Abstract
Recently, many studies have presented on realizing novel mobility technologies with consideration for aging society. The aim of these studies is to establish autonomous driving technology (ADT). The objects of ADT are mainly four-wheel motor vehicles. On the other hand, ADT for motorcycles has not been fully addressed yet. Motorcycles have straight-line stability in the state of high-speed driving. However, their stability tends to diminish when being driven at extremely low speed. This study addresses how a motorcycle should be stabilized under low-speed driving. From the viewpoint of actual use, including high-speed driving, major structural changes should be avoided. In order to obtain a linearized motorcycle model without skidding, a model based on SPACAR, a finite element method computation program, is introduced. Furthermore, velocity-dependent gain-scheduling control is applied to utilize the feedback control gains obtained by the linearized model with respect to velocity. Following the deceleration simulation success in the authors’ previous paper, we mainly verify the experimental investigation of the above model and control system design. The gain-scheduling method is improved from that in the previous simulation study. The experimental responses show stable driving at 1.5 km/h.
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig1_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig2_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig3_HTML.jpg)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig4_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig5_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig6_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig7_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig8_HTML.png)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs42835-023-01410-5/MediaObjects/42835_2023_1410_Fig9_HTML.png)
Similar content being viewed by others
References
Son J-C, Lim D-K (2022) Novel strategy of deriving torque and speed curve of an electric bicycle traction motor using initial step analysis. J Electr Eng Technol 17:1667–1678
Sharp RS (1971) The stability and control of motorcycles. J Mech Eng Sci 13(1):75–93
Ouchi S, Kodani N, Hirata H, Takahashi K, Chida Y (2015) Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator. Trans Jpn Soc Mech Eng 81(832):15–00207 ((in Japanese))
Satoh H, Namerikawa T (2006) Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle. Trans Jpn Soc Mech Eng Ser C 72(719):2130–2136 ((in Japanese))
Tsuchiya M, Tsujii E, Terayama T, Tsurumi N (2018) Study on self-standing motorcycle control mechanism. Yamaha Motor Tech Rev 54:114–120 ((in Japanese))
Hara S, Nakagami K, Miyata K, Tsuchiya M, Tsujii E (2020) Robust control system design for self-standable motorcycle. J Adv Mech Des Syst Manuf 14(3):0030
Nakagami K, Hara S, Tsuchiya M, Kimura T and Tsurumi N (2020) Study on autonomous deceleration driving control for motorcycles. In Proceedings of the 21st SICE system integration division conference, pp 218–222 (in Japanese).
Zhu S (2010) Model-based design of a front-steering assist control system for motorcycles. Ph.D. Dissertation, Keio University
Hara S, Tsuchiya M, Kimura T, Akai N (2022) Low-speed control experiment of motorcycles using SPACAR model. IEEJ Trans Electr Electron Eng 17(4):617–619
Hara S, Tsuchiya M, Kimura T and Akai N (2022) Experimental study on low-speed control for motorcycles using SPACAR model and gain-scheduling control. In Proceedings of the international council on electrical engineering conference 2022, Seoul, Korea, pp 1001–1009
Saguchi T, Yoshida K, Takahashi M (2007) Stable running control of autonomous bicycle robot. Trans Jpn Soc Mech Eng Ser C 73(731):2036–2041 ((in Japanese))
Niki H, Murakami T (2005) An approach to self-stabilization of bicycle motion by handle controller. IEEJ Trans Ind Appl 125(8):779–785 ((in Japanese))
Meijaard JP, Papadopoulos JM, Ruina A, Schwab AL (2007) Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review. Proc R Soc A Math Phys Eng Sci 463(2084):1955–1982
Schiehlen W (1990) Multibody systems handbook. Springer, Heidelberg
Aarts RGKM, Meijaard JP and Jonker JP (2011) SPACAR User Manual 2011 Edition. University of Twente, Report No. WA-1299.
Takayanagi N, Sudo M, Yamashiro Y, Niki Y, Kim M, Kim H (2015) Relationship between walking speed in daily living and walking parameters in community-dwelling Japanese females. Jpn J Physiol Anthropol 20(4):197–205 ((in Japanese))
Acknowledgements
The authors thank Mr. Koki Nakagami from Nagoya University for his excellent research work. Moreover, we are grateful to Mr. Akitoshi Suzuki and Mr. Daisuke Koudu from Yamaha Motor Co., Ltd., for their help in the experimental investigation.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Hara, S., Tsuchiya, M., Kimura, T. et al. Experimental Study on Low-Speed Control for Motorcycles Using SPACAR Model and Gain-Scheduling Control. J. Electr. Eng. Technol. 18, 2221–2230 (2023). https://doi.org/10.1007/s42835-023-01410-5
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s42835-023-01410-5