The effect of swingarm stiffness on motorcycle stability: Experimental measurements and numerical simulations

This paper focuses on the effect of swingarm deformability on motorcycle stability and in particular on the weave mode. Multibody models for the analysis of stability and handling of single track vehicles require a lumped element representation of the deformability of the critical structural elements of the vehicle. The twist axis method is used to identify lumped stiffness and damping elements able to represent bending and torsion deformability of the swingarm. Experimental tests and identification results dealing with two different swingarms are presented. The identified lumped stiffness and damping elements are implemented in a multibody code and some numerical stability analyses are carried out. Calculated results show that swingarm deformability has a small effect on the stability of super sport motorcycles, whereas the stability of the weave mode of enduro motorcycles is affected by swingarm deformability in a specific range of speeds

Design, modeling, and control of a two degree of freedom pendulum on an omnidirectional robot

In this thesis a dynamical model for a two degree of freedom inverted pendulum on an omnidirectional cart is developed. This system is actuated not only by the wheels on the cart but also by a quadrotor system used to stabilize the inverted pendulum. The dynamic model is designed to be modular allowing for the substitution of different actuators, electrics, and control algorithms without the need to re-derive the model. The parameters of this system are identified with procedures and background where necessary. This thesis presents two controller methods: PID and LQG controllers. The PID controllers were designed using both hand tuning and model based tuning. The LQG controllers were designed using a systematic procedure to initially choose good weights and adjust the weights based off of systems performance in order to get the most out of the system. All sets of controllers are presented along with a comparison of their behavior and plots comparing the real system to that of the non-linear simulation. The results of this design are discussed along with issues that shaped the design decisions, future work and systems improvements are discussed

Modelling and control of a variable-length flexible beam on inspection ground robot

Stabilising an inverted pendulum on a cart is a well-known control problem. This paper proposes the mechanical and control design for solving the oscillation problem of a variable-length flexible beam mounted on a mobile robot. The system under consideration is the robot PovRob, used at the European Organization for Nuclear Research (CERN) for visual and remote inspection tasks of particle accelerators. The flexible beam mounted on the robot houses cameras and sensors. The innovative aspect of the approach concerns the use of actuated masses mounted at the end of the rod, which induces an impulsive moment due to their inertia and angular acceleration. The modelling of the flexible rod has been suitably simplified in a lumped-parameter system, with dynamic parameters related to the rod’s flexibility. A linearisation of the dynamic model allows a linear-quadratic control to stabilise the system. Experimental results support the identification and the validation of the dynamic model, while simulation results evaluate the performances of the designed control law

Dynamics of aircraft antiskid braking systems

A computer study was performed to assess the accuracy of three brake pressure-torque mathematical models. The investigation utilized one main gear wheel, brake, and tire assembly of a McDonnell Douglas DC-9 series 10 airplane. The investigation indicates that the performance of aircraft antiskid braking systems is strongly influenced by tire characteristics, dynamic response of the antiskid control valve, and pressure-torque response of the brake. The computer study employed an average torque error criterion to assess the accuracy of the models. The results indicate that a variable nonlinear spring with hysteresis memory function models the pressure-torque response of the brake more accurately than currently used models

The Middeck Active Control Experiment (MACE)

The Middeck Active Control Experiment (MACE) is a NASA In-Step and Control Structure Interaction (CSI) Office funded Shuttle middeck experiment. The objective is to investigate the extent to which closed-loop behavior of flexible spacecraft in zero-gravity (0-g) can be predicted. This prediction becomes particularly difficult when dynamic behavior during ground testing exhibits extensive suspension and direct gravity coupling. On-orbit system identification and control reconfiguration is investigated to improve performance which would otherwise be limited due to errors in prediction. The program is presently in its preliminary design phase with launch expected in the summer of 1994. The MACE test article consists of three attitude control torque wheels, a two axis gimballing payload, inertial sensors and a flexible support structure. With the acquisition of a second payload, this will represent a multiple payload platform with significant structural flexibility. This paper presents on-going work in the areas of modelling and control of the MACE test article in the zero and one-gravity environments. Finite element models, which include suspension and gravity effects, and measurement models, derived from experimental data, are used as the basis for Linear Quadratic Gaussian controller designs. Finite element based controllers are analytically used to study the differences in closed-loop performance as the test article transitions between the 0-g and 1-g environments. Measurement based controllers are experimentally applied to the MACE test article in the 1-g environment and achieve over an order of magnitude improvement in payload pointing accuracy when disturbed by a broadband torque disturbance. The various aspects of the flight portion of the experiment are also discussed

Fuel Estimation Using Dynamic Response

New regulations governing satellites in geostationary orbit require satellites to transfer into a parking orbit as part of the decommissioning process. These regulations increase the demand for accurate fuel estimation techniques for satellites. This study estimates the change in fuel mass from the dynamic response of the Air Force Institute of Technology\u27s simulated satellite (SimSAT) to known control inputs. With an iterative process, the moment of inertia of SimSAT about the yaw axis was estimated by matching a model of SimSAT to the measured angular rates. A change in fuel mass was then estimated from the known relation between the change in moment of inertia to the change in fuel mass. Fuel masses of 1, 2, and 3 kilograms were estimated. The fuel estimation process developed in this study was able to estimate the fuel as 1.5664 ? 3.7157 kg, 2.8880 ? 3.8875 kg, and 3.9114 ? 3.4648 kg respectively. While the theory behind the estimation process is sound, the implementation still requires work