Dynamic Modeling and PID Control of a Subscale Gyroscopically-Balanced Bicycle

Articles in Press

Document Type : Mechanics article

Authors

1 Mechanical Engineering Department, Semnan University

2 Mechanical Engineering Department - Semnan University

Abstract

Nowadays, motorcycles and bicycles are considered one of the main forms of vehicles in many countries. Considering the process of self-driving vehicles and especially cars, the need to investigate intelligent systems is felt more. This process of self-driving vehicles is mostly seen on everyday four-wheeled vehicles because these vehicles do not need separate systems to stand up and maintain balance. Regarding the self-driving of other vehicles such as motorcycles or bicycles, the first challenge to be solved is maintaining the balance of these vehicles. In general, there are two main methods of maintaining balance or balancing systems based on two wheels. The first method of dynamic balance is based on the displacement of the center of mass of the robot and the other method that is examined in this article is based on the induction of separate torque on the robot by different operators (such as the reaction wheel or the gyroscopic torque control system (CMG). ) is. In this article, the modeling of the CMG system installed on a bicycle is first discussed, and then the possibility of balancing the bicycle assembly and the gyroscopic torque control system at rest using a PID controller is measured. The obtained results show the relative success of the system in stabilizing the robot, and in the next steps of the research, the possibility of laboratory implementation of the design will be evaluated.

Keywords

Main Subjects

Journal of Modeling in Engineering

Articles in Press, Accepted Manuscript
Available Online from 05 October 2025

Files

History

  • Receive Date: 22 December 2023
  • Revise Date: 12 July 2025
  • Accept Date: 02 September 2025

Share

How to cite

Statistics