Motorcycle Dynamics

This chapter provides a basic insight into the two-wheeled vehicle dynamics to be applied to vehicle modelling and control. The most relevant kinematic properties are discussed. In two-wheeled vehicles, the relationship between the handlebar and kinematic steering angles varies appreciably with the roll angle. The chapter discusses the peculiarities of motorcycle tyres. The performance of two-wheeled vehicles is largely influenced by the characteristics of their tyres. A fundamental concept when dealing with tyre behaviour is the coupling between longitudinal and lateral forces on the contact patch. The most popular suspension schemes are presented. The proper choice of front and rear suspension characteristics depends on many parameters like the road surface, the braking performance, and the engine power, among others. Different in-plane models of increasing complexity are presented to highlight the main vehicle dynamics involved. Finally, the chapter highlights the coupling between in-plane and out-of-plane dynamics.