DYNAMIC MODEL OF A

BICYCLE
 Introduction
Looking for a dynamic model of a bicycle and
rider system:
- Simple
- Clear
- Compliant with Simulink
 The Search
 Search Terms:
 “dynamic bicycle model”
 “simple linear bicycle model”
 “basic bicycle model”
 “Simulink”
 Filtering

 Models that included a rider (many didn’t)

 Background and derivation for the Equations
of Motion
 Relatively simple Equations of Motion
 Obtainable inputs
 Required Outputs
 Position

 Velocity

 Acceleration
 Model We Chose
“Implementation of the Interactive Bicycle
Simulator with Its Functional Subsystems”

-Application of article is a bicycle simulator

-Simulator relies on dynamic model
-Shows equations of motion for 3-D bicycle
and rider model (we’ll simplify to 2-D)
 “Points of Interest”
Center of Mass:
C1: Rear wheel
C2: Upper portion of the rider
C3: Bicycle frame & lower portion of the rider
C4: Handlebar assembly
C5: Front wheel

Rotational Joints:
O1: Rear wheel
O2: Rider’s torso (about the seat)
O3: Stem/headset (for steering)
O : Front wheel
 Model

Center of Mass:
C1: Rear wheel
C2: Upper portion of the rider Rotational Joints:
C3: Bicycle frame & lower portion of the rider O1: Rear wheel
C4: Handlebar assembly O2: Rider’s torso (about the seat)
C5: Front wheel O3: Stem/headset (for steering)
O4: Front wheel
 Equations
Position Vectors

r1   rz1
r2  r1  O1O2  O2C2
r3  r1  O1C3
r4  r1  O1O3  O3C4
r5  r1  O1O3  O3C5
 Equations
Angular Velocity Linear Velocity
.
vO1  v1  1r1
1   rw y
.
vO 2  v1  3 XO1O2
2   rw z v2  vO 2  2 XO2O2
.
3   rw z v3  v1  3 XO1C3
. vO 3  v1  3 XO1O2
4   rw z v4  vO 3  4 XO3C4
.
5  4   fw y4 v5  vO 3  4 XO3O4
 Equations
Complete Force Balance

* Can use the time derivative of velocity to find acceleration

 Pros & Cons
Pros:
 Simplified geometry

 Clearly defined equations of motion

Cons:
 Doesn’t account for front shock

 Assumes tires are rigid bodies

Questions?
 Reference
Yin, Song, and Yuehong Yin. "Implementation of the Interactive
Bicycle Simulator with Its Functional Subsystems." Journal of
Computing and Information Science in Engineering. 7. (2007): 160-166.