Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Turning Dynamics and Equilibrium of Two-Wheeled Vehicles

  • Chen Chih-Keng (Department of Mechanical and Automation Engineering, Da-Yeh University) ;
  • Dao Thanh-Son (Department of Mechanical and Automation Engineering, Da-Yeh University) ;
  • Yang Chih-Kai (Department of Mechanical and Automation Engineering, Da-Yeh University)
  • Published : 2005.01.01
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Abstract

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.

Keywords

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