Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System
Abstract
1. Introduction
Motivation
2. Mechanical System
2.1. Dynamics Modeling of the System
2.2. Torque Output Model of the VSCMG System
3. Design Controller of Torque
3.1. Torque Output Design by PD Controller
3.2. Control Law Based on VSCMG Power Constraints
3.2.1. Control Law Design for the Desired Flywheel Acceleration
3.2.2. Design of the Control Law for Gimbal Angular Velocity
3.2.3. Real-Time Allocation of Control Law
3.2.4. Center of Mass Alignment and Singularity Avoidance
4. Experiment and Validation
4.1. Experimental Environment Setup
4.2. Experimental Conditions and Phenomena
- Comparison of SGCMG and VSCMG Systems;
- Different power factors ;
- Performance under external force disturbance
4.2.1. Comparison of SGCMG and VSCMG Systems
4.2.2. Performance Under External Force Disturbance
4.2.3. Different Power Factors
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameters | Value | Description |
---|---|---|
I | 0.5 | System’s moment of inertia |
J | Flywheel’s moment of inertia | |
h | 0.25 m | System center of mass height |
Attitude controller proportional gain | ||
0.4 | Attitude controller derivative gain | |
0.2 | Offset angle controller proportional gain | |
0.01 | Offset angle controller derivative gain | |
Total Reduction Ratio | 25.32 | Servo motor and belt |
Model | Rated Voltage | Rated Speed | Rated Power | Rated Current | Pole Number |
---|---|---|---|---|---|
AK57BL55-230-060 | 24 V | 4000 RPM | 60 W | 4 A | 4 |
Model | Rated Voltage | Rated Speed | Reduction Ratio | Rated Current | Pole Number |
---|---|---|---|---|---|
DM3519 | 24 V | 395 RPM | 1:19.2 | 9.2 A | 14 |
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Kang, H.; Chen, X.; Wang, Z.; Zhu, J.; Xia, G. Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System. Machines 2025, 13, 459. https://doi.org/10.3390/machines13060459
Kang H, Chen X, Wang Z, Zhu J, Xia G. Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System. Machines. 2025; 13(6):459. https://doi.org/10.3390/machines13060459
Chicago/Turabian StyleKang, Huifeng, Xiangqiu Chen, Zehui Wang, Jifa Zhu, and Guangqing Xia. 2025. "Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System" Machines 13, no. 6: 459. https://doi.org/10.3390/machines13060459
APA StyleKang, H., Chen, X., Wang, Z., Zhu, J., & Xia, G. (2025). Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System. Machines, 13(6), 459. https://doi.org/10.3390/machines13060459