def combine_bike_rider(bicyclePar, riderPar):
"""
Combines the inertia of the bicycle frame with the
inertia of a rider.
Parameters
----------
bicyclePar : dictionary
The benchmark parameter set of a bicycle.
riderPar : dictionary
The rider's mass, center of mass, and inertia expressed in the
benchmark bicycle reference frame.
Returns
-------
bicyclePar : dictionary
The benchmark bicycle parameters with a rigid rider added to the
bicycle frame.
"""
# list the masses of the rider and bicycle
masses = np.array([riderPar['mB'], bicyclePar['mB']])
# list the centers of mass of the rider and bicycle
coordinates = np.array([[riderPar['xB'], bicyclePar['xB']],
[riderPar['yB'], 0.],
[riderPar['zB'], bicyclePar['zB']]])
# calculate the new mass and center of mass
mT, cT = total_com(coordinates, masses)
# get inertia tensors for the bicycle and rider
IRider = part_inertia_tensor(riderPar, 'B')
IBicycle = part_inertia_tensor(bicyclePar, 'B')
# calculate the distance from the center of mass of each body to the
# center of mass of the combined body
dRider = np.array([riderPar['xB'] - cT[0],
riderPar['yB'] - cT[1],
riderPar['zB'] - cT[2]])
dBicycle = np.array([bicyclePar['xB'] - cT[0],
0.,
bicyclePar['zB'] - cT[2]])
# calculate the total inertia about the total body center of mass
I = (parallel_axis(IRider, riderPar['mB'], dRider) +
parallel_axis(IBicycle, bicyclePar['mB'], dBicycle))
# assign new inertia back to bike
bicyclePar['xB'] = cT[0]
bicyclePar['zB'] = cT[2]
bicyclePar['yB'] = 0.0
bicyclePar['mB'] = mT
bicyclePar['IBxx'] = I[0, 0]
bicyclePar['IBxz'] = I[0, 2]
bicyclePar['IByy'] = I[1, 1]
bicyclePar['IBzz'] = I[2, 2]
return bicyclePar
def steer_assembly_moment_of_inertia(self,
handlebar=True,
fork=True,
wheel=True,
aboutSteerAxis=False,
nominal=False):
"""
Returns the inertia tensor of the steer assembly with respect to a
reference frame aligned with the steer axis.
Parameters
----------
handlebar : boolean, optional
If true the handlebar will be included in the calculation.
fork : boolean, optional
If true the fork will be included in the calculation.
wheel : boolean, optional
If true then the wheel will be included in the calculation.
aboutSteerAxis : boolean, optional
If true the inertia tensor will be with respect to a point made
from the projection of the center of mass onto the steer axis.
nominal : boolean, optional
If true the nominal values will be returned instead of a uarray.
Returns
-------
iAss : float
Inertia tensor of the specified steer assembly parts with respect
to a reference frame aligned with the steer axis.
Notes
-----
The 3 component is aligned with the steer axis (pointing downward), the
1 component is perpendicular to the steer axis (pointing forward) and
the 2 component is perpendicular to the steer axis (pointing to the
right).
This function does not currently take into account the flywheel, D, if
it is defined, beware.
"""
# load in the Benchmark parameter set
par = self.parameters['Benchmark']
if 'mD' in par.keys():
print(
"You have a flywheel defined. Beware that it is ignored in " +
"the calculations and the results do not reflect that it is " +
"there.")
# there should always be either an H (handlebar/fork) and sometimes
# there is a G (handlebar) and S (fork) if the fork and handlebar were
# measured separately
try:
if fork and handlebar:
# handlebar/fork
I = inertia.part_inertia_tensor(par, 'H')
m = par['mH']
x = par['xH']
z = par['zH']
elif fork and not handlebar:
# fork alone
I = inertia.part_inertia_tensor(par, 'S')
m = par['mS']
x = par['xS']
z = par['zS']
elif handlebar and not fork:
# handlebar alone
I = inertia.part_inertia_tensor(par, 'G')
m = par['mG']
x = par['xG']
z = par['zG']
else:
# if neither set to zero
I = np.zeros((3, 3))
m = 0.
x = 0.
z = 0.
except KeyError:
raise ValueError("The fork and handlebar were not measured " +
"separately for this bicycle." +
" Try making both the fork and handlebar either" +
" both True or both False.")
if wheel:
# list the mass and com of the handlebar/assembly and the front
# wheel
masses = np.array([m, par['mF']])
coords = np.array([[x, par['w']], [0., 0.], [z, -par['rF']]])
# mass and com of the entire assembly
mAss, cAss = com.total_com(coords, masses)
# front wheel inertia in the benchmark reference frame about the
# com
IF = inertia.part_inertia_tensor(par, 'F')
# distance from the fork/handlebar assembly (without wheel) to the
# new center of mass for the assembly with the wheel
d = np.array([x - cAss[0], 0., z - cAss[2]])
# distance from the front wheel center to the new center of mass
# for the assembly with the wheel
dF = np.array([par['w'] - cAss[0], 0., -par['rF'] - cAss[2]])
# this is the inertia of the assembly about the com with reference
# to the benchmark bicycle reference frame
iAss = (inertia.parallel_axis(I, m, d) +
inertia.parallel_axis(IF, par['mF'], dF))
# this is the inertia of the assembly about a reference frame aligned with
# the steer axis and through the center of mass
iAssRot = inertia.rotate_inertia_tensor(iAss, par['lam'])
else: # don't add the wheel
mAss = m
cAss = np.array([x, 0., z])
iAssRot = inertia.rotate_inertia_tensor(I, par['lam'])
if aboutSteerAxis:
# this is the distance from the assembly com to the steer axis
distance = geometry.distance_to_steer_axis(par['w'], par['c'],
par['lam'], cAss)
print "handlebar cg distance", distance
# now calculate the inertia about the steer axis of the rotated frame
iAss = inertia.parallel_axis(iAssRot, mAss,
np.array([distance, 0., 0.]))
else:
iAss = iAssRot
if nominal:
return unumpy.nominal_values(iAss)
else:
return iAss
def calculate_benchmark_from_measured(mp):
'''Returns the benchmark (Meijaard 2007) parameter set based on the
measured data.
Parameters
----------
mp : dictionary
Complete set of measured data.
Returns
-------
par : dictionary
Benchmark bicycle parameter set.
'''
forkIsSplit = is_fork_split(mp)
par = {}
# calculate the wheelbase, steer axis tilt and trail
par = geometry.calculate_benchmark_geometry(mp, par)
# masses
par['mB'] = mp['mB']
par['mF'] = mp['mF']
par['mR'] = mp['mR']
try:
# we measured the mass of the flywheel plus the mass of the front
# wheel, mp['mD'], so to get the actual mass of the flywheel, subtract
# the mass of the front wheel
par['mD'] = mp['mD'] - mp['mF']
except KeyError:
pass
if forkIsSplit:
par['mS'] = mp['mS']
par['mG'] = mp['mG']
else:
par['mH'] = mp['mH']
# get the slopes, intercepts and betas for each part
slopes, intercepts, betas = com.part_com_lines(mp, par, forkIsSplit)
# calculate the centers of mass
for part in slopes.keys():
par['x' + part], par['z' + part] = com.center_of_mass(
slopes[part], intercepts[part])
# find the center of mass of the handlebar/fork assembly if the fork was
# split
if forkIsSplit:
coordinates = np.array([[par['xS'], par['xG']], [0., 0.],
[par['zS'], par['zG']]])
masses = np.array([par['mS'], par['mG']])
mH, cH = inertia.total_com(coordinates, masses)
par['mH'] = mH
par['xH'] = cH[0]
par['zH'] = cH[2]
# local accelation due to gravity
par['g'] = mp['g']
# calculate the wheel y inertias
par['IFyy'] = inertia.compound_pendulum_inertia(mp['mF'], mp['g'],
mp['lF'], mp['TcF1'])
par['IRyy'] = inertia.compound_pendulum_inertia(mp['mR'], mp['g'],
mp['lR'], mp['TcR1'])
try:
# we measured the inertia of the front wheel with the flywheel inside
iFlywheelPlusFwheel = inertia.compound_pendulum_inertia(
mp['mD'], mp['g'], mp['lF'], mp['TcD1'])
par['IDyy'] = iFlywheelPlusFwheel - par['IFyy']
except KeyError:
pass
# calculate the y inertias for the frame and fork
lB = (par['xB']**2 + (par['zB'] + par['rR'])**2)**(0.5)
par['IByy'] = inertia.compound_pendulum_inertia(mp['mB'], mp['g'], lB,
mp['TcB1'])
if forkIsSplit:
# fork
lS = ((par['xS'] - par['w'])**2 + (par['zS'] + par['rF'])**2)**(0.5)
par['ISyy'] = inertia.compound_pendulum_inertia(
mp['mS'], mp['g'], lS, mp['TcS1'])
# handlebar
l1, l2 = geometry.calculate_l1_l2(mp['h6'], mp['h7'], mp['d5'],
mp['d6'], mp['l'])
u1, u2 = geometry.fwheel_to_handlebar_ref(par['lam'], l1, l2)
lG = ((par['xG'] - par['w'] + u1)**2 +
(par['zG'] + par['rF'] + u2)**2)**(.5)
par['IGyy'] = inertia.compound_pendulum_inertia(
mp['mG'], mp['g'], lG, mp['TcG1'])
else:
lH = ((par['xH'] - par['w'])**2 + (par['zH'] + par['rF'])**2)**(0.5)
par['IHyy'] = inertia.compound_pendulum_inertia(
mp['mH'], mp['g'], lH, mp['TcH1'])
# calculate the stiffness of the torsional pendulum
IPxx, IPyy, IPzz = inertia.tube_inertia(mp['lP'], mp['mP'], mp['dP'] / 2.,
0.)
torStiff = inertia.torsional_pendulum_stiffness(IPyy, mp['TtP1'])
#print "Torsional pendulum stiffness:", torStiff
# calculate the wheel x/z inertias
par['IFxx'] = inertia.tor_inertia(torStiff, mp['TtF1'])
par['IRxx'] = inertia.tor_inertia(torStiff, mp['TtR1'])
try:
par['IDxx'] = inertia.tor_inertia(torStiff, mp['TtD1']) - par['IFxx']
except KeyError:
pass
pendulumInertias = {}
# calculate the in plane moments of inertia
for part, slopeSet in slopes.items():
# the number of orientations for this part
numOrien = len(slopeSet)
# intialize arrays to store the inertia values and orientation angles
penInertia = np.zeros(numOrien, dtype=object)
beta = np.array(betas[part])
# fill arrays of the inertias
for i in range(numOrien):
penInertia[i] = inertia.tor_inertia(torStiff,
mp['Tt' + part + str(i + 1)])
# store these inertias
pendulumInertias[part] = list(penInertia)
inert = inertia.inertia_components(penInertia, beta)
for i, axis in enumerate(['xx', 'xz', 'zz']):
par['I' + part + axis] = inert[i]
if forkIsSplit:
# combine the moments of inertia to find the total handlebar/fork MoI
IG = inertia.part_inertia_tensor(par, 'G')
IS = inertia.part_inertia_tensor(par, 'S')
# columns are parts, rows = x, y, z
coordinates = np.array([[par['xG'], par['xS']], [0., 0.],
[par['zG'], par['zS']]])
masses = np.array([par['mG'], par['mS']])
par['mH'], cH = com.total_com(coordinates, masses)
par['xH'] = cH[0]
par['zH'] = cH[2]
dG = np.array([par['xG'] - par['xH'], 0., par['zG'] - par['zH']])
dS = np.array([par['xS'] - par['xH'], 0., par['zS'] - par['zH']])
IH = (inertia.parallel_axis(IG, par['mG'], dG) +
inertia.parallel_axis(IS, par['mS'], dS))
par['IHxx'] = IH[0, 0]
par['IHxz'] = IH[0, 2]
par['IHyy'] = IH[1, 1]
par['IHzz'] = IH[2, 2]
# package the extra information that is useful outside this function
extras = {
'slopes': slopes,
'intercepts': intercepts,
'betas': betas,
'pendulumInertias': pendulumInertias
}
return par, extras
def steer_assembly_moment_of_inertia(self, handlebar=True, fork=True,
wheel=True, aboutSteerAxis=False, nominal=False):
"""
Returns the inertia tensor of the steer assembly with respect to a
reference frame aligned with the steer axis.
Parameters
----------
handlebar : boolean, optional
If true the handlebar will be included in the calculation.
fork : boolean, optional
If true the fork will be included in the calculation.
wheel : boolean, optional
If true then the wheel will be included in the calculation.
aboutSteerAxis : boolean, optional
If true the inertia tensor will be with respect to a point made
from the projection of the center of mass onto the steer axis.
nominal : boolean, optional
If true the nominal values will be returned instead of a uarray.
Returns
-------
iAss : float
Inertia tensor of the specified steer assembly parts with respect
to a reference frame aligned with the steer axis.
Notes
-----
The 3 component is aligned with the steer axis (pointing downward), the
1 component is perpendicular to the steer axis (pointing forward) and
the 2 component is perpendicular to the steer axis (pointing to the
right).
This function does not currently take into account the flywheel, D, if
it is defined, beware.
"""
# load in the Benchmark parameter set
par = self.parameters['Benchmark']
if 'mD' in par.keys():
print("You have a flywheel defined. Beware that it is ignored in "
+ "the calculations and the results do not reflect that it is "
+ "there.")
# there should always be either an H (handlebar/fork) and sometimes
# there is a G (handlebar) and S (fork) if the fork and handlebar were
# measured separately
try:
if fork and handlebar:
# handlebar/fork
I = inertia.part_inertia_tensor(par, 'H')
m = par['mH']
x = par['xH']
z = par['zH']
elif fork and not handlebar:
# fork alone
I = inertia.part_inertia_tensor(par, 'S')
m = par['mS']
x = par['xS']
z = par['zS']
elif handlebar and not fork:
# handlebar alone
I = inertia.part_inertia_tensor(par, 'G')
m = par['mG']
x = par['xG']
z = par['zG']
else:
# if neither set to zero
I = np.zeros((3, 3))
m = 0.
x = 0.
z = 0.
except KeyError:
raise ValueError("The fork and handlebar were not measured " +
"separately for this bicycle." +
" Try making both the fork and handlebar either" +
" both True or both False.")
if wheel:
# list the mass and com of the handlebar/assembly and the front
# wheel
masses = np.array([m, par['mF']])
coords = np.array([[x, par['w']],
[0., 0.],
[z, -par['rF']]])
# mass and com of the entire assembly
mAss, cAss = com.total_com(coords, masses)
# front wheel inertia in the benchmark reference frame about the
# com
IF = inertia.part_inertia_tensor(par, 'F')
# distance from the fork/handlebar assembly (without wheel) to the
# new center of mass for the assembly with the wheel
d = np.array([x - cAss[0], 0., z - cAss[2]])
# distance from the front wheel center to the new center of mass
# for the assembly with the wheel
dF = np.array([par['w'] - cAss[0],
0.,
-par['rF'] - cAss[2]])
# this is the inertia of the assembly about the com with reference
# to the benchmark bicycle reference frame
iAss = (inertia.parallel_axis(I, m, d) +
inertia.parallel_axis(IF, par['mF'], dF))
# this is the inertia of the assembly about a reference frame aligned with
# the steer axis and through the center of mass
iAssRot = inertia.rotate_inertia_tensor(iAss, par['lam'])
else: # don't add the wheel
mAss = m
cAss = np.array([x, 0., z])
iAssRot = inertia.rotate_inertia_tensor(I, par['lam'])
if aboutSteerAxis:
# this is the distance from the assembly com to the steer axis
distance = geometry.distance_to_steer_axis(par['w'], par['c'],
par['lam'], cAss)
print "handlebar cg distance", distance
# now calculate the inertia about the steer axis of the rotated frame
iAss = inertia.parallel_axis(iAssRot, mAss, np.array([distance, 0., 0.]))
else:
iAss = iAssRot
if nominal:
return unumpy.nominal_values(iAss)
else:
return iAss
def calculate_benchmark_from_measured(mp):
'''Returns the benchmark (Meijaard 2007) parameter set based on the
measured data.
Parameters
----------
mp : dictionary
Complete set of measured data.
Returns
-------
par : dictionary
Benchmark bicycle parameter set.
'''
forkIsSplit = is_fork_split(mp)
par = {}
# calculate the wheelbase, steer axis tilt and trail
par = geometry.calculate_benchmark_geometry(mp, par)
# masses
par['mB'] = mp['mB']
par['mF'] = mp['mF']
par['mR'] = mp['mR']
try:
# we measured the mass of the flywheel plus the mass of the front
# wheel, mp['mD'], so to get the actual mass of the flywheel, subtract
# the mass of the front wheel
par['mD'] = mp['mD'] - mp['mF']
except KeyError:
pass
if forkIsSplit:
par['mS'] = mp['mS']
par['mG'] = mp['mG']
else:
par['mH'] = mp['mH']
# get the slopes, intercepts and betas for each part
slopes, intercepts, betas = com.part_com_lines(mp, par, forkIsSplit)
# calculate the centers of mass
for part in slopes.keys():
par['x' + part], par['z' + part] = com.center_of_mass(slopes[part],
intercepts[part])
# find the center of mass of the handlebar/fork assembly if the fork was
# split
if forkIsSplit:
coordinates = np.array([[par['xS'], par['xG']],
[0., 0.],
[par['zS'], par['zG']]])
masses = np.array([par['mS'], par['mG']])
mH, cH = inertia.total_com(coordinates, masses)
par['mH'] = mH
par['xH'] = cH[0]
par['zH'] = cH[2]
# local accelation due to gravity
par['g'] = mp['g']
# calculate the wheel y inertias
par['IFyy'] = inertia.compound_pendulum_inertia(mp['mF'], mp['g'],
mp['lF'], mp['TcF1'])
par['IRyy'] = inertia.compound_pendulum_inertia(mp['mR'], mp['g'],
mp['lR'], mp['TcR1'])
try:
# we measured the inertia of the front wheel with the flywheel inside
iFlywheelPlusFwheel = inertia.compound_pendulum_inertia(mp['mD'], mp['g'], mp['lF'], mp['TcD1'])
par['IDyy'] = iFlywheelPlusFwheel - par['IFyy']
except KeyError:
pass
# calculate the y inertias for the frame and fork
lB = (par['xB']**2 + (par['zB'] + par['rR'])**2)**(0.5)
par['IByy'] = inertia.compound_pendulum_inertia(mp['mB'], mp['g'], lB,
mp['TcB1'])
if forkIsSplit:
# fork
lS = ((par['xS'] - par['w'])**2 +
(par['zS'] + par['rF'])**2)**(0.5)
par['ISyy'] = inertia.compound_pendulum_inertia(mp['mS'], mp['g'],
lS, mp['TcS1'])
# handlebar
l1, l2 = geometry.calculate_l1_l2(mp['h6'], mp['h7'],
mp['d5'], mp['d6'], mp['l'])
u1, u2 = geometry.fwheel_to_handlebar_ref(par['lam'], l1, l2)
lG = ((par['xG'] - par['w'] + u1)**2 +
(par['zG'] + par['rF'] + u2)**2)**(.5)
par['IGyy'] = inertia.compound_pendulum_inertia(mp['mG'], mp['g'],
lG, mp['TcG1'])
else:
lH = ((par['xH'] - par['w'])**2 +
(par['zH'] + par['rF'])**2)**(0.5)
par['IHyy'] = inertia.compound_pendulum_inertia(mp['mH'], mp['g'],
lH, mp['TcH1'])
# calculate the stiffness of the torsional pendulum
IPxx, IPyy, IPzz = inertia.tube_inertia(mp['lP'], mp['mP'],
mp['dP'] / 2., 0.)
torStiff = inertia.torsional_pendulum_stiffness(IPyy, mp['TtP1'])
#print "Torsional pendulum stiffness:", torStiff
# calculate the wheel x/z inertias
par['IFxx'] = inertia.tor_inertia(torStiff, mp['TtF1'])
par['IRxx'] = inertia.tor_inertia(torStiff, mp['TtR1'])
try:
par['IDxx'] = inertia.tor_inertia(torStiff, mp['TtD1']) - par['IFxx']
except KeyError:
pass
pendulumInertias = {}
# calculate the in plane moments of inertia
for part, slopeSet in slopes.items():
# the number of orientations for this part
numOrien = len(slopeSet)
# intialize arrays to store the inertia values and orientation angles
penInertia = np.zeros(numOrien, dtype=object)
beta = np.array(betas[part])
# fill arrays of the inertias
for i in range(numOrien):
penInertia[i] = inertia.tor_inertia(torStiff, mp['Tt' + part + str(i + 1)])
# store these inertias
pendulumInertias[part] = list(penInertia)
inert = inertia.inertia_components(penInertia, beta)
for i, axis in enumerate(['xx', 'xz', 'zz']):
par['I' + part + axis] = inert[i]
if forkIsSplit:
# combine the moments of inertia to find the total handlebar/fork MoI
IG = inertia.part_inertia_tensor(par, 'G')
IS = inertia.part_inertia_tensor(par, 'S')
# columns are parts, rows = x, y, z
coordinates = np.array([[par['xG'], par['xS']],
[0., 0.],
[par['zG'], par['zS']]])
masses = np.array([par['mG'], par['mS']])
par['mH'], cH = com.total_com(coordinates, masses)
par['xH'] = cH[0]
par['zH'] = cH[2]
dG = np.array([par['xG'] - par['xH'], 0., par['zG'] - par['zH']])
dS = np.array([par['xS'] - par['xH'], 0., par['zS'] - par['zH']])
IH = (inertia.parallel_axis(IG, par['mG'], dG) +
inertia.parallel_axis(IS, par['mS'], dS))
par['IHxx'] = IH[0, 0]
par['IHxz'] = IH[0, 2]
par['IHyy'] = IH[1, 1]
par['IHzz'] = IH[2, 2]
# package the extra information that is useful outside this function
extras = {'slopes' : slopes,
'intercepts' : intercepts,
'betas' : betas,
'pendulumInertias' : pendulumInertias}
return par, extras