BicycleParameters
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moorepants
Add RawData files for the Balanceassistv1
Christoph and Jason measured the Balanceassistv1 bicycle, i.e. the first balance assist bicycle we received from Bosch/Gazelle, with the standard procedure. This is a modified Gazelle Grenoble step through frame with the e-bike battery in the downtube. The torsional and compound pendulum data files will be added to Figshare and the periods recorded in these files result from that data and the current version of BicycleParameters. The measurements were recorded mostly on July 30-1, 2024 and various corrections recorded upt to and including August 8, 2024.
@chrismo-schmidt would you like to double check these? I made some changes and took the final measurements so the rider can sit on the bike.
Resulting figures:
Resulting parameters without rider:
{'IBxx': 1.14925449488747,
'IBxz': 0.05719397280279859,
'IByy': 3.1019340904048214,
'IBzz': 2.0895833926673024,
'IFxx': 0.09947076116547277,
'IFyy': 0.19230532606494322,
'IFzz': 0.09947076116547277,
'IHxx': 0.3113335653577265,
'IHxz': -0.051328838578187846,
'IHyy': 0.2566995843845019,
'IHzz': 0.06539535254969839,
'IRxx': 0.10407036275570299,
'IRyy': 0.18685868837700836,
'IRzz': 0.10407036275570299,
'c': 0.041754825960194364,
'g': 9.80665,
'lam': 0.25453392722979173,
'mB': 22.5,
'mF': 2.235,
'mH': 4.3,
'mR': 4.085,
'rF': 0.3523093609017968,
'rR': 0.3489472127289805,
'v': 1.0,
'w': 1.1132722200610523,
'xB': 0.5191964830280268,
'xH': 0.9208250036668604,
'zB': -0.5212573173045935,
'zH': -0.8600415661998936}
with Jason as rider:
{'IBxx': 19.692864561933778,
'IBxz': -3.507187082718745,
'IByy': 22.616790645669592,
'IBzz': 4.971570470059646,
'IFxx': 0.09947076116547277,
'IFyy': 0.19230532606494322,
'IFzz': 0.09947076116547277,
'IHxx': 0.3113335653577265,
'IHxz': -0.051328838578187846,
'IHyy': 0.2566995843845019,
'IHzz': 0.06539535254969839,
'IRxx': 0.10407036275570299,
'IRyy': 0.18685868837700836,
'IRzz': 0.10407036275570299,
'c': 0.041754825960194364,
'g': 9.80665,
'lam': 0.25453392722979173,
'mB': 106.00000000000001,
'mF': 2.235,
'mH': 4.3,
'mR': 4.085,
'rF': 0.3523093609017968,
'rR': 0.3489472127289805,
'v': 1.0,
'w': 1.1132722200610523,
'xB': 0.37430384487162016,
'xH': 0.9208250036668604,
'yB': 0.0,
'zB': -1.009365940238417,
'zH': -0.8600415661998936}
Test script:
import pprint
import numpy as np
import matplotlib.pyplot as plt
import bicycleparameters as bp
from bicycleparameters.parameter_sets import Meijaard2007ParameterSet
from bicycleparameters.models import Meijaard2007Model
data_dir = "/home/moorepants/Data/bicycle-parameters"
v = np.linspace(0.0, 10.0, num=401)
bicycle = bp.Bicycle("Balanceassistv1", pathToData=data_dir,
forcePeriodCalc=True, forceRawCalc=True)
print(bicycle)
print('Bicycle short name:', bicycle.bicycleName)
print('Directory:', bicycle.directory)
pprint.pprint(bicycle.extras)
M, C1, K0, K2 = bicycle.canonical()
print('M:', M)
print('C1:', C1)
print('K0:', K0)
print('k2:', K2)
A, B = bicycle.state_space(3.2)
print('A:', A)
print('B:', B)
print(*bicycle.eig([1.0, 2.0]))
bicycle.plot_bicycle_geometry(show=False)
bicycle.plot_eigenvalues_vs_speed(v)
par = bp.io.remove_uncertainties(bicycle.parameters['Benchmark'])
par['v'] = 1.0
pprint.pprint(par)
par_set = Meijaard2007ParameterSet(par, False)
par_set.plot_all()
model = Meijaard2007Model(par_set)
model.plot_eigenvalue_parts(v=v)
bicycle.add_rider('Jason')
print(bicycle)
bicycle.plot_bicycle_geometry(show=False)
par = bp.io.remove_uncertainties(bicycle.parameters['Benchmark'])
par['v'] = 1.0
pprint.pprint(par)
par_set = Meijaard2007ParameterSet(par, True)
par_set.plot_all()
model = Meijaard2007Model(par_set)
model.plot_eigenvalue_parts(v=v)
plt.show()
Which does give this warning:
/home/moorepants/src/BicycleParameters/bicycleparameters/parameter_sets.py:725: RuntimeWarning: invalid value encountered in sqrt
width = np.sqrt(5/2*(-kaa**2 + kyy**2 + kbb**2))
which is from calculating the inertia ellipsoids I believe.
It does look like it is failing to draw the inertia ellipsoid of the handelbar.
If I truncate the pendulum period measurements the fork decayed oscillation fits are signficantly poorer, this must result in the inertia of the fork not being quite right and thus the principal inertia calc for the ellipsoid exposes that. If I skip truncated from 100% to 90% of the decay in the signal, then the fits are great and inertia of fork seems to be correct. I guess I'll just skip the truncation if the time array is given.
I'm now thinking that the fork inertia values could just be erroneous. I measured the Crescendo years back which has a very similar fork, including a fender+light. The ellipsoid for the fork has more inertia about the steer axis than what we get from our measurements. Here is the Crescendo:
and the inertia figure:
Here are the final results (based on not truncating the period time series if the measurement has a time variable in the mat file).
Test script:
import pprint
import numpy as np
import matplotlib.pyplot as plt
import bicycleparameters as bp
from bicycleparameters.parameter_sets import Meijaard2007ParameterSet
from bicycleparameters.models import Meijaard2007Model
data_dir = "/home/moorepants/Data/bicycle-parameters"
v = np.linspace(0.0, 10.0, num=401)
bicycle = bp.Bicycle("Balanceassistv1", pathToData=data_dir,
forcePeriodCalc=True, forceRawCalc=True)
print(bicycle)
print('Bicycle short name:', bicycle.bicycleName)
print('Directory:', bicycle.directory)
pprint.pprint(bicycle.extras)
M, C1, K0, K2 = bicycle.canonical()
print('M:', M)
print('C1:', C1)
print('K0:', K0)
print('k2:', K2)
A, B = bicycle.state_space(3.2)
print('A:', A)
print('B:', B)
print(*bicycle.eig([1.0, 2.0]))
bicycle.plot_bicycle_geometry(show=False)
bicycle.plot_eigenvalues_vs_speed(v)
par = bp.io.remove_uncertainties(bicycle.parameters['Benchmark'])
par['v'] = 1.0
pprint.pprint(par)
par_set = Meijaard2007ParameterSet(par, False)
par_set.plot_all()
model = Meijaard2007Model(par_set)
model.plot_eigenvalue_parts(v=v)
bicycle.add_rider('Jason')
print(bicycle)
bicycle.plot_bicycle_geometry(show=False)
par = bp.io.remove_uncertainties(bicycle.parameters['Benchmark'])
par['v'] = 1.0
pprint.pprint(par)
par_set = Meijaard2007ParameterSet(par, True)
par_set.plot_all()
model = Meijaard2007Model(par_set)
model.plot_eigenvalue_parts(v=v)
plt.show()
Script text output
Found the RawData directory: /home/moorepants/Data/bicycle-parameters/bicycles/Balanceassistv1/RawData
Recalcuting the parameters.
Calculating the period for: Balanceassistv1ForkCompoundFirst1.mat
The period is: 1.62270+/-0.00004
Calculating the period for: Balanceassistv1ForkCompoundFirst2.mat
The period is: 1.62128+/-0.00008
Calculating the period for: Balanceassistv1ForkCompoundFirst3.mat
The period is: 1.62073+/-0.00008
Calculating the period for: Balanceassistv1ForkCompoundFirst4.mat
The period is: 1.62014+/-0.00006
Calculating the period for: Balanceassistv1ForkTorsionalFirst1.mat
The period is: 1.51347+/-0.00017
Calculating the period for: Balanceassistv1ForkTorsionalFirst2.mat
The period is: 1.51608+/-0.00029
Calculating the period for: Balanceassistv1ForkTorsionalFirst3.mat
The period is: 1.50943+/-0.00020
Calculating the period for: Balanceassistv1ForkTorsionalSecond1.mat
The period is: 1.2406+/-0.0004
Calculating the period for: Balanceassistv1ForkTorsionalSecond2.mat
The period is: 1.24048+/-0.00018
Calculating the period for: Balanceassistv1ForkTorsionalSecond3.mat
The period is: 1.24008+/-0.00016
Calculating the period for: Balanceassistv1ForkTorsionalThird1.mat
The period is: 0.73596+/-0.00010
Calculating the period for: Balanceassistv1ForkTorsionalThird2.mat
The period is: 0.73716+/-0.00009
Calculating the period for: Balanceassistv1ForkTorsionalThird3.mat
The period is: 0.73708+/-0.00009
Calculating the period for: Balanceassistv1FrameCompoundFirst1.mat
The period is: 1.79750+/-0.00011
Calculating the period for: Balanceassistv1FrameCompoundFirst2.mat
The period is: 1.79909+/-0.00008
Calculating the period for: Balanceassistv1FrameCompoundFirst3.mat
The period is: 1.80003+/-0.00005
Calculating the period for: Balanceassistv1FrameTorsionalFirst1.mat
The period is: 3.2877+/-0.0004
Calculating the period for: Balanceassistv1FrameTorsionalFirst2.mat
The period is: 3.29309+/-0.00034
Calculating the period for: Balanceassistv1FrameTorsionalFirst3.mat
The period is: 3.30595+/-0.00028
Calculating the period for: Balanceassistv1FrameTorsionalSecond1.mat
The period is: 3.7128+/-0.0004
Calculating the period for: Balanceassistv1FrameTorsionalSecond2.mat
The period is: 3.71415+/-0.00030
Calculating the period for: Balanceassistv1FrameTorsionalSecond3.mat
The period is: 3.71615+/-0.00030
Calculating the period for: Balanceassistv1FrameTorsionalThird1.mat
The period is: 3.09983+/-0.00029
Calculating the period for: Balanceassistv1FrameTorsionalThird2.mat
The period is: 3.09881+/-0.00027
Calculating the period for: Balanceassistv1FrameTorsionalThird3.mat
The period is: 3.09933+/-0.00022
Calculating the period for: Balanceassistv1FwheelCompoundFirst1.mat
The period is: 1.533589+/-0.000020
Calculating the period for: Balanceassistv1FwheelCompoundFirst2.mat
The period is: 1.53278+/-0.00004
Calculating the period for: Balanceassistv1FwheelCompoundFirst3.mat
The period is: 1.531369+/-0.000020
Calculating the period for: Balanceassistv1FwheelCompoundFirst4.mat
The period is: 1.53265+/-0.00007
Calculating the period for: Balanceassistv1FwheelTorsionalFirst1.mat
The period is: 0.88159+/-0.00004
Calculating the period for: Balanceassistv1FwheelTorsionalFirst2.mat
The period is: 0.882016+/-0.000024
Calculating the period for: Balanceassistv1FwheelTorsionalFirst3.mat
The period is: 0.881827+/-0.000022
Calculating the period for: Balanceassistv1RwheelCompoundFirst1.mat
The period is: 1.347828+/-0.000024
Calculating the period for: Balanceassistv1RwheelCompoundFirst2.mat
The period is: 1.348834+/-0.000016
Calculating the period for: Balanceassistv1RwheelCompoundFirst3.mat
The period is: 1.348391+/-0.000012
Calculating the period for: Balanceassistv1RwheelCompoundFirst4.mat
The period is: 1.347953+/-0.000034
Calculating the period for: Balanceassistv1RwheelTorsionalFirst1.mat
The period is: 0.89414+/-0.00004
Calculating the period for: Balanceassistv1RwheelTorsionalFirst2.mat
The period is: 0.89384+/-0.00004
Calculating the period for: Balanceassistv1RwheelTorsionalFirst3.mat
The period is: 0.893628+/-0.000033
Calculating the period for: RodRodTorsionalFirst1.mat
The period is: 0.964128+/-0.000019
Calculating the period for: RodRodTorsionalFirst2.mat
The period is: 0.96481+/-0.00008
Calculating the period for: RodRodTorsionalFirst3.mat
The period is: 0.96553+/-0.00006
The glory of the Balanceassistv1 parameters are upon you!
Balanceassistv1 with no one on board.
Bicycle short name: Balanceassistv1
Directory: /home/moorepants/Data/bicycle-parameters/bicycles/Balanceassistv1
{'betas': {'B': [-5.6883121758109+/-0.027688544632344214,
-0.8869114035744998+/-0.027688544632344214,
-2.7544137032084324+/-0.027688544632344214],
'H': [-2.775357654232365+/-0.027688544632344214,
-0.5552988456955772+/-0.027688544632344214,
-1.1417294743656718+/-0.027688544632344214]},
'intercepts': {'B': [-0.1617987808277105+/-0.003710977527879129,
-1.1086703853269324+/-0.025856069984397746,
-0.3165490315996673+/-0.0011488504490626953],
'H': [-0.5358131793589308+/-0.029016809884671143,
-1.4137057446586518+/-0.049359105831349434,
-2.917937765619192+/-0.1870702072638602]},
'pendulumInertias': {'B': [1.3902007491332655+/-0.007570132883878139,
1.765979579999164+/-0.009615594205888917,
1.229564442351413+/-0.006694784335607237],
'H': [0.2930164951250737+/-0.001595981028390291,
0.19693536282436983+/-0.0010731350895737822,
0.06947637471905611+/-0.00037836112978763714]},
'slopes': {'B': [-0.676636585016892+/-0.04036538672907974,
1.226832704636709+/-0.06936308498583547,
-0.4077610145494889+/-0.032292292505428186],
'H': [-0.38353805801273044+/-0.03176156947309774,
0.6204197159449089+/-0.03834643650802733,
2.1858301573111802+/-0.15998035386628937]}}
M: [[11.688942525993475+/-0.31594150944060384
0.4406131920896975+/-0.09313204253742689]
[0.4406131920896975+/-0.09313204253742689
0.19410189902471633+/-0.01255464963661183]]
C1: [[0.0 10.225105813876123+/-0.24096160633951902]
[-0.5615672307821129+/-0.006883599474168358
0.6877300951088847+/-0.10857086496036385]]
K0: [[-17.639329159626296+/-0.32095068488456974
-0.7225780895249696+/-0.14676562280312822]
[-0.7225780895249696+/-0.14676562280312822
-0.18194110186637624+/-0.05477497412059674]]
k2: [[0.0 16.273256477906656+/-0.21968344619707672]
[0.0 0.7462886916588964+/-0.13526862918254584]]
A: [[0.0 0.0 1.0 0.0]
[0.0 0.0 0.0 1.0]
[14.678735393679776+/-0.16987045705682288
-13.683072997301307+/-0.27800240387835695
-0.3816389372179702+/-0.06331810525475134
-2.5938164365370975+/-0.08076234022884007]
[3.1860891990140985+/-0.7871645723544941
0.8819026286099074+/-1.6739345881159413
10.124425874915588+/-0.25564721855886846
-5.450057778241475+/-0.36244843734941384]]
B: [[0.0 0.0]
[0.0 0.0]
[0.0935563415068749+/-0.001390448537546629
-0.21237380200143693+/-0.03303175703268857]
[-0.21237380200143693+/-0.03303175703268857
5.6340236974024975+/-0.19414818504659848]]
[[-3.73879106+0.62776527j -3.73879106-0.62776527j 2.82758845+0.45733248j
2.82758845-0.45733248j]
[-3.83787261+0.83559703j -3.83787261-0.83559703j 2.01546738+1.51314516j
2.01546738-1.51314516j]] [[[-0.02252645+0.09492353j -0.02252645-0.09492353j
-0.13483573-0.04650224j -0.13483573+0.04650224j]
[ 0.23240054+0.03902143j 0.23240054-0.03902143j
-0.29334183+0.04744493j -0.29334183-0.04744493j]
[ 0.024632 -0.36904055j 0.024632 +0.36904055j
-0.35999296-0.19315396j -0.35999296+0.19315396j]
[-0.89339338+0.j -0.89339338-0.j
-0.85114807+0.j -0.85114807-0.j ]]
[[ 0.02776644+0.05737999j 0.02776644-0.05737999j
-0.19467024-0.02314574j -0.19467024+0.02314574j]
[ 0.23289269+0.05070633j 0.23289269-0.05070633j
-0.24982379+0.1875593j -0.24982379-0.1875593j ]
[-0.15451061-0.19701553j -0.15451061+0.19701553j
-0.35732867-0.34121381j -0.35732867+0.34121381j]
[-0.93618255+0.j -0.93618255-0.j
-0.78731615+0.j -0.78731615-0.j ]]]
{'IBxx': 1.1198252298472995,
'IBxz': 0.04678005457419021,
'IByy': 3.1606031126515646,
'IBzz': 2.119022714899317,
'IFxx': 0.09953295608625136,
'IFyy': 0.19015619017713314,
'IFzz': 0.09953295608625136,
'IHxx': 0.29844713987805804,
'IHxz': -0.03826451175579229,
'IHyy': 0.25662501245035463,
'IHzz': 0.05656444304099169,
'IRxx': 0.10227397798804952,
'IRyy': 0.1886505218140362,
'IRzz': 0.10227397798804952,
'c': 0.041754825960194364,
'g': np.float64(9.80665),
'lam': 0.25453392722979173,
'mB': 22.5,
'mF': 2.235,
'mH': 4.3,
'mR': 4.085,
'rF': 0.3523093609017968,
'rR': 0.3489472127289805,
'v': 1.0,
'w': 1.1132722200610523,
'xB': 0.5191964830280268,
'xH': 0.9208250036668604,
'zB': -0.5212573173045935,
'zH': -0.8600415661998936}
There is no rider on the bicycle, now adding Jason.
No parameter files found, calculating the human configuration.
Balanceassistv1 with Jason on board.
{'IBxx': 19.66343529689361,
'IBxz': -3.5176010009473533,
'IByy': 22.675459667916336,
'IBzz': 5.001009792291661,
'IFxx': 0.09953295608625136,
'IFyy': 0.19015619017713314,
'IFzz': 0.09953295608625136,
'IHxx': 0.29844713987805804,
'IHxz': -0.03826451175579229,
'IHyy': 0.25662501245035463,
'IHzz': 0.05656444304099169,
'IRxx': 0.10227397798804952,
'IRyy': 0.1886505218140362,
'IRzz': 0.10227397798804952,
'c': 0.041754825960194364,
'g': np.float64(9.80665),
'lam': 0.25453392722979173,
'mB': 106.00000000000001,
'mF': 2.235,
'mH': 4.3,
'mR': 4.085,
'rF': 0.3523093609017968,
'rR': 0.3489472127289805,
'v': 1.0,
'w': 1.1132722200610523,
'xB': 0.37430384487162016,
'xH': 0.9208250036668604,
'yB': 0.0,
'zB': -1.009365940238417,
'zH': -0.8600415661998936}