A Benchmark for Bicycle Motion
(linearized ODEs)

JBike6 is a computer program that determines the stability of bicycles. You can enter information about the shape and mass distribution of a bicycle, and JBike6 calculates the speeds at which that bicycle is stable all by itself, with no control.

In particular, JBike6 calculates the eigenvalues (i.e., perturbation-growth exponents: λ in solutions of the form q = veλt), for an idealized, uncontrolled bicycle. It then plots these linearized perturbation-growth eigenvalues over a range of forward speeds. For example, the bike shown at the right is self-stable in the region of speeds (between 5.3 and 8 m/s) where both dark blue lines are below the x-axis.

Before we go any further, however, here are a few caveats you should know:

The equations used in JBike6 are benchmarked exhaustively in a paper by A. L. Schwab, J. P. Meijaard, and J. M. Papadopoulos.

JBike6 has a graphical user interface (screen shot) and comprehensive on-line help.

If working on bicycle or motorcycle development or research, use JBike6 to:

JBike6 was created by:

Download a copy for free. Requires MATLAB, by The MathWorks, version 6.0 or higher.

Please join the Single Track Vehicle Dynamics discussion or email us with questions or comments.

Last updated February 8, 2015

Copyright © 2003-2015 Schwab, Papadopoulos, Ruina, & Dressel, Delft University of Technology & Cornell University