Advanced Motorcycle Handling and Dynamics. Volume III: Appendix A, Description of Computer Programs

摘要

The report provides information for a series of computer programs developed for advanced motorcycle handling and dynamics. The programs are all based on a linear model with four motion degrees of freedom; lateral displacement, yaw, roll, and steer angle. They include two programs (NORIDER and NORIDE2) which compute the eigenvalues and eigenvectors of the system of equations representing the uncontrolled motorcycle, a time simulation of the uncontrolled motorcycle (MCSIM), a time simulation which includes a rider control model for an obstacle avoidance maneuver (MCRIDER), and a program which computes the frequency response of a motorcycle to steer torque and rider body torque inputs (MCFRSP). NORIDER, MCSIM, and MCFRSP include a representation of the buildup in tire lateral force as a simple lag with time constant determined by the quotient of a relaxation length by forward speed; NORIDE2 and MCRIDER assume instantaneous tire force response. All of these programs require as input a description of the mass properties of the motorcycle and rider. Consequently, we have included documentation on a support program, INERTIA, which computes the mass center and moments and products of inertia of any assemblage of masses.