψ̇ + va + d̃a da
d
& &
kc dt + −
+
da0
ω2
−
13 /18
Simulation results – 75 m/s speed, 15 deg lean
15.3 2
uncontrolled uncontrolled
controlled 1.5 controlled
15.2
1
Steer angle ( )
◦
Roll angle (◦ )
0.5
15.1
0
15 −0.5
−1
14.9
−1.5
−2
14.8
−2.5
14.7 −3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (s) Time (s)
30
uncontrolled
25 controlled
20
15
Yaw rate ( /s)
10
◦
−5
−10
−15
−20
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (s) 15 /18
Actuator displacement, velocity
0.03
da
va
0.02
0.01
−0.01
−0.02
−0.03
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (s) 16 /18
Simulation results – 75 m/s speed, 15 deg lean
Time (s)
17 /18
Conclusions
introduced;
18 /18