Angular Momentum Control for Preventing Rollover of a Heavy Vehicle

Abstract

In this article, gyroscopes and flywheels are used to prevent the rollover of a vehicle due to external forces. The rollover preventing performance of the flywheels for a heavy trailer (an inverted pendulum problem) is investigated at a high road bank angle risk. Two control moment gyroscopes (CMG) and a reaction wheel are controlled by proportional torques to keep the vehicle in a stable motion in the vertical position. The reaction wheel was used only to eliminate the dissipation energy of damper. By using the energy stored in the flywheels of gyroscopes, the sprung mass of a vehicle can make a stable oscillating motion of small amplitude, standing upright without tipping over. The optimum flywheel speed was derived from the frequency equations with the appropriate controller gain. Most importantly, the required angular momentum to keep the vehicle upright without tipping over depends on the amplitude of the gimbal oscillation and the frequency. It has also been observed that Matlab simulations of Lagrangian equations and simulations modeled in RecurDyn software are in perfect harmony.

Investigation of the Effects of Axle Load on Tyre Behaviour in Vehicles

“…In the flow chart, blue blocks are input parameters, gray blocks are intermediate parameters and green blocks are output parameters. In vehicle dynamics, MATLAB Simulink software is used in many areas, from body behavior such as slip and roll over to suspension models [53,54]. In this study, in which the effects of axle load on tyre mechanics were investigated, important parameters of tyre mechanics were investigated for the values of axle load between 1000 N and 6000 N using the MATLAB Simulink software.…”

Gyroscopic precession control for maneuvering two‐wheeled robot recoil stabilization

“…This is because when the flywheel's speed is not changing, there is no angular momentum in the roll angle of the vehicle to generate the balancing torque. Compared with a reaction wheel, a similar flywheel of the control moment gyroscope (CMG) can maintain a high rate of angular momentum and relatively low power consumption by rotating the gimbal axis of a fast‐spinning flywheel although flywheel spin velocity is constant (Amin et al, 2023; Çetin & Ünker, 2023; Ünker, 2022a, 2022b, 2022c, 2023a, 2023b). Due to generating much higher torque than reaction wheels, CMGs have a wide range of applications for vehicles, including balancing aids for robots (Amin et al, 2023; Çetin & Ünker, 2023; Ünker, 2022a, 2022b, 2023a), trucks (Ünker, 2022c, 2023b), and ships (Song et al, 2023).…”

“…Compared with a reaction wheel, a similar flywheel of the control moment gyroscope (CMG) can maintain a high rate of angular momentum and relatively low power consumption by rotating the gimbal axis of a fast‐spinning flywheel although flywheel spin velocity is constant (Amin et al, 2023; Çetin & Ünker, 2023; Ünker, 2022a, 2022b, 2022c, 2023a, 2023b). Due to generating much higher torque than reaction wheels, CMGs have a wide range of applications for vehicles, including balancing aids for robots (Amin et al, 2023; Çetin & Ünker, 2023; Ünker, 2022a, 2022b, 2023a), trucks (Ünker, 2022c, 2023b), and ships (Song et al, 2023). On the other hand, a well‐known disadvantage of using CMGs for stabilizing is the existence of a controller requirement, in which the flywheel placed inside a gimbal may not stand stably without a closed‐loop controller under a constant load although it generates an angular momentum (Amin et al, 2023; Çetin & Ünker, 2023; Ünker, 2022a, 2022c, 2023a).…”

“…So, CMG can be used as an indirect robot actuator for balancing two-wheel mobile robots (Amin et al, 2023;Çetin & Ünker, 2023;Ünker, 2022a, 2022b, 2023a. Moreover, CMG gives this two-wheeled robot advantage over conventional robots due to the effect of gyroscopic precession (Amin et al, 2023;Çetin & Ünker, 2023;Song et al, 2023;Ünker, 2020, 2022a, 2022b, 2022c, 2023a, 2023bÜnker & Çuvalcı, 2016a, 2016b, 2019, 2015a, 2015b, 2021. Ünker (2022a, 2023a) proposed this technique for the roll-angle balancing of a two-wheeled robot.…”

“…Due to generating much higher torque than reaction wheels, CMGs have a wide range of applications for vehicles, including balancing aids for robots (Amin et al, 2023;Çetin & Ünker, 2023;Ünker, 2022a, 2022b, 2023a, trucks (Ünker, 2022c, 2023b), and ships (Song et al, 2023). On the other hand, a well-known disadvantage of using CMGs for stabilizing is the existence of a controller requirement, in which the flywheel placed inside a gimbal may not stand stably without a closed-loop controller under a constant load although it generates an angular momentum (Amin et al, 2023;Çetin & Ünker, 2023;Ünker, 2022a, 2022c, 2023a. When a gimbal is not controlled by a tilt torque for the vehicle to remain balanced, CMG cannot meet the disturbance torque in the direction of the vehicle roll.…”