Suitable Two Wheeled Vehicle Dynamics Synthesis for Interactive Motorcycle Simulator

This paper describes a modelling technique for deriving the motorcycles equation of motion. Based on the recursive Newton-Euler approach adapted to tree structure with floating base multibody systems, the derived model presents a low number of arithmetic operations, and hence, is suitable for implementation into a two wheeled vehicles simulator and other model based real-time application. The synthesized model takes in consideration the main forces and moments affecting the behavior of the motorcycle such as: pneumatic, aerodynamic, suspensions, contact constraints and control inputs.