An efficient Newton method for general motorcycle kinematics
| Autor: | Jay Hauser, Alessandro Saccon |
|---|---|
| Přispěvatelé: | Dynamics and Control |
| Rok vydání: | 2009 |
| Předmět: |
Engineering
business.industry Mechanical Engineering motorcycle Rotation matrix Kinematics single-track vehicles System dynamics Numerical integration Range (mathematics) symbols.namesake Nonlinear system Newton method kinematics Control theory Automotive Engineering symbols Pitch angle bicycle Safety Risk Reliability and Quality business Newton's method |
| Zdroj: | Vehicle System Dynamics, 47(2), 221-241. Taylor and Francis Ltd. |
| ISSN: | 1744-5159 0042-3114 |
| DOI: | 10.1080/00423110801966108 |
| Popis: | This paper presents a detailed study of the kinematics of single-track\nvehicles, with a special emphasis on motorcycles. We consider a general\nclass of tyre profiles as well as general vehicle geometry. We show\nthat the kinematic problem may be reduced to the problem of finding\nthe zero of a (single) nonlinear equation in the pitch angle which\nmay then be solved using a safeguarded Newton method, providing rapid\nconvergence. Special care, enabled by the systematic use of rotation\nmatrices, is taken to understand the range of pitch angles for which\nall quantities in the equation are well defined. The paper provides\na fast and numerically reliable algorithm that can be used within\nanalysis tools such as those involving numerical integration of system\ndynamics. |
| Databáze: | OpenAIRE |
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