Investigating two-wheeler balance using experimental bicycles and - - PowerPoint PPT Presentation

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Investigating two-wheeler balance using experimental bicycles and - - PowerPoint PPT Presentation

Sep 18, 2022 1.48k likes •1.76k views

Investigating two-wheeler balance using experimental bicycles and simulators George Dialynas 1 , Oliver Lee 1 , Riender Happee 1 , Arend Schwab 1 Francesco Celiberti 2 , Marco Grottoli 2 TU Delft 1 , Netherlands & Siemens 2 , Leuven, Belgium

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George Dialynas1, Oliver Lee1, Riender Happee1, Arend Schwab1 Francesco Celiberti2, Marco Grottoli2

TU Delft1, Netherlands & Siemens2, Leuven, Belgium IJDS Symposium, Harlem, Netherlands, 15/06/2017

Investigating two-wheeler balance using experimental bicycles and simulators

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! Overview of the project ! Aim of the project ! Experimental setups ! Conclusion ! Impact to society Content

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! Overview of the project ! Aim of the project ! Experimental setups ! Conclusion ! Impact to society Content

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Overview of the project

Working packages

WP1 (Rider training)

  • New or optimization of existing training techniques

Investigate impact of learning effect on given riding tasks & possibility of transferring skills from different activities into riding

WP2 (Active safety systems)

  • Automatic braking
  • Steering assist

Investigate rider powered two wheeler interaction (ptw)

WP3 (Protective equipment)

  • Helmets & ppe’s

Injury/ impact biomechanics

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! Overview of the project ! Aim of the project ! Experimental setups ! Conclusion ! Impact to society Content

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  • 1. Construct motorcycle & bike simulator :
  • Realistic visual environment & motion (if needed)
  • Realistic steering feel
  • Monitor states and rider control input

2. Instrumented bicycles

  • Monitor states & rider control input
  • Perturbation mechanisms
  • 3. Perform rider in the loop testing
  • Analyze human control input & machine states
  • Analyze human motion ‘’Biomechanics’’

Aim of WP2

Investigate ptw interaction

J.Moore,Human control of a bicycle, Davis Mechanical - Aerospace Engineering Univ.California

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Controller Plant

4 2

Vestibular loop Visual loop

3 1

Proprioceptive loop

  • 1. Roll accelertion 2. Steering angle 3.Roll angle 4. Steering torque

Aim of WP2

Theoretical model

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Analysis of rider behavior: " 1. Assuming that the rider is acting as an optimizer what is the rider

  • ptimizing to balance when a lateral perturbation occurs? Andy Ruina

“Expressed from optimal control theory Q,R weight factors”

" 2.Which of the sensory system feedback and in what degree is used in

  • rder to obtain state information?

“Expressed from the feedback gains “Kφp, Kφd, Kδi, Kδd”

" 3.What is the response of the neuromuscular system in terms of

“stiffness” when a torque perturbation occurs? ”Expressed from damping coefficient”

Aim of WP2

Research questions

AL Schwab et. al . Journal of Multi-body Dynamics, IMech, August 2013

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! Overview of the project ! Aim of the project ! Experimental setups ! Conclusion ! Impact to society Content

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1st Fixed base bicycle simulator

Objective

“Perform rider control identification experiments in a virtual environment”

  • Direct measurement of steering torque
  • Realistic steering feedback
  • Real time computation of dynamic equations
  • Adjustable fitting for every rider
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1st Fixed base bicycle simulator

Video

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2nd Steer by wire bike

Objective

‘’Perform rider control identification experiments in real conditions while exciting bicycle rider system’’

State and rider input:

Roll rate – IMU Forward speed – GTS Pedal cadence - GTS Steer torque – RTS Steer & fork rate – AME

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T-sensor Range ± 25 Nm Resolution ±4 μNm Abs.Encoder Resolution±0,043 deg/rev Motor+G.head Stall torque 7,5 Nm Max.torque 11,3Nm

2nd Steer by wire bike

Headtube assembly

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14 AL Schwab et. al . Journal of Multi-body Dynamics, IMech, August 2013

2nd Steer by wire bike

Perturbation mechanisms

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3rd Bicycle mock up

Objective

‘’Identification of riders mechanical impedance and resonance’’ 13 Wheatstone bridges

  • 3 bridges per handlebar side
  • 2 bridges per footpegs
  • 3 bridges at seat posttube

2 IMU

  • 1 Chest of the rider
  • 1 Hexapod

*Geometry of the frame:

  • Stack to handlebars=78 cm
  • Reach to handlebars=68 cm

* The shape of the impedance curve is

influence mainly by rider posture and G loading

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3rd Bicycle mock up

Video

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4th Motorcycle simulator

Objective

“Perform rider control identification experiments in a virtual environment” RIDER

Haptic handlebar

Multibody Model Cueing Algorithm Visualization Coordinates Haptic Handlebar

Motion Platform Oculus Rift DK2

RIDER

Motorcycle Simulator structure

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4th Motorcycle simulator

Simulator structure

Design is divided in two different setups:

  • Static simulator

The scooter is fixed to a static plate on which also the steering motor is fixed. This setup allows easier system settings working from the ground.

  • Dynamic simulator

In the dynamic configuration the static plate is lifted and mounted on top of the motion base. For this configuration an additional lateral support will sustain lateral movement of the scooter.

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4th Motorcycle simulator

Sensors

Different sensors have been mounted on the scooter in order to read the input given by the simulator rider

Motorcycle Sensors

Multibody Model

  • Front brake encoder
  • Rear brake encoder
  • Throttle encoder
  • Steering encoder
  • Torque sensor
  • IMU
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4th Motorcycle simulator

Description of the model

  • High-fidelity model in LMS Virtual.Lab Motion
  • Model realized in collaboration with the manufacturer
  • Rigid bodies connected with ideal joints
  • Nonlinear stiffness and damping curves
  • Estimated tires

parameters

  • 17 bodies
  • 18 joints

" 13 DOF

rear wheel swingarm upper suspension lower suspension TRA SPH UNI REV subframe arm subframe REV REV REV upper fork lower fork front wheel REV REV TRA

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4th Motorcycle simulator

Video

Engineers responsible for the project are : marco.grottoli@siemens.com francesco.celiberti@siemens.com

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! Overview of the project ! Aim of the project ! Experimental setups ! Conclusion ! Impact to society Content

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Construction of Hardware

  • Fixed base bicycle simulator
  • 1. *Rider can balance and manoeuvre ✓

✓ ✓ ✓

  • 2. Compare rider response between different situations with data obtained

…….from naturalistic studies, or instrumented bicycle studies

  • Steer by wire bicycle
  • 1. Complete testing of peripherals ✓
  • 2. Evaluate system performance (Siltesting)
  • Bicycle mock up
  • 1. Testing & calibrations of sensors completed✓
  • 2. Evaluate excitation magnitudes & frequencies based on rider comfort
  • Motorcycle simulator
  • Validate acceleration/deceleration & braking behaviour✓
  • Evaluating different motion cueing algorithms

Conclusion

Results & future work

*Screen vs oculus showed that with oculus the perception of roll is two strong participants had the behaviour to roll off the fixed bike frame

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! Overview of the project ! Aim of the project ! Experimental setups ! Conclusion ! Impact to society Content

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Safety aspects

Final goal

Construction of Hardware

# What the impact of this technology to our society?

  • Improving training techniques
  • Creating active safety systems ”steering assistance”
  • Improving human machine collaboration “Handling qualities”

“Contributing to Safer Motorcycle Mobility”

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Thank you for your attention!!!