Motorcycle Wheelie Controller Trajectory Control
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Solution Overview
Problem
Conventional wheelie controllers for motorcycles often result in unnecessary reduction of acceleration and increased shock during wheelie termination due to simplistic engine output torque reduction strategies, failing to account for experienced riders' nuanced control methods involving pitch angle and angular speed.
Innovation Solution
A wheelie controller that computes and controls a target trajectory for pitch angle and angular speed, adjusting engine output and braking force to maintain optimal wheelie state, preventing excessive acceleration reduction and shock during wheelie termination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the controller reduces engine output torque to terminate the wheelie state, then the wheelie is suppressed, but the acceleration is reduced more than necessary and shock increases during front wheel contact
Solution Approach 1:
The controller dynamically adjusts engine output torque based on real-time pitch angle and pitch angular speed feedback. Instead of fixed torque reduction, the system continuously modifies torque output to maintain pitch angle within a target range, enabling adaptive control that preserves acceleration while suppressing wheelie. The control amount varies dynamically according to the difference between actual and target pitch angles.
Solution Approach 2:
The system implements closed-loop feedback control by detecting pitch angle and pitch angular speed, comparing them with target values, and adjusting engine output torque accordingly. The feedback mechanism calculates a control amount based on the deviation from target pitch angle, enabling precise torque modulation that terminates wheelie while minimizing acceleration loss and reducing shock during front wheel contact.
2Reliability
If the controller reduces engine output torque to terminate the wheelie state, then the wheelie is suppressed, but the shock during front wheel contact increases
Solution Approach 1:
The controller dynamically modulates engine torque output based on real-time pitch angle and pitch angular speed, enabling smooth termination of wheelie state. By continuously adjusting torque rather than applying fixed reduction, the system controls the rate of pitch angle change, allowing the front wheel to contact the ground gradually rather than abruptly, thereby reducing shock.
Solution Approach 2:
The system prepares for front wheel contact by monitoring pitch angle and pitch angular speed in advance. When approaching the contact state, the controller proactively adjusts torque to reduce pitch angular speed, cushioning the impact before it occurs. This preemptive torque reduction smooths the transition and minimizes shock during contact.
3Device complexity
If the controller uses simple torque reduction to terminate wheelie, then the control is simple, but the pitch angle control precision is insufficient
Solution Approach 1:
The system employs feedback control by detecting pitch angle and pitch angular speed, comparing them with target values, and adjusting engine torque based on the deviation. This closed-loop approach automatically compensates for disturbances and maintains precise pitch angle control without requiring complex mechanical structures, achieving high precision through intelligent control algorithms.
Solution Approach 2:
The controller changes engine output torque parameter dynamically based on pitch angle deviation from target value. By modulating torque as a control parameter in response to pitch angle feedback, the system achieves precise pitch angle control. The control amount is calculated as a function of pitch angle error, enabling accurate trajectory tracking.
Data Source
AI summary
A wheelie controller and a control method thereof or preventing a reduction of acceleration that is more than necessary and reducing a shock during a contact of a front wheel with the ground when a wheelie state is terminated. The wheelie controller for controlling a wheelie of a vehicle body computes a target trajectory, which is a target of a parameter and is used to control the wheelie state of the vehicle body, in accordance with the parameter that is related to pitch of the vehicle body and controls an increase/reduction of the pitch of the vehicle body so as to bring the parameter close to the target trajectory.