On Engine-to-Slip Modelling for Motorcycle Traction Control Design

Tyre and transmission characteristics affect engine-to-slip dynamics which are essential when it comes to traction control design. This paper uses different tyre/transmission physical models to assess the modelling features which are essential for an accurate description of the plant. Three different single-wheel models are presented and analysed in order to find the simplest, yet reliable, model for the description of the engine-to-slip dynamics. The models are a single-wheel model with a rigid tyre and a rigid transmission, a single-wheel model with a flexible tyre, and a single-wheel model which features a compliant tyre and a sprocket absorber. Analytic expressions for all models' transfer functions are given, and models are compared to each other and with road tests to prove their reliability. Finally, the effect of longitudinal acceleration on engine-to-slip dynamics is analysed and discussed.