Development of Co-simulation Environment with ADAMS/Simulink to Study Maneuvers of a Scooter

To properly assess the dynamic behavior of a two-wheeled vehicle with simulation, it is necessary to stabilize lateral movement by replicating the control actions of a human driver during each integration step. The aim of this work is to develop an environment of co-simulation that consists of a multi-body scooter in interaction with the road using ADAMS and a virtual PID controller implemented in Simulink to mimic the actions of the driver. The driver interacts with the scooter by means of a steering torque applied to the handlebar. The idea is to develop a scheme of a closed loop control capable of generating a steering torque based on the error between the measured scooter-driver system roll angle and the reference roll angle. Simulation examples are presented in this paper to evaluate the performance of the virtual driver developed during a « U »turn maneuver and a lane change maneuver.