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

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.

Automated summary

This article proposes a co-design of a stabilization system based on control momentum gyroscopes for powered two-wheelers (PTWs), which could improve the unstable roll dynamics at low speed and also enhance safety and comfort. The joint design of the actuator and its control law through multiobjective optimization problem provides a tool for parameter choice guidance in different directions. The resulting prototype is tested and experimentally validated on a motorcycle in various conditions.