Method Of Modeling Two Wheeler Stable Travel Control System, Two Wheeler Stable Travel Simulator, Program, Two Wheeler Stable Travel Control System, And Two Wheeler Stable Travel Control Device

Abstract: This method of modeling a two-wheeler stable travel control system comprises: a first step (S1) for acquiring a vehicle model obtained by subjecting a two-wheeler to modelling to create a model that includes the center of gravity (2f) of a front body, the center of gravity (2r) of a rear body, the center of gravity (1f) of a front tire including a front suspension, and the center of gravity (1r) of a rear tire including a rear suspension; a second step (S2, S3) for creating a linear equation of motion with regard to a vehicle model (MDL); a third step (S4) for converting the linear equation of motion to an equation of state; a fourth step (S5, S6) for acquiring a feedback gain able to stabilize travel in the vehicle model by analysis by root locus of the equation of state; and a fifth step (S7) for creating a model (180) of a two-wheeler stable travel control system for implementing negative feedback control using the feedback gain acquired in the fourth step.

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