|Thesis abstract: |
This thesis deals with the design of semi-active and active stability control systems for two-wheeled vehicles. The thesis is divided into three parts: the first part is devoted to introduce two-wheeled vehicles dynamics, together with the actuators and sensors commonly installed on production motorcycles; the second part is focused on the design of algorithms to control out-of-plane dynamics in order to enhance the stability of the vehicle; finally, the third part deals with an active electronic stability control system for two-wheeled vehicles. The thesis will show how the longitudinal, vertical and lateral dynamics are coupled in two-wheeled vehicles and how this coupling can be exploited by a control algorithm to improve stability. The control design problems considered in the second part correspond to two different actuators. Namely: 1. stability control systems based on a semi-active steering damper, in particular based on an electro-hydraulic steering damper; 2. stability control systems based on semi-active suspensions, in particular based on Magneto-Rheological suspensions; In the third part, brake and drive-by-wire systems will be used to actively control the stability of the motorcycle while cornering, in an Electronic Stability Control like application.