This paper proposes to enhance the first R.S. Sharp’s motorcycle mathematical model, in order to take into account the longitudinal, the wheels dynamics and the rear wheel traction. The added equations of motion are obtained by lagrangian formulation. To model, also the road surface, two additional equations describing the longitudinal slip and the longitudinal forces dynamic are included. The model is able to describe the coupling of the in-plane (longitudinal) and out-ofplane (lateral) dynamics and represents a suitable computational tool for designing preventive motorcycle active safety systems and controller synthesis applications. Simulation results and discussions are given in order to illustrate the effectiveness of the proposed mathematical tool
A motorcycle enhanced model for active safety devices in intelligent transport systems / Bonci, Andrea; DE AMICIS, Riccardo; Longhi, Sauro; Lorenzoni, Emanuele; Scala, Giuseppe A.. - ELETTRONICO. - (2016), pp. 1-6. (Intervento presentato al convegno 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016 tenutosi a The University of Auckland, nzl nel 2016) [10.1109/MESA.2016.7587177].