Rear Wheel Slip Control for Stable Motorcycle Cornering
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Solution Overview
Problem
Straddle-type vehicles, such as motorcycles, experience unstable behavior, particularly with rear wheel oscillation during slipping, which existing stabilization techniques fail to adequately address.
Innovation Solution
A controller that determines the stability of the rear wheel based on slip angle and lean angle, executing first stabilization control by reducing the allowable slip amount when the lean angle exceeds a threshold, thereby stabilizing the rear wheel during unstable conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If existing stabilization techniques are used to control rear wheel slip, then some stabilization effect is achieved, but the rear wheel behavior remains unstable during curved road travel
Solution Approach 1:
The patent applies dynamics by making the allowable slip amount adjustable based on vehicle operating conditions. The control device dynamically changes the allowable slip amount according to lean angle and deceleration conditions, transitioning between a first allowable slip amount for curved roads and a second allowable slip amount for other conditions. This dynamic adaptation resolves the contradiction by enabling the system to maintain stability across varying road conditions rather than using a fixed control parameter.
Solution Approach 2:
The patent implements parameter changes by modifying the allowable slip amount based on lean angle and deceleration parameters. When the lean angle exceeds a threshold and deceleration is below a threshold, the system switches to the first allowable slip amount; otherwise, it uses the second allowable slip amount. This parameter-based control strategy enables the system to adapt to curved road conditions while maintaining overall rear wheel stability.
2Stability of the object's composition
If the allowable slip amount is reduced to stabilize the rear wheel, then rear wheel oscillation is suppressed, but brake control precision requirements increase
Solution Approach 1:
The patent applies partial action by selectively reducing the allowable slip amount only under specific conditions (high lean angle and low deceleration) rather than continuously. By applying stabilization control only when necessary, the system achieves rear wheel stability without requiring high-precision brake control during all operating conditions, thus resolving the contradiction between stability and control precision requirements.
Data Source
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AI summary
The present invention obtains a controller and a control method capable of appropriately stabilizing behavior of a rear wheel of a straddle-type vehicle. In the controller and the control method according to the present invention, a slip amount of a wheel of a straddle-type vehicle (100) is controlled to be equal to or smaller than an allowable slip amount. In the case where it is determined that behavior of a rear wheel (4) of the straddle-type vehicle (100) is in an unstable state on the basis of a slip angle (θ1) of the straddle-type vehicle (100), stabilization control is executed to reduce the allowable slip amount of the rear wheel (4) to be smaller than the allowable slip amount of the rear wheel (4) at the time when it is determined that the behavior of the rear wheel (4) is in the stable state.