System identification of the canonical form of a bicycle's lateral dynamics.
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canonicalbicycleid
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README.rst
setup.py

README.rst

CanonicalBicycleID

Description

A Python package with functions for identifying unknown coefficients of the two second order equations of the bicycle in mass-spring-damper form:

M * q'' + C * q' + K * q = T + H * F

or the benchmark speed and gravity dependent form [Meijaard2007]_:

M * q'' + v * C1 * q' + [g * K0 + v^2 * K2] * q = T + H * F

where

q = [roll angle,
steer angle]
T = [roll torque,
steer torque]

F = [lateral force]

Dependencies

  • setuptools
  • NumPy
  • SciPy
  • BicycleParameters
  • BicycleDataProcessor
  • DynamicistToolKit
  • AutolevToolKit
  • Uncertainties

Data

The data set used for the analyses is available as an HDF5 database and can easily be accessed and manipulated with the BicycleDataProcessor pacakage.