Self-sustaining driving control of two-wheeled vehicle by using gyro-actuator

Abstract

Gyro is not only used as a sensor but also used as an actuator. In the beginning of 20Th century, the gyro monorail using a gyro-actuator which was controlled by manual operation was proposed. In 1970's, the research on a gyro bike was reported. However, a standstill was only confirmed in it. On the other hand, the self-sustaining control of two-wheeled vehicles by using an inertia rotor are reported recently. However, it is difficult to make a large vehicle because this inertia rotor system has only a smaller power as compared with that using the gyro actuator which can obtain a larger power. The modeling is needed for the control system design of the vehicle with a gyro actuator. In this paper, first, positions, angles, and angular velocities are calculated from 3rd link system, then the model for the two-wheeled vehicle with a gyro actuator is made by using Lagrange equation, next the control system is designed by the Ricatti equation, finally the effects of this theory are confirmed by experiments.

LQR-based starting control method for motorcycle using front-wheel drive

“…Several studies attempted to achieve this goal, but most of them required significant modification of motorcycles (Hara et al, 2020;Ouchi et al, 2015;Badgujar and Mohite, 2023). Significant changes in the mechanism of a motorcycle may indicate unexpected movements to the rider, thereby increasing the possibility of falling.…”

Robust Control Strategy for Robotic Motorcycle Without Falling Down at Low-Speed Driving

“…In this regard, motorcycles must automatically self-stabilize in the parking state and during low-speed driving to counteract the weakness mentioned above. To achieve similar purposes, Ouchi et al proposed a stabilization mechanism equipped with a gyro (1) , and Satoh et al developed a mechanism that stabilizes the vehicle by moving a counterweight in a direction orthogonal to its traveling direction (2) . A study conducted by Saguchi et al on a stabilization control method using steering is also well known (3) .…”

Low‐Speed Control Experiment of Motorcycles Using SPACAR Model

“…If the rider loses balance as a result of encountering small bumps or uneven road surfaces, or if the motorcycle stops when it is tilted, the body of the motorcycle will fall. Various mechanisms have been proposed in previous studies to achieve the above goals; however, most of them entail modifying the structure of motorcycles [1,2].…”