Bicycle with Balancing Controller, Uneven Terrain – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

Bicycle with Balancing Controller, Uneven Terrain

This is the model of an unmanned bicycle with a stability controller. The control torque is applied on the handlebar using the a gyroscopic sensory information which detects the bicycle's inclination from the upright position based on its roll angle.

The bicycle in this example travels through 3-D uneven terrain. The tire/ground interaction forces are calculated using the Fiala tire force model.


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Model: Bicycle with Balancing Controller, Uneven Terrain

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Model Images
  • bicycle_uneven1 The top-level model view, with icons to represent the individual subsystems.
  • bicycle_uneven2 Resulting plots show the effects on the stability controller.
MapleSim Video
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