Gyroscopic stabilisers for powered two-wheeled vehicles

Abstract

This paper illustrates the potential of a gyroscopic stabiliser for the stabilisation of single track vehicles, at low and high speed as well as during braking. Alternative systems are considered, including single and twin counter-rotating gyroscopes, spinning and precessing with respect to different axes, either freely (passive stabilisers) or in a controlled way (active stabilisers). A suitable mathematical model has been developed and stability has been investigated both by eigenvalue calculation and time domain simulations. It has been found that the most effective configuration is one where the gyroscope(s) spin with respect to an axis parallel to the wheels' spin axis and swing with respect to the vehicle yaw axis. Passive systems may effectively stabilise both weave and wobble at medium and high speed, but cannot stabilise the vehicle at low and zero speed. On the contrary, actively controlled gyroscopes are capable of stabilising the vehicle in its whole range of operating speed, as well as during braking. The alteration of the original vehicle handling characteristics is negligible when active counterrotating gyroscopes are used, and still acceptable if a single gyroscope is adopted instead.

Loss of Control Prediction for Motorcycles during Emergency Braking Maneuvers Using a Supervised Learning Algorithm

“…The new development of active safety technologies are rider-in-the-loop-systems whose efficiency depends on understanding the response of the riders. The predictive models and kinematic thresholds identified in this work can be used in cases of emergency braking to improve the triggering algorithms used by active stability control systems (e.g., cable steering systems [23] or gyro-stabilization systems [24]). Furthermore, the models can also be applied for acceptance assessment of new advanced riding assistance systems such as motorcycle autonomous emergency braking system [25] by classifying the riding controllability/instability during the activation of these systems and providing information about the riders' performance capabilities.…”

Balancing Control of Two-Wheel Bicycle Problems

“…x ∈ R n ,u ∈ R p , y ∈ R q , A ∈ R nxn , B ∈ R nxp , and C ∈ R qxn . e goal of the order reduction problem with the model described by (20) is to find models described by systems of equations:…”

“…(i) Controlling balance by controlling the steering angle or using centrifugal force as in the research of Tanaka and Murakami [1], Chen and Dao [2][3][4], Huang et al [5], Vatanashevanopakorn Parnichkun [6], and Wang et al [7] (ii) Controlling balance by changing the center of mass such as Lee and Ham [8], Keo et al [9], and Yamakita et al [10] (iii) Controlling balance by flywheel as in the studies of Suebsomran [11], Sikander and Prasad [12], Beznos et al [13], Hwang et al [14], Karnopp [15], Gallaspy [16], Xu et al [17], Lam [18,19], Lot and Fleming [20], Park and Yi [21], Stephen and Girard [22], Lee et al [23], Suprapto [24], and Kim et al [25] e control method using centrifugal force has the disadvantage of not being able to control bicycle balance when the bicycle is stationary. e control method by changing the center of mass requires more weight, increasing the bicycle weight, while the response time of the system is slow.…”

Steering control to balance a motorcycle at low speeds based on riders’ input

“…These modifications reduced the steering input required to balance the motorcycle. Lot and Fleming, 6 and Karnopp 7 have introduced devices that provide gyroscopic moments, controlled to balance a motorcycle. Yang and Murakami 8 have provided steering to both front and rear wheels of a motorcycle to achieve the low-speed stability.…”