Assignment You may have to use Scilab/Matlab/Python for computation wherever necessary. Each student should make a choice of one of the above software, and stick to that throughout the assignment. Bicycle Dynamics and Stability The aim of this experiment is to familiarize with bicycle dynamics given the control engineering concepts learned. 1. Watch: (a) TEDx Talk A. Schwab, "Why bicycles do not fall" (b) Yellow bicycle demos on http://www.bicycle.tudelft.nl/yellowbicycle/ 2. Read (a) K.J. Astorm, R.E. Klein, A Lennartsson, "Bicycle dynamics and control", 24(4), 26-47, 2005. (b) A.L. Schwab, J.P. Meijaard. "A review on bicycle dynamics and rider control", Vechile System Dynamics: International Journal of Vehicle Mechanics and Mobility 51(7), 1059-1090, 2013. Problems (a) Write a summary of your understanding of bicycle dynamics. (b) Why does a standing bicycle fall, but it is possible for a moving bicycle to stay upright ? Calculate and plot the eigenvalues of the linearized dynamics of a bi- cycle model and plot their dependence on the bicycle velocity. Identify. the range of velocities where these dynamics are self-stable. Use the model given in reading material 2(b) above, Page 1063. How would you modify the bicycle design to increase the range of ve locities where the bicycle is self-stable ? Explain. Design a controller and an observer for the bicycle model. How would you choose the desired eigenvalues of the controller and the observer? Plot the response of the bicycle model with the controller and observer. Assignment You may have to use Scilab/Matlab/Python for computation wherever necessary. Each student should make a choice of one of the above software, and stick to that throughout the assignment. Bicycle Dynamics and Stability The aim of this experiment is to familiarize with bicycle dynamics given the control engineering concepts learned. 1. Watch: (a) TEDx Talk A. Schwab, "Why bicycles do not fall" (b) Yellow bicycle demos on http://www.bicycle.tudelft.nl/yellowbicycle/ 2. Read (a) K..J. Astorm, R.E. Klein, A Lennartsson. "Bicycle dynamics and control", 24(4), 26-47, 2005. (b) A.L. Schwab, J.P. Meijaard. "A review on bicycle dynamics and rider control", Vechile System Dynamics: International Journal of Vehicle Mechanics and Mobility 51(7), 1059-1090, 2013. Problems (a) Write a summary of your understanding of bicycle dynamics. (b) Why does a standing bicycle fall, but it is possible for a moving bicycle to stay upright ? Calculate and plot the eigenvalues of the linearized dynamics of a bi- cycle model and plot their dependence on the bicycle velocity. Identify. the range of velocities where these dynamics are self-stable. Use the model given in reading material 2(b) above, Page 1063. How would you modify the bicycle design to increase the range of ve locities where the bicycle is self-stable ? Explain. Design a controller and an observer for the bicycle model. How would you choose the desired eigenvalues of the controller and the observer? Plot the response of the bicycle model with the controller and observer.