The Whipple Bicycle

Abstract

Chapter 5 provides a comprehensive review of the bicycle model presented inWhipple’s seminal 1899 paper.The set of nonlinear differential equations that describe the general motion of a bicycle and rider are derived and then linearized to study the smallmotions about a straight-running trim condition at a given constant speed.The stability of the Whipple model is discussed and some of the handling characteristics of bicycles are analysed using control-theoretic ideas. Extensions relating to accelerating and braking vehicles, tyred vehicles, and vehicles with flexible frames are also considered.