Optimize for front wheel inertia instead of front wheel radius.

[moorepants]

No description provided.

[moorepants]

Here is a result for the Pista at 6 m/s:

==========================================
Values passed into the objective function:
c: 0.0718 
w: 0.3139 
lam: -0.5705 
IFyy: 0.1640 

Value of the objective function:

peak_hqm =

    2.3691

==========================================

Here is the picture:

[moorepants]

I think we can enforce the total center of mass of the bicycle + rider to be in front of the front wheel contact point. The lower bound of the wheel base should be able to be set such that that is true.

[moorepants]

w_lower_bound = (mF*w + mB*xB + mH*xH) / (mF + mR + mB + mH)

Means we'd have to assume a minimal w.

[moorepants]

But since mB is so large, maybe we can ignore the location of the wheel and just use:

w_lower_bound =  (mB*xB + mH*xH) / (mF + mR + mB + mH)

This would be the center of mass location of the whole system if the front wheel were location as far back as the rear wheel.

[moorepants]

DOH, I already have something like that in the code.

[moorepants]

Here is an example of how one might be able to build the above bicycle:

[moorepants]

Here is a result for the PIista at 3 m/s (with a starting HQM at about 8).

===============================================================================
===============================================================================
Values passed into the objective function:
c: 0.75461 
w: 0.35996 
lam: -0.05486 
IFyy: 0.07974 
rF: 0.22465 
mF: 1.58000 

Value of the objective function:

peak_hqm =

    1.2240

===============================================================================

And look at this beauty!

[moorepants]

Here is a sketch of a possibility:

[moorepants]

Here is the result of the Pista @ 3 m/s with a min wheelbase of 0.5 m.

===============================================================================
Values passed into the objective function:
c: 0.82038 
w: 0.50000 
lam: -0.29829 
IFyy: 0.08127 
rF: 0.22465 
mF: 1.61039 

Solver stopped prematurely.

fsolve stopped because it exceeded the iteration limit,
options.MaxIterations = 400 (the default value).


Solver stopped prematurely.

fsolve stopped because it exceeded the iteration limit,
options.MaxIterations = 400 (the default value).

Value of the objective function:

peak_hqm =

    1.5957

===============================================================================

Here is the geometry: