Bicycles, motorcycles, and models

Journal article

Single-track vehicles are multibody systems which include bicycles, motorcycles and motor scooters. The Whipple's model of bicycle consists of two frames, the rear frame and the front frame, which are hinged together along an inclined steering-head assembly. The nonslipping road wheels as with this model are modeled by holonomic constraints in the normal direction and by nonholonomic constraints in the longitudinal and lateral directions. The bicycle model has three degrees of freedom such as the roll angle of the rear frame, the steering angle and the angle of rotation of the rear wheel to the rear frame. Motorcycles differ from bicycles in such a way that a large motorcycle can weigh at least ten times as much as a bicycle. Essential components of high-fidelity cornering models include a rigid rear frame, a front frame joined to the rear frame using an inclined steering system, spinning road wheels, an elaborate tire force and moment representation, lag mechanisms, aerodynamic effects, a realistic suspension model and the freedom for the rider's upper body to roll relative to the rear frame of the vehicle. Considerable insight into the stability and steering control of single-track vehicles within the model applicability boundaries can be gained from their separable design parameter influences.

Authors: Limebeer, D; Sharp, R

• Journal: IEEE Control Systems Magazine
• Volume: 26
• Issue: 5
• Pages: 34-61
• Publication date: 2006-10-01
• DOI: 10.1109/MCS.2006.1700044
• ISSN: 0272-1708
• Language: English