相关论文: Vertical Bicycle Model of Vehicle with Dry Frictio…
We analyse the classical problem of the stability of bicycles when moving quickly and upright. Developing a lean causes the front wheel to turn thereby setting the bicycle instantaneously into circular motion. The centripetal force…
The problem of damping a system of linear oscillators is considered. The problem is solved by using a control in the form of dry friction. The motion of the system under the control is governed by a system of differential equations with…
In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a…
The dynamical behavior caused by dry friction is studied for a spring-block system pulled with constant velocity over a surface. The dynamical consequences of a general type of phenomenological friction law (stick-time dependent static…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
An inverted planar pendulum with horizontally moving pivot point is considered. It is assumed that the law of motion of the pivot point is given and the pendulum is moving in the presence of dry friction. Sufficient conditions for the…
We investigate a model for the dynamics of a solid object, which moves over a randomly vibrating solid surface and is subject to a constant external force. The dry friction between the two solids is modeled phenomenologically as being…
We show that the static friction force which must be overcome to render a sticking contact sliding is reduced if an external torque is also exerted. As a test system we study a planar disk lying on horizontal flat surface. We perform…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
The dry frictional contact between two solid surfaces is well-known to obey Coulomb friction laws. In particular, the static friction force resisting the relative lateral (tangential) motion of solid surfaces, initially at rest, is known to…
Frictional forces are a key ingredient of any physical description of the macroscopic world, as they account for the phenomena causing transformation of mechanical energy into heat. They are ubiquitous in nature, and a wide range of…
For a moving bicycle, the power can be modelled as a response to the propulsion of the centre of mass of the bicycle-cyclist system. On a velodrome, an accurate modelling of power requires a distinction between the trajectory of the wheels…
We model the instantaneous power applied by a cyclist on a velodrome -- for individual pursuits and other individual time trials -- taking into account its straights, circular arcs, and connecting transition curves. The forces opposing the…
The motion of an elastic body over a rough surface is simulated in one dimension using Newtonian dynamics. We drive the body by prescribing a constant velocity. We extract the friction force from the work done by the applied force in order…
The problem of the existence and uniqueness of the motion of the system of an arbitrary number linear oscillators under a generalized dry-friction type control is studied. This type of control arises in the problem of steering the system to…
The paper studies the problem of making Getz's bicycle model traverse a strictly convex Jordan curve with bounded roll angle and bounded speed. The approach to solving this problem is based on the virtual holonomic constraint (VHC) method.…
We study control systems on the tangent bundle of a smooth manifold induced by vertical lifts of vector fields. The Vertical dynamics acts exclusively along the fibers, leaving the base point unchanged and reducing the system to a linear…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is proposed and used to derive equations of motion, which capture…
We show that the friction force and torque, acting at a dry contact of two objects moving and rotating relative to each other, are inherently coupled. As a simple test system, a sliding and spinning disk on a horizontal flat surface is…