AUTOMOTO

Motorcycle Controls and StabilizationPresented by

Gregory Berkeley & Levi Lentz

Poster Presentation

Outline

1. Motivation and Objectives

2. Prototype Design

3. Mechanical Design: Stability Wheels

4. Mathematical Model

5. Control System Diagram

Motivation & ObjectivesMotivation

◦ Study the behavior of motorcycle dynamics and achieve a method for stability for unmanned vehicles.

◦ Present a sophisticated approach of feedback control theory to further develop an understanding of an autonomous motorcycle.

Objectives◦ Develop current design to perform at desirable stability

criterion.

◦ Add low-speed stability wheels to help prevent rolling instabilities (more later).

◦ Reprogram microcontrollers for better response of control actuators.

Prototype DesignStepper controlled front wheel

provides corrective torque to maintain a stable position.

Inertial sensor measures lean angles and feedback to microcontrollers.

Low center of gravity vehicle provides less resistance to corrective torques.

Actuated stabilizing wheels to help prevent roll disturbances at low speeds.

Mechanical Design: Low Speed Stabilizing Wheels

Mathematical Model

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Critical VelocityVelocity where you can ride a

bike with no hands.

Root Locus at V = 5 m/s

m/s 02.2cot bgVc

Control System Diagram

Inclination SensorArduIMU V2

Step Motor DriverAA MBC05641

1700 oz-in Step MotorAA 34Y

Feedback EncoderAA 34Y

Steering MicrocontrollerArduino Uno

Speed ControllerSPD-36500B

700W DC MotorJX My1070

Feedback TachometerJX My1070

Training WheelsManufactured

Ascend/DescendTraining Wheels

Drive MicrocontrollerArduino Uno

Motorcycle Dynamics

Feedback Signal

Actuating Signal

Thank You