Bicycle stability has been of interest to dynamicists and athletes since before J. W. Whipple described the canonical model for bicycle motion in 1899. Since then, the subject has fascinated many who sought to find a simple way to describe the essence of stability for a hands-free bicycle at a prescribed forward speed. Caster and gyroscopic effects have been shown to be helpful, but not necessary for there to exist a stable range of forward speeds. This work focuses on showing how using the eigenvalues of the linearized equations for roll and steer (with and without an instantaneous or delayed steeringt orque) can illuminate the stabilizing and destabilizing effects of changing bicycle geometry and rider position. The results of altering aspects of the control law and bicycle geometry are demonstrated, and a primary cause of the decreased stability a cyclist on a time trial bike expe-riences when in the aerodynamic position, as opposed to
riding with hands on the brake hoods or bull horns, is proposed.

EB00000002410K

Available