[python] Re: Stability Theory
- From: "25hz" <25hz@xxxxxxxxxx>
- To: <python@xxxxxxxxxxxxx>
- Date: Sun, 20 Feb 2005 09:14:52 -0500
Just to qualify the word "our", I meant "our" as in my python and my
friend's. They're both rideable, but as we got a renewed hit of winter, any
high speed data will have to wait for a while yet. I don't think your app
went far enough to accommodate the length of our python's. Again though,
I'll see what they ride like when we lose a few feet of snow.
> At 09:46 PM 2/17/2005 -0500, you wrote:
> >Cool app. Works fine in 2K as well. According the program so far, our
> >pythons aren't stable at any speed :)
>
> Try a trail of -8 and an angle of 54, and then fiddle with the rest - they
have various effects. For some trails, there are a few different,
unconnected stable angles. This is what I noticed as islands of stability; a
small change of angle or trail kills self-stability. Notice that shorter
wheel base adds stability!
>
> >Mind you, I have to get the weight
> >distribution, and I have no idea how to figure out the mass height for
the
> >front and rear, or how do decide where the "mass" is in relation to the
> >pivot and the rear axle.
>
> I try to visualize the mass of the legs and torso, but the connected
nature of the masses above the pivot bothers me. It is a big damper and also
hard to say what the moments should be.
>
> Re: the coasting stability, none of what I've read refers to the axle at
all in the math; it is always moments about the contact patch.
> Also remember that the angle of gravity on the mass changes when down
hill, weight force moves forward and the angle of the pivot relative to
earth's gravity changes, "steepening" the pivot angle. So, on a 20deg slope
the weight vectors are parallel to a 70deg pivot. The code I wrote always
assumes level ground. I wonder how hard it would be to add slope in....I'll
try to do more over the weekend.
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