| Autor: |
Åström, Karl J., Klein, Richard E., Lennartsson, Anders |
| Předmět: |
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| Zdroj: |
IEEE Control Systems; Aug2005, Vol. 25 Issue 4, p26-47, 22p, 12 Color Photographs, 4 Diagrams, 1 Chart, 8 Graphs |
| Abstrakt: |
This article analyzes the dynamics of bicycles from the perspective of control. Models of different complexity are presented, starting with simple ones and ending with more realistic models generated from multibody software. Bicycles are used everywhere for transportation, exercise and recreation. Its evolution over time has been a product of necessity, ingenuity, materials and industrialization. Bicycles display interesting dynamic behavior. For example, bicycles are statically unstable like the inverted pendulum, but can, under certain conditions, be stable in forward motion. They also exhibit nonminimum phase steering behavior. A detailed model of a bicycle is complex because the system has many degrees of freedom and the geometry is intricate. Some important aspects to consider are the choice of bicycle components to include in the model, the treatment of elasticity of the bicycle parts, the modeling of tire-road interaction and the complexity of the rider model. Geometrically, it is convenient to view the bicycle as composed of two hinged planes, the frame plane and the front fork plane. Bicycles are simple, inexpensive and highly attractive for use in education. In addition, most students ride bicycles and have some feel for their behavior. INSETS: The NHSA Rear-Steered Motorcycle;Alleviating Problems with Zeros in the Right-Half Plane;Wilbur Wright on Counter-Steering;Control Is Important for Design |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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