Practical Application of the Whipple and Carvallo Stability Model on Modern Bicycles with Pedal Assistance

Abstract

Increasingly more people cycle with electrically-powered pedal assistance. The reduced pedalling effort attracts physically challenged people and seniors, who have a higher risk of falling. Since electric bicycles are heavier and the centre of masses are located higher, accidents happen easily. This study analyses the influence of the addition of a battery and motor unit on the stability behaviour of common bicycles for women. Based on market research, seven typical bicycle configurations are determined. Geometrics, mass values, and cycling postures are measured, and the theoretical stability behaviour is determined analytically based on the stability model of Whipple and Carvallo. The research shows that bicycles without pedal assistance have a smaller self-stable and semi-stable range than most electric bicycles. The electric bicycle with a motor implemented in the front wheel perform best, as the extra weight of the motor enhances the gyroscopic self-stabilization of the front wheel. Furthermore, a battery in the lower mid-tube is preferred over one in the luggage rack as it lowers the center of mass of the rear frame assembly. Knowledge about the optimal configuration to maximize the stability will enhance the cycling comfort and minimize the chance of accidents.

Keywords

• whipple
• caravallo
• self-stability
• bicycle dynamics