Mechatronic design of a gyro-stabilized bicycle

Abstract

This paper describes the mechatronic design of a gyroscopically stabilized bicycle. This bicycle is equipped with two flywheels rotating at constant speed in opposite direction. The flywheels can be rotated about the vertical axis of the bicycle by an additional drive unit, and due to the balance of angular momentum, a torque about the horizontal axis is generated that can be used for stabilization of the system. For the dimensioning of the overall system the equations of motion for a non-moving bicycle are used and an LQR controller for the stabilization is designed. Experimental results for this task are presented. Additionally the electrical design for this system is presented.