Roll dynamics of powered two-wheelers (PTWs) are unstable at low speed, and their active control could improve both safety and comfort. This article proposes the co-design of a stabilization system based on control momentum gyroscopes, which, with their compact package and low power request, are a fascinating option in particular for PTW, where onboard energy and size constraints make the design of a proper roll torque actuator challenging. The joint design of the actuator and its control law is proposed by defining a multiobjective optimization problem, which also turns into a tool that allows the designer to steer the parameters choice in different directions. The resulting prototype is manufactured, installed on a motorcycle, tested, and experimentally validated in several conditions.

Co-Design and Experimental Validation of a Gyroscopic Stabilizer for Powered Two-Wheelers

Panzani G.;Todeschini D.;Corno M.;Savaresi S. M.
2021-01-01

Abstract

Roll dynamics of powered two-wheelers (PTWs) are unstable at low speed, and their active control could improve both safety and comfort. This article proposes the co-design of a stabilization system based on control momentum gyroscopes, which, with their compact package and low power request, are a fascinating option in particular for PTW, where onboard energy and size constraints make the design of a proper roll torque actuator challenging. The joint design of the actuator and its control law is proposed by defining a multiobjective optimization problem, which also turns into a tool that allows the designer to steer the parameters choice in different directions. The resulting prototype is manufactured, installed on a motorcycle, tested, and experimentally validated in several conditions.
2021
Actuators
Gyroscopes
Gyroscopic stabilization
mechatronic co-design
Mechatronics
Motorcycles
multiple-objective optimization design
powered two-wheelers (PTWs) control
Spinning
Torque
Vehicle dynamics
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1207482
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