Author: levi

Automoto

Self-Stabilizing Motorcycle

Students: Gregory Berkeley, Levi Lentz
Advisors: Dr. Kee Moon, Dr. Matthew Graham, Mr. George Mansfield
Sponsor: Dr. Kee Moon, San Diego State University
Contact: GregoryBerkeley@yahoo.com, LeviLentz@gmail.com

Motivation

Study the behavior of motorcycle dynamics and achieve a method for stability for unmanned vehicle control.
Present 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.
Reprogram microcontrollers for better response of control actuators.

Exploded View of Prototype

Mathematical Model

Expression of motorcycle roll angle and applied torque is
Analysis shows that the motorcycle will stabilize at a velocity with zero roll and zero torque (velocity at which stabilizing wheels will ascend).
A second order model was derived to represent the transfer function of the vehicle’s roll angle to the applied torque traveling at 5 m/s.
The root locus of the model shows that stability can be achieved for gain values greater than 7.57.
Our closed loop transfer function is

prototype design

Stepper controlled front wheel provides corrective torque to achieve 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.

Root Locus Plot of P(s)

Side and Rear View Dimensions

CONTROL SYSTEM DIAGRAM

Feedback Signal

Actuating Signal