• 산업경영시스템학회지
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• 제36권4호
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• pp.25-30
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• 2013

This article deals with the transient analysis in bicycle shifting using a discrete chain model. Among the various components of a bicycle, we focused in the power-transmissions on the contact points between the chain element and sprocket. And by imposing kinematic motions on the front and rear derailleurs, we analyzed the shifting mechanism for increasing the rotational speed of rear wheel. In order to build the dynamic analysis model, we first tore down the real bicycle and measured each component's design parameters. Then we made 3-dimensional CAD models for each component related to the power transmission of a bicycle. Using the converted 3-dimensional dynamic model for the simulation program, we performed non-shifting and shifting dynamic analysis. As a result, we investigated the dynamic behaviors of a discrete chain model focused on the interaction between the chain and sprocket wheel.

• 한국자동차공학회논문집
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• 제8권6호
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• pp.267-278
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• 2000

Vehicle dynamic models in handing and stability analysis are divided into three groups: bicycle model, roll axis model and full vehicle model. Bicycle model is a simple linear model, which hag two wheels with load transfer being ignored. Roll axis model treats left and right wheels independently. In this model, load transfer has a great effect on nonlinearity of tire model. Effects of suspension system can be analyzed by using full vehicle model, which is included suspension stroke motions. In this paper, these models are validated and compared through comparison with road test, and the effects of suspension kinematics and compliance characteristics on vehicle motion are analyzed. In handling and stability analysis, roll axis model can simulate the real vehicle motion more accurately than full vehicle model. Compliance steer has a significant effect, but the effect of suspension kinematics is negligible.

• 한국전산구조공학회논문집
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• 제29권1호
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• pp.45-52
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• 2016

자전거의 안장 지주에 영구자석의 척력을 이용하여 완충장치를 설치하고자 자기 해석용 상용프로그램을 이용하였다. 유한요소법으로 구한 해석치를 실험치와 비교하여 유한요소 해석치의 신뢰성을 확보하였다. 그 후에 3 자유도계의 자전거 동역학 모델을 완성하고 자석의 크기에 상응하는 등가 스프링 강성값을 모델에 이식하였다. 자전거의 동역학 모델에서 전륜과 후륜은 주행면의 비평탄도에 의한 입력을 부담하도록 하였다. 전륜과 후륜이 독립적으로, 또는 동시에 반삼각 범프(half-triangular bump)와 정현파 굴곡로(sinusoidal road)를 통과할 때의 동적 거동을 살펴보았다. 운전자와 프레임의 수직거동, 주행방향의 피칭 거동을 관찰하였으며 자전거의 완충 시스템을 보다 구체화할 수 있는 기반을 마련하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.117.5-117
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• 2001

This paper presents the key idea of handlebar reaction force and pedal resistance force generation in creating life-like feeling in KAIST bicycle simulator. Also, it provides methods to evaluate its reality level with given reaction force profile. In KAIST bicycle simulator, the pedal resistance force and the handlebar reaction force are calculated using the bicycle dynamic model. With the information handlebar angle, rider´s pedaling torque and road profile transmitted from the handlebar system, the pedal system and the visual part, the bicycle dynamics engine calculates the handlebar reaction force and the pedal velocity. The handlebar system and the pedal resistance system generate reaction force and resistance force transmitted from dynamics engine. However to make more realistic riding feeling ...

• 한국기계가공학회지
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• 제17권1호
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• pp.42-47
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• 2018

This paper describes the dynamical behavior of the bicycle and its nonlinear effect when magnetic repulsive forces are applied to the bicycle cushion system. A finite-element method was used to obtain its reliabilities by comparing the experimental and numerical values and select the proper magnet sizes. The Equivalent spring stiffness values were evaluated in terms of both linear and nonlinear approximations, where the nonlinear effect was specifically investigated for the ride comfort. The corresponding equations of linear and nonlinear motion were derived for the numerical model with three degrees of freedom. Dynamic behaviors were observed when the bicycle ran over a curvilinear road in the form of a sinusoidal curve. The analysis in this paper for the observed nonlinearity of magnetic repulsive forces will be a useful guide to more accurately predict the cushion design for any vehicle system.

• 자동차안전학회지
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• 제12권3호
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• pp.13-19
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• 2020

This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.292-304
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• 2005

In this paper we present the linearized equations of motion for a bicycle as a benchmark. The results obtained by pencil-and-paper and two programs are compared. The bicycle model we consider here consists of four rigid bodies, viz. a rear frame, a front frame being the front fork and handlebar assembly, a rear wheel and a front wheel, which are connected by revolute joints. The contact between the knife-edge wheels and the flat level surface is modelled by holonomic constraints in the normal direction and by non-holonomic constraints in the longitudinal and lateral direction. The rider is rigidly attached to the rear frame with hands free from the handlebar. This system has three degrees of freedom, the roll, the steer, and the forward speed. For the benchmark we consider the linearized equations for small perturbations of the upright steady forward motion. The entries of the matrices of these equations form the basis for comparison. Three diffrent kinds of methods to obtain the results are compared : pencil-and-paper, the numeric multibody dynamics program SPACAR, and the symbolic software system Auto Sim. Because the results of the three methods are the same within the machine round-off error, we assume that the results are correct and can be used as a bicycle dynamics benchmark.

• 한국자동차공학회논문집
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• 제3권3호
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• pp.66-78
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• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• Journal of Positioning, Navigation, and Timing
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• 제11권3호
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• pp.209-215
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• 2022

As intelligent autonomous driving vehicle development has become a big topic around the world, accurate reference dynamics estimation has been more important than before. Current systems generally use speed and heading information sensed from a distant point as a vehicle reference dynamic, however, the dynamics between different points are not same especially during rotating motions. In order to estimate properly estimate the reference dynamics from the information such as velocity and heading sensed at a point distant from the reference point such as center of gravity, this study proposes estimating reference dynamics from any location in the vehicle by combining the Bicycle and Ackermann models. A test system was constructed by implementing multiple GNSS/INS equipment on an Robot Operating System (ROS) and an actual car. Angle and speed errors of 10° and 0.2 m/s have been reduced to 0.2° and 0.06 m/s after applying the suggested method.

• Composites Research
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• 제29권6호
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• pp.358-362
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• 2016

원추형 복합재 튜브는 우주 항공, 비행체, 잠수함 등 큰 구조물뿐만 아니라 자전거 프레임, 낚시대, 골프채 등 레저용품에도 적용이 되면서 정적-동적 거동에서의 기계적 물성 예측의 중요한 연구 분야로 대두되고 있다. 일반적으로 원추형 복합재 튜브의 기계적 물성 예측은 진동, 굽힘, 좌굴에 관하여 많은 연구가 진행되었지만, 복합재료의 섬유 배향 각이 일정하다고 가정하고 기계적 거동을 분석한 것이 대부분이기 때문에 섬유 배향 각이 원추형 복합재 튜브 구조물의 기계적 물성에 어떠한 영향을 미치는지에 대한 연구가 필요하다. 이에 본 연구에서는 섬유 배향 각을 고려한 원추형 복합재료 튜브의 정적 거동에 따른 기계적 물성을 예측하기 위해 수식을 도출하고, 자전거 프레임에 적용하기 위한 다양한 설계 파라메터의 영향을 고찰하였다.