Author: levi

Automoto

Self-Stabilizing Motorcycle

Mathematical Model

Motivation

A Self-stabilizing motorcycle will be able to go to locations that its four-wheeled counterpart would not.
First step towards a completely autonomous motorcycle.

The second order nonlinear differential equations of motion will be linearly approximated
Below is the transfer function derived from the dynamic of the system:

Objective

Build on current design
Add low-speed stability wheels
Integrate PID control theory for control of front wheel

Preliminary Design

Stabilizing wheels to make the motorcycle a three-wheeled vehicle at low speed.
Actuator to raise the wheels at medium speed
Angular sensor to measure lean of the motorcycle
PID control of stepper motor to control front wheel of motorcycle
Manipulation of front wheel will torque the motorcycle, leading to an elimination of the lean angle

Automoto

Self-Stabilizing Motorcycle

Mathematical Model

Motivation

A Self-stabilizing motorcycle will be able to go to locations that its four-wheeled counterpart would not.
First step towards a completely autonomous motorcycle.

The second order nonlinear differential equations of motion will be linearly approximated
Below is the transfer function derived from the dynamic of the system:

Objective

Build on current design
Add low-speed stability wheels
Integrate PID control theory for control of front wheel

Preliminary Design

Stabilizing wheels to make the motorcycle a three-wheeled vehicle at low speed.
Actuator to raise the wheels at medium speed
Angular sensor to measure lean of the motorcycle
PID control of stepper motor to control front wheel of motorcycle
Manipulation of front wheel will torque the motorcycle, leading to an elimination of the lean angle