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Massaro, Matteo (2009) Modellazione Multi-Body Analitica e Sviluppo di Strategie di Controllo. [Tesi di dottorato]

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Abstract (inglese)

The work discusses the development of a state-of-art multi-body motorcycle model with 12
dof (position and orientation of the frame, steer angle, suspensions travels, wheels rotations,
engine rotation), the implemented control model and the issues related to the modeling of
structural flexibilities with lumped stiffness. The model includes 5 types of suspensions
(telescopic fork, telelever, duolever, swing arm, paralever) all provided with lumped stiffness, 8
additional lumped stiffness for modeling the continuous compliance of the vehicle, the flexibility
of the transmission system, a passive rider model for simulating the interaction of the driver with
the handlebar and the frame and a 3D road-tire model which takes into account both the carcass
geometry and compliance. A trim optimizer for generic motion condition (speed and
accelerations) is also included.
Finally the model is used for the computation of the equivalent stiffness at the contact points,
for the steering torque decomposition, for studying the effect of structural flexibilities on the
weave and wobble stability, for the analysis of chatter, kick-back and rider's impedance on
vehicle stability.

Abstract (italiano)

Il lavoro discute i tratti salienti dello sviluppo di un modello multi-body di motociclo allo
stato dell’arte a 12 gdl (posizione e orientazione del telaio, angolo di sterzo, corsa delle
sospensioni, rotazione delle ruote, rotazione del motore), il modello di controllo utilizzato, e le
problematiche relative alla modellazione delle flessibilità strutturali con parametri concentrati. Il
modello include 5 schemi sospensivi (forcella telescopica, telelever, duolever, forcellone
oscillante, paralever) tutti dotati di flessibilità concentrate, 8 rigidezze concentrate per la
modellazione della flessibilità distribuita del veicolo, una flessibilità per la modellazione della
cedevolezza del sistema di trasmissione, un modello di pilota passivo in grado di simulare
l’interazione del conducente con il manubrio e con il telaio, un modello di interazione
pneumatico-strada 3D che tiene in considerazione sia la geometria che la deformabilità della
carcassa. Il modello include anche un ottimizzatore dell’assetto in condizioni di moto (velocità e
accelerazione) generiche.
Infine il modello è utilizzato per il calcolo delle rigidezze equivalenti del veicolo ai punti di
contatto, per la decomposizione della coppia di sterzo, per lo studio dell’effetto delle flessibilità
strutturali sulla stabilità dei modi di vibrare weave e wobble, per l’analisi dei fenomeni noti
come chatter e kick-back e per l’analisi dell’effetto dell’impedenza del pilota sulla stabilità.

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Tipo di EPrint:Tesi di dottorato
Relatore:Lot, Roberto
Correlatore:Cossalter, Vittore
Dottorato (corsi e scuole):Ciclo 21 > Scuole per il 21simo ciclo > INGEGNERIA INDUSTRIALE > PROGETTAZIONE MECCANICA E INGEGNERIA MOTOCICLISTICA
Data di deposito della tesi:23 Gennaio 2009
Anno di Pubblicazione:2009
Parole chiave (italiano / inglese):modellazione, motociclo, pneumatico, controllo, flessibilità, rigidezze, chatter, kick-back, pilota virtuale
Settori scientifico-disciplinari MIUR:Area 09 - Ingegneria industriale e dell'informazione > ING-IND/13 Meccanica applicata alle macchine
Struttura di riferimento:Dipartimenti > pre 2012 - Dipartimento di Innovazione Meccanica e Gestionale
Codice ID:1384
Depositato il:23 Gen 2009
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Bibliografia

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