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Published byAdan Luscomb Modified over 2 years ago

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Looking for a dynamic model of a bicycle and rider system: - Simple - Clear - Compliant with Simulink

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Search Terms: “dynamic bicycle model” “simple linear bicycle model” “basic bicycle model” “Simulink”

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Models that included a rider (many didn’t) Background and derivation for the Equations of Motion Relatively simple Equations of Motion Obtainable inputs

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Position Velocity Acceleration

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“Implementation of the Interactive Bicycle Simulator with Its Functional Subsystems” -Application of article is a bicycle simulator -Simulator relies on dynamic model -Shows equations of motion for 3-D bicycle and rider model (we’ll simplify to 2-D)

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Center of Mass: C 1 : Rear wheel C 2 : Upper portion of the rider C 3 : Bicycle frame & lower portion of the rider C 4 : Handlebar assembly C 5 : Front wheel Rotational Joints: O 1 : Rear wheel O 2 : Rider’s torso (about the seat) O 3 : Stem/headset (for steering) O 4 : Front wheel

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Center of Mass: C 1 : Rear wheel C 2 : Upper portion of the rider C 3 : Bicycle frame & lower portion of the rider C 4 : Handlebar assembly C 5 : Front wheel Rotational Joints: O 1 : Rear wheel O 2 : Rider’s torso (about the seat) O 3 : Stem/headset (for steering) O 4 : Front wheel

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Position Vectors

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Angular VelocityLinear Velocity

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Complete Force Balance * Can use the time derivative of velocity to find acceleration

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Pros: Simplified geometry Clearly defined equations of motion Cons: Doesn’t account for front shock Assumes tires are rigid bodies

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Questions?

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Yin, Song, and Yuehong Yin. "Implementation of the Interactive Bicycle Simulator with Its Functional Subsystems." Journal of Computing and Information Science in Engineering. 7. (2007): 160-166.

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