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Turning Dynamics and Equilibrium of Two-Wheeled Vehicles

Chen Chih-Keng ; Dao Thanh-Son ; Yang Chih-Kai

Journal of Mechanical Science and Technology, 2005, 19(1(s)), , pp.377-387 [Periódico revisado por pares]

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Título:
Turning Dynamics and Equilibrium of Two-Wheeled Vehicles
Autor: Chen Chih-Keng ; Dao Thanh-Son ; Yang Chih-Kai
Assuntos: 기계공학
É parte de: Journal of Mechanical Science and Technology, 2005, 19(1(s)), , pp.377-387
Notas: KISTI1.1003/JNL.JAKO200509408744362
G704-000058.2005.19.1(s).006
Descrição: The equations of motion of two-wheeled vehicles, e.g. bicycles or motorcycles, are developed by using Lagrange's equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given.
Editor: 대한기계학회
Idioma: Coreano

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