Modellazione Multi-Body Analitica e Sviluppo di Strategie di Controllo

The work discusses the development of a state-of-art multi-body motorcycle model with 12 dof (position and orientation of the frame, steer angle, suspensions travels, wheels rotations, engine rotation), the implemented control model and the issues related to the modeling of structural flexibilities with lumped stiffness. The model includes 5 types of suspensions (telescopic fork, telelever, duolever, swing arm, paralever) all provided with lumped stiffness, 8 additional lumped stiffness for modeling the continuous compliance of the vehicle, the flexibility of the transmission system, a passive rider model for simulating the interaction of the driver with the handlebar and the frame and a 3D road-tire model which takes into account both the carcass geometry and compliance. A trim optimizer for generic motion condition (speed and accelerations) is also included. Finally the model is used for the computation of the equivalent stiffness at the contact points, for the steering torque decomposition, for studying the effect of structural flexibilities on the weave and wobble stability, for the analysis of chatter, kick-back and rider's impedance on vehicle stability.