Prototype 01 with built in devices
Dynamical modeling of the bicycle
Implementation of prototype 01
Braking process model
Communication network
Simulation results
- Green: reference speed (velocity of CoG/radius of the wheels)
- Cyan: front wheel speed (angular velocity)
- Red: rear wheel speed (angular velocity)
- Yellow: velocity of CoG
- Magenta: output of the bang-bang controller of the front wheel
- The yellow line between 0 and 1 is the slip of the front wheel
- Blue: deceleration of the bicycle
- Yellow: friction force of the front wheel
- Cyan: brake torque of the front wheel
- Magenta: friction force of the rear wheel
- Red: brake torque of the rear wheel
