Gyroscopic Stabilization of a Self-Balancing Robot Bicycle

Lam, Pom Yuan; Sin, Tan Kian

doi:10.20965/ijat.2011.p0916

Cited by 18 publications

(14 citation statements)

References 2 publications

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“…P.Y. Lam [22] used a control moment gyro as an actuator to stabilize a small bicycle. By using a PD (Proportional and Differential) controller, the bicycle was successfully balanced and could move forward and backwards, and could turn through a small angle.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Chen

Chu

Zhang

2019

Sensors

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This study designs and controls an active stabilizing assistant system (ASAS) for a bicycle. Using the gyroscopic effect of two spinning flywheels, the ASAS generates torques that assist the rider to stabilize the bicycle in various riding modes. Riding performance and the rider’s safety are improved. To simulate the system dynamic behavior, a model of a bicycle–rider system with the ASAS on the rear seat is developed. This model has 14 degrees of freedom and is derived using Lagrange equations. In order to evaluate the efficacy of the ASAS in interacting with the rider’s control actions, simulations of the bicycle–rider system with the ASAS are conducted. The results for the same rider for the bicycle with an ASAS and on a traditional bicycle are compared for various riding conditions. In three cases of simulation for different riding conditions, the bicycle with the proposed ASAS handles better, with fewer control actions being required than for a traditional bicycle.

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Section: Introductionmentioning

confidence: 99%

Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Chen

Chu

Zhang

2019

Sensors

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“…However, no control strategies for this system were proposed. Lam et al in their work [16] used a control moment gyro as an actuator to stabilize a small bicycle. By using proportional-derivative (PD) controllers, a stationary bicycle with initial angle of 11.6 • was stabilized and continued to oscillate around the upright position with steady-state errors of ±1.5 • .…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Model Predictive Control for a Gyroscopic Inverted Pendulum

Chu

Chen

2017

Applied Sciences

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This study proposes the design of an active stabilizing system (ASAS) for a single-track vehicle. Using the gyroscopic effects of two flywheels, this system can generate control torque to stabilize the vehicle in cases where there is centrifugal force of turning. To control the flywheel gimbals to generate stabilizing torque, a model predictive controller (MPC) is applied to control the system. For the controller design and performance evaluations, a model of a gyroscopic inverted pendulum is developed. Control strategies are proposed to stabilize the vehicle in the cases of straight running, circular motion, and path following. The results of the proposed stratgies when controlling the gyroscopic inverted pendulum showed good performance even with physical limitations of the control torques. In order to evaluate the real-time performance and the feasibility of the MPC, a real-time simulator is employed, which includes two embedded STM32F407 boards. The dynamic system and the control algorithms are respectively embedded into two STM32F407 boards for real-time simulation. Implementations of the MPC in this study demonstrate that the proposed controllers are feasible for real-time applications.

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“…External force to ensure the bicycle balance can be achieved with the aid of an inverted pendulum [14]. Gyroscopic stabilization is another method used in closed-loop control of self-balancing bicycle [11], [15].…”

Section: Introductionmentioning

confidence: 99%

Modelling, Control System Design and Simulation of an Autonomous Bicycle

Argin¹,

Bayraktaroglu²

2014

Modelling, Identification and Control

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This paper presents the mathematical modelling and control system design of an autonomous bicycle. The nonlinear equations of motion have been derived and the proposed control system has been used in the simulation of the dynamical behaviour of the bicycle. With the assumption of rolling without slipping condition for the wheels-ground interaction, the system is constrained by nonholonomic equations, and the equations of motion are highly nonlinear. Unlike many other approaches present in related literature, the dynamical model is preserved in simulations in its original nonlinear form without any simplifying assumptions and linearization. Numerical results of the simulations show that the proposed closedloop control system is achievable. Design of the experimental system has been based on a commercially available bicycle. The mechanical modifications and control system hardware have been designed according to the simulation results.

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Gyroscopic Stabilization of a Self-Balancing Robot Bicycle

Cited by 18 publications

References 2 publications

Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Design and Implementation of Model Predictive Control for a Gyroscopic Inverted Pendulum

Modelling, Control System Design and Simulation of an Autonomous Bicycle

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