[python] Re: Stability Theory
- From: Ray Schümacher <mtb@xxxxxxx>
- To: python@xxxxxxxxxxxxx
- Date: Thu, 17 Feb 2005 22:36:40 -0800
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.
Ray
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