MotionViewで自転車のような車体を用いてスラローム走行させる場合の設定

sh0ta_takenouchi

アルテアサポート様

お世話になっております。

川崎重工業技術開発本部強度研究部の竹ノ内と申します。

首記の件について、業務でMotionViewを用いて自転車のような車体のスラローム走行させたいのですが、ドライバーのスラローム走行設定がうまくいかず転倒している状況です。

下記条件でスラローム走行させるにはどのような設定をすればよいでしょうか？

車体重量：約50kg

車幅：約1100mm(前輪と後輪の軸からの距離)

ドライバー重量：約60kg

走行車速：10ｋｍ/ｈ

コーンの本数：6本以上

以上、確認と対応のほどどうぞよろしくお願い申し上げます。

Orestis_YB

Hello @sh0ta_takenouchi,

driver set up is a challenging process for a two-wheeler. For this reason, we have created a Gain Tuning for Leaning Two and Three Wheeler Vehicles section in the documentation. Also, in Leaning Two and Three Wheeler Vehicles you can see more information regarding the mathematical model of the driver model. Having said that let's focus on your case. I believe that the most challenging part here is the vehicle velocity that it's being used. 10 km/h is quite low for the default settings of the lateral control of the driver. I tried to replicate your model by using the Assembly Wizard Vehicle. In there I modified masses of both vehicle and the rider to match your values. The wheeltrack is slightly longer in my case (1300mm). Below I have two results. In blue are the default settings of lateral control while in red are modified settings where I have set Look Ahead Time to 0.1s (default was 0.01s) because the velocity is quite low. When I use the default event settings of lateral control, the steering is very unstable (even though the vehicle is able to finish the maneuver in my case). When I increased look ahead time you can see that driver performs much smoother in the slalom maneuver.

Hope this helps!

Best regards,
Orestes