Thomas Schmitt
Vorarlberg Univ. Of Appl. Sc., Austria
Dirk Zimmer
ETH Zürich, Switzerland
François E. Cellier
ETH Zürich, Switzerland
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http://dx.doi.org/10.3384/ecp09430030Ingår i: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009
Linköping Electronic Conference Proceedings 43:3, s. 19-28
Publicerad: 2009-12-29
ISBN: 978-91-7393-513-5
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
This paper introduces a new and freely available Modelica library for the purpose of simulation; analysis and control of bicycles and motorcycles (single-track vehicles). The library is called MotorcycleLib and focuses on the modeling of virtual riders based on automatic controller design.
For the single-track vehicles; several models of different complexity have been developed. To validate these models and their driving performance; virtual riders are provided. The main task of a virtual rider is to track either a roll angle profile or a pre-defined trajectory using path-preview information. Both methods are implemented and several test tracks are also included in the library.
virtual rider; automatic controller design; state-space controller; bicycle and motorcycle modeling; pole placement
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