Angular Momentum Control for Preventing Rollover of a Heavy Vehicle

Yıl 2022, Cilt: 6 Sayı: 2, 135 - 140, 30.06.2022

Faruk Ünker

https://doi.org/10.30939/ijastech..1085111

Cited By: 1

Öz

In this article, gyroscopes and flywheels are used to prevent the rollover of a vehicle due to external forces. The rollover preventing performance of the flywheels for a heavy trailer (an inverted pendulum problem) is investigated at a high road bank angle risk. Two control moment gyroscopes (CMG) and a reaction wheel are controlled by proportional torques to keep the vehicle in a stable motion in the vertical position. The reaction wheel was used only to eliminate the dissipation energy of damper. By using the energy stored in the flywheels of gyroscopes, the sprung mass of a vehicle can make a stable oscillating motion of small amplitude, standing upright without tipping over. The optimum flywheel speed was derived from the frequency equations with the appropriate controller gain. Most importantly, the required angular momentum to keep the vehicle upright without tipping over depends on the amplitude of the gimbal oscillation and the frequency. It has also been observed that Matlab simulations of Lagrangian equations and simulations modeled in RecurDyn software are in perfect harmony.

Anahtar Kelimeler

Active control, Angular momentum, Gyroscope, Gyrostabilizer, Flywheel, Reaction wheel

Kaynakça

• Ataei, M., Khajepour, A., Jeon, S., “Model predictive rollover prevention for steer-by-wire vehicles with a new rollover index”, International Journal of Control, 93(1): 140-155, (2020). DOI: https://doi.org/ 10.1080/00207179.2018.1535198
• Jo, J.-S., You, S.-H., Joeng, J. Y., Lee, K. I., Yi, K., “Vehicle stability control system for enhancing steerabilty, lateral stability, and roll stability”, International Journal of Automotive Technology, 9(5): 571–576, (2008). https://dx.doi.org/10.1007/s12239-008-0067-9
• Shim, T., Ghike, C., “Understanding the limitations of different vehicle models for roll dynamics studies”, Vehicle System Dynamics, 45(3):191-216, (2007). DOI: https://doi.org/ 10.1080/00423110600882449
• Larimi, S.R., Zarafshan, P., Moosavian, S.A.A., “A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel”, Journal of Dynamic Systems, Measurement, and Control, 137(1): 011009 (8 pages), (2015).
• Ünker, F., “Proportional control moment gyroscope for two-wheeled self-balancing robot”, Journal of Vibration and Control, 0(0): 1–9. (2021). DOI: https://dx.doi.org/10.1177/10775463211009988
• Ünker, F., Çuvalcı, O., “Optimum Tuning of a Gyroscopic Vibration Absorber for Vibration Control of a Vertical Cantilever Beam with Tip Mass”, International Journal of Acoustics and Vibration, 24(2): 210–216, (2019). DOI: https://dx.doi.org/10.20855/ijav.2019.24.21158
• Ünker, F., “Tuned gyro pendulum stabilizer for control of vibrations in structures”, International Journal of Acoustics and Vibration, 25(3): 355–362, (2020). DOI: https://dx.doi.org/10.20855/ijav.2020.25.31632