Modeling of Coupled Vertical and Longitudinal Dynamics of Bicycles for Brake and Suspension Control

Klug, Silas; Moia, Alessandro; Verhagen, Armin; Görges, Daniel; Savaresi, Sergio M.

doi:10.1109/ivs.2019.8813855

Cited by 3 publications

(2 citation statements)

References 16 publications

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“…But if properly inflated the tires elasticity is high and does not allow a lot of tire compression if loaded. Bicycle tire stiffness found in literature is about 100 N/mm (Klug, 2020;Knuit et al, 2015;Maier et al, 2018). With the 50 th percentile rider (Maier et al, 2016) a load of 475 N is estimated at the rear wheel, this results in approx.…”

Section: Mounted Sensorsmentioning

confidence: 98%

Instrumented Bicycle for Experimental Investigation of Braking Dynamics including Front Brake induced Rear Wheel Lift Up

Skatulla,

Maier,

Schmidt

2023

The Evolving Scholar - BMD 2023, 5th Edition

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Cyclists are usually afraid of using the front brake of their bicycles aggressively. They fear the danger of falling over the handlebar, sustaining serious neck or head injuries. Preventing this pitch-over can be addressed using electronic brake assistance. But little work is found on the dynamics involved, especially of the early phase were mitigating the pitch-over is still possible by brake pressure reduction. To address this, an instrumented bicycle equipped with sensors measuring variables of motion including absolute over ground velocity and attitude is presented. The need for a novel instrumented bicycle capable of capturing pitch-over dynamics and detecting when ground contact is lost, is pointed out. Needed sensors and their calibration is worked out, and the instrumented bicycle is built and tested. The capturing capabilities are shown, and robust jet precise methods of ground contact loss detection are presented.

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Section: Mounted Sensorsmentioning

confidence: 98%

Instrumented Bicycle for Experimental Investigation of Braking Dynamics including Front Brake induced Rear Wheel Lift Up

Skatulla,

Maier,

Schmidt

2023

The Evolving Scholar - BMD 2023, 5th Edition

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“…The number of two-wheeled vehicles in use is constantly increasing. In particular, motorcycles are an essential mode of transportation, and this trend, combined with the growing popularity of eBikes, shows that these vehicles are part of future transportation [25,26]. Two-wheeled vehicles, however, have a high accident rate.…”

Section: Formulation Of the Problem Of Interest For This Investigationmentioning

confidence: 99%

A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

2021

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In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry.

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Semi-Active Suspension Control on Bicycles: Anti-Dive during Road Excitation

Klug

Moia

Verhagen

et al. 2019

2019 IEEE Intelligent Vehicles Symposium (IV)

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Modeling of Coupled Vertical and Longitudinal Dynamics of Bicycles for Brake and Suspension Control

Cited by 3 publications

References 16 publications

Instrumented Bicycle for Experimental Investigation of Braking Dynamics including Front Brake induced Rear Wheel Lift Up

Instrumented Bicycle for Experimental Investigation of Braking Dynamics including Front Brake induced Rear Wheel Lift Up

A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

Semi-Active Suspension Control on Bicycles: Anti-Dive during Road Excitation

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