A New Motorcycle Simulator Platform: Mechatronics Design, Dynamics Modeling and Control

This paper gives a global dynamic analysis of a two wheeled riding simulator that we have built and instrumented for the study of drivers behavior. These studies concern drive situations in normal urban scenario as well as dangerous driving situations such as skidding. The justification of the choice of the platform movements for a good feeling is discussed. Different models for inverse kinematics and dynamics are updated (with new hypotheses) for the Low-level control to ensure an efficient trajectories tracking. For this last point, we have proposed a simple scheme of PD controller, using the inverse dynamics of the platform. The results illustrate the good behavior of the platform and support its use in closed-loop with the driver in the simulation loop.