{"title":"惠普尔自行车","authors":"D. Limebeer, M. Massaro","doi":"10.1093/OSO/9780198825715.003.0005","DOIUrl":null,"url":null,"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.","PeriodicalId":347965,"journal":{"name":"Dynamics and Optimal Control of Road Vehicles","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The Whipple Bicycle\",\"authors\":\"D. Limebeer, M. Massaro\",\"doi\":\"10.1093/OSO/9780198825715.003.0005\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":347965,\"journal\":{\"name\":\"Dynamics and Optimal Control of Road Vehicles\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Dynamics and Optimal Control of Road Vehicles\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1093/OSO/9780198825715.003.0005\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Dynamics and Optimal Control of Road Vehicles","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1093/OSO/9780198825715.003.0005","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.
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