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Bremslenkmomentoptimierte Kurvenbremsung von Motorrädern / Implementing BSTAM in a Motorcycle
Bremslenkmomentoptimierte Kurvenbremsung von Motorrädern / Implementing BSTAM in a Motorcycle
Contents
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Titelei/Inhaltsverzeichnis
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1–10
1 Introduction and Aims
1–10
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1.1 Motivation
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1.2 Working Hypothesis and the Brake Steer Torque Avoidance Mechanism
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1.3 Research Objectives
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1.4 Methodology & Structure of this Thesis
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11–70
2 The BST Chain of Effects and State of the Art Countermeasures
11–70
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2.1 Fundamentals of Motorcycle Dynamics
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2.1.1 Coordinate Systems and Basic Chassis Geometry
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2.1.2 Roll Equilibrium, Tire Scrub Radius & Riding Styles
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2.1.3 Influences on Steering Torque Demand
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2.1.4 Tire Road Interaction
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2.1.5 Steering Kinematics and Steering Angle
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2.1.6 Bi-Directional Coupling of Steer & Roll (Stabilization & Maneuvering)
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2.1.7 Tire Forces and Ideal Brake Force Distribution during Corner Braking
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2.1.8 Braking Stability
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2.2 The BST Chain of Effects
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2.2.1 The Main Chain of Effects
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2.2.2 Further Primary and Secondary Influences
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2.2.3 The Influence of Riding Style
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2.2.4 The Inverse Effect
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2.2.5 The Role of the Rider as a Controller
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2.3 State of the Art of BST-Countermeasures
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2.3.1 Avoiding BST-Critical Situations
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2.3.2 Training the Rider
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2.3.3 Influencing the Brake Force
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2.3.4 Influencing the Lever Arm(s)
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2.3.5 Influencing Wheel Load and Chassis Geometry Changes
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2.3.6 Influencing Secondary Effects on Steering Torque
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2.3.7 Influencing the Steering Torque and Movement
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2.3.8 Influencing the Rolling Moment and Movement
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2.3.9 Using Multi-Track Tilting Vehicles with Two Front Wheels
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2.4 Conclusions
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71–124
3 Analytic Considerations on the Kinematic Layout and Effectiveness of BSTAM
71–124
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3.1 Force Transmission Ratios of a Generic BSTAM and Standard Chassis
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3.2 Steering Torque Demand (STD) of a Standard Chassis
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3.3 Layout and STD of a BSTAM with Laterally Inclined Steering Axis (KPI)
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3.3.1 Remarks on the STD of a BSTAM with Parallel Steering Axis Offset
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3.3.2 Definition & STD of a BSTAM Optimized for Neutral Free Cornering
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3.3.3 The Influence of Pitch on the STD and BSTAM Layout
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3.3.4 STD of the BSTAM Realized in the Prototype Motorcycle
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3.3.5 Discussion of Neglected Influences on STD
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3.3.6 The Inertia Effect Created Through a BSTAM with KPI
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3.4 Layout and STD of a BSTAM with Parallel Steering Axis Offset
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3.4.1 Optimization Potential of a Parallel BSTAM for Neutral Free Cornering
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3.4.2 Considerations on Effectiveness of Multi-Lever Steering
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3.5 Conclusions on Optimal BSTAM Design
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3.6 Effectiveness Comparison of BSTAM and Standard Chassis
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3.6.1 Model Extensions & Overview of Simulated Experiments
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3.6.2 Maximal Braking on Constant Radius
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3.6.3 Partial Braking on Constant Radius with Different BFD
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3.6.4 Partial Front Braking under Special Conditions
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3.6.5 Conclusions on the Effectiveness of Different BFD
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3.6.6 Comparison of Simulated and Real BFD
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3.7 Hypotheses for Riding Experiments and Concluding Remarks
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3.7.1 Hypotheses on the Expected Performance of Standard Chassis and BSTAM in Riding Tests
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3.7.2 Concluding Remarks
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125–156
4 Implementing BSTAM in a Motorcycle
125–156
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4.1 General Considerations on Mechanical Setup
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4.1.1 Basic Kinematic Concepts of a BSTAM
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4.1.2 Combining BSTAM with Different Chassis Designs
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4.1.3 Bearing Trajectory and Actuation Concept
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4.1.4 Alternative BSTAM Actuation Concepts
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4.2 Mechanical Setup of the BSTAM Prototype
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4.2.1 Definition of Prototype Motorcycle and Choice of BSTAM Concept
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4.2.2 Excentricity Layout
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4.2.3 Simple Geometric Control Algorithm and Computation of Lever Arms
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4.2.4 Chassis Geometry Changes through BSTAM
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4.3 Overview of the BSTAM Prototype
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4.4 Measurement and Control Setup
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4.4.1 Overview of Main Components
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4.4.2 Accuracy of Relevant Measurements
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4.4.3 Data Sampling and Post Processing
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4.4.4 System Performance
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4.4.5 Extended Control Algorithms
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4.4.6 Relevance of Elevated Curve Detection
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4.5 Concluding Remarks
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157–205
5 Driving Tests
157–205
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5.1 Test Design
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5.1.1 General Requirements
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5.1.2 Test Track Definition
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5.1.3 Test Maneuver and Riding Task
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5.1.4 Test Setups and Maneuver Variations
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5.1.5 Comments on the Conduct of Tests
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5.2 Criteria for Evaluation
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5.2.1 Definition of Characteristic Values
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5.2.2 Exemplary Comparison of Characteristic Values in Corner Braking Experiments with Standard Chassis vs. BSTAM
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5.2.3 Arrangement and Display of Results
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5.3 Global Analysis of All Test Results
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5.3.1 Correlation Analysis of Characteristic Values
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5.3.2 Performance of Centered Steering Axis vs. BSTAM
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5.3.3 Interim Conclusions from Global Analysis
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5.4 Detailed Analysis of Individual Test Results
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5.4.1 Test Setup Nomenclature of Abbreviations
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5.4.2 ABS Braking with Standard Steering under Variation of Brake Application, Riding Style, and Steering Damper
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5.4.3 Partial Front Braking with Standard Steering vs. BSTAM
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5.5 Concluding Remarks
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206–220
6 Discussion and Outlook
206–220
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6.1 Results
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6.2 Transferability of Results
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6.3 Relevance of Results for other Systems and Stakeholders
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6.4 Outlook
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221–255
A Appendix
221–255
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A.1 Appendix to Chapter 1
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A.2 Appendix to Chapter 2
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A.3 Appendix to Chapter 3
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A.3.1 Equation Set for the Derivation of the Optimized Instantaneous Center of Steering Axis Inclination of OPT BSTAM
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A.3.2 Equation Set for the Computation of Tire Contact Forces with different Brake Force Distributions (BFD)
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A.3.3 Equation Set for the Computation of Measured Brake Force Distributions for the Entry in the BFD Diagram
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A.4 Appendix to Chapter 4
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A.4.1 Alternative Actuation Concepts
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A.4.2 Technical Data of the Prototype Motorcycle
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A.4.3 Considerations on Steering Torque Measurement
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A.4.4 Considerations on Roll Angle Measurement
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A.4.5 Definition of Filter Parameters
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A.5 Appendix to Chapter 5
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A.5.1 Results of Global Analysis in CDF-Plot Format
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A.5.2 Correlation Tables for ALL Experiments
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A.5.3 Correlation Tables for Exp. with Centered Steering Axis
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A.5.4 Correlation Tables for Exp. with BSTAM Active
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256–262
Bibliography
256–262
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263–264
Own Publications
263–264
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265–268
Student Research Work
265–268
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Bremslenkmomentoptimierte Kurvenbremsung von Motorrädern , page 125 - 156
Implementing BSTAM in a Motorcycle
Autoren
Gerd Schröter
DOI
doi.org/10.51202/9783186801128-125
ISBN print: 978-3-18-380112-1
ISBN online: 978-3-18-680112-8
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doi.org/10.51202/9783186801128-125
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