After more than a century of bicycle dynamics research finally some numerical and experimental validated results on a benchmark bicycle model are available. The phenomenon of self-stability under energy conservation and the controllability of the usually underactuated bicycle are addressed. The paper is organized as follows. First, the bicycle model is described. Then the linearized equations of motion for lateral perturbations on the running straight ahead motion are discussed. Then the eigenmotions and stability are presented. In the next section the implications of energy conservation are demonstrated. Then the experimental validation by means of dynamic measurement on an instrumented bicycle is discussed. In the next section the controllability of an underactuated bicycle, with steering torque control only, is investigated. Then an extended bicycle model which compromises finite width tires and propulsion is discussed. Finally some bicycle dynamics folklore is rebutted.
Some recent developments in bicycle dynamics
Neue Entwicklungen bei der Fahrraddynamik
2007
6 Seiten, 7 Bilder, 1 Tabelle, 13 Quellen
Conference paper
Storage medium
English
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