1. A balancing system for a two-wheeled vehicle comprising:
a control moment gyroscope assembly comprising at least
5 one flywheel coupled to a precession device;
a control unit coupled to one or more sensors and the control
moment gyroscope assembly, wherein the control unit is to:
receive vehicle state from a sensor installed in the twowheeled vehicle, wherein the vehicle state comprises one of a tilt, a
10 speed, a rate of change of speed of the two-wheeled vehicle, and
combinations thereof;
compare tilt of the two-wheeled vehicle corresponding to the
vehicle state with respect to a target position; and
on detecting that the two-wheeled vehicle is at an offset with
15 respect to the target position, trigger the control moment gyroscope
assembly to cause generation of a counter torque for affecting
balancing of the two-wheeled vehicle about a roll axis of the twowheeled vehicle to balance the two-wheeled vehicle towards the
target position,
20 wherein the flywheel is spinnable in a first direction around a
flywheel shaft for affecting balancing of the two-wheeled vehicle, and
wherein the target position refers to an equilibrium position wherein
the two-wheeled vehicle is to remain balanced.
25 2. The balancing system as claimed in claim 1, wherein for affecting
balancing of the two-wheeled vehicle, the control unit is to:
receive position data of the two-wheeled vehicle from the one
or more sensors, wherein the position data corresponds to position of
the two-wheeled with respect to a fixed vertical position;
20
based on the position data, generate control instructions to
continuously update the target position of the two-wheeled such that
the center of gravity of the two-wheeled vehicle is balanced at a stable
position and aligns with the reference zero position.
5
3. The balancing system as claimed in claim 2, wherein the twowheeled vehicle has an eccentric external load affecting the center of
gravity of the two-wheeled vehicle.
10 4. The balancing system as claimed in claim 2, wherein the target
position lies at an offset with respect to the fixed vertical position of
the two-wheeled vehicle.
5. The balancing system as claimed in claim 1, wherein the control
15 moment gyroscope assembly is to affect balancing of the two-wheeled
vehicle by rotating the flywheel about an axis extending in a horizontal
plane when the two-wheeled vehicle is an upright balanced position.
6. The balancing system as claimed in claim 5, wherein the flywheel
20 is housed in a flywheel housing, and wherein for affecting balancing
of the two-wheeled vehicle, the control moment gyroscope assembly
is to rotate the flywheel housing about an axis which is perpendicular
to the axis of rotation of the flywheel.
25 7. The balancing system as claimed in claim 5, wherein the control
moment gyroscope is to generate a counter torque based one of
precession speed, the flywheel spin speed, and mass moment inertia
of the flywheel.
21
8. The balancing system as claimed in claim 6, wherein the control
moment gyroscope is to activate a precession device to adjust the
flywheel a direction generating the counter torque to prevent fall of the
two-wheeled vehicle.
5
9. The balancing system as claimed in claim 1, wherein spin axis of
the of the flywheel coincides with pitch axis of the two-wheeled vehicle,
precession axis of the flywheel coincides with yaw axis of the twowheeled vehicle, and the correcting torque axis of the flywheel
10 coincides with roll axis of the vehicle.
10. A method for balancing a two-wheeled vehicle comprising:
receiving vehicle state from a sensor installed in the twowheeled vehicle, wherein the vehicle state comprises one of a tilt, a
15 speed, a rate of change of speed of the two-wheeled vehicle, and
combinations thereof;
comparing tilt of the two-wheeled vehicle corresponding to the
vehicle state with respect to a target position; and
on detecting that the two-wheeled vehicle is at an offset with
20 respect to the target position, triggering a control moment gyroscope
assembly installed in the two-wheeled vehicle to cause generation of
a counter torque for affecting balancing of the two-wheeled vehicle
about a roll axis of the two-wheeled vehicle to balance the twowheeled vehicle towards the target position,
25 wherein the flywheel is spinnable in a first direction around a
flywheel shaft for affecting balancing of the two-wheeled vehicle, and
wherein the target position refers to an equilibrium position wherein
the two-wheeled vehicle is to remain balanced.
22
11. The method as claimed in claim 10, wherein for affecting balancing
of the two-wheeled vehicle, the method comprises:
receiving position data of the two-wheeled vehicle from the one
or more sensors, wherein the position data corresponds to position of
5 the two-wheeled about the roll-axis of the two-wheeled vehicle with
respect to a fixed vertical position;
based on the position data, continuously updating the target
position of the two-wheeled such that the center of gravity of the twowheeled vehicle aligns with the fixed vertical position.
10
12. The method as claimed in claim 10, wherein the two-wheeled
vehicle has an external load affecting the center of gravity of the twowheeled vehicle.
15 13. The method as claimed in claim 10, wherein the target position lies
at an offset with respect to the fixed vertical position of the twowheeled vehicle.
14. The method as claimed in claim 10, wherein the control moment
20 gyroscope assembly is to affect balancing of the two-wheeled vehicle
by rotating the flywheel about an axis extending in a horizontal plane
when the two-wheeled vehicle is an upright balanced position.
15. The method as claimed in claim 14, wherein the flywheel is housed
25 in a flywheel housing, and wherein for affecting balancing of the twowheeled vehicle, the control moment gyroscope assembly is to rotate
the flywheel housing about an axis which is perpendicular to the axis
of rotation of the flywheel.
23
16. The method as claimed in claim 10, wherein the control moment
gyroscope is to generate a counter torque based one of precession
speed, the flywheel spin speed, and mass moment inertia of the
flywheel.
5
17. The method as claimed in claim 15, wherein the control moment
gyroscope is to activate a precession device to adjust the flywheel a
direction generating the counter torque to prevent fall of the twowheeled vehicle.
10
18. The method as claimed in claim 10, wherein spin axis of the of the
flywheel coincides with pitch axis of the two-wheeled vehicle,
precession axis of the flywheel coincides with yaw axis of the twowheeled vehicle, and the correcting torque axis of the flywheel
15 coincides with roll axis of the vehicle.
19. A two-wheeled vehicle comprising:
a balancing system comprising a control moment gyroscope
assembly;
20 a control unit coupled to the balancing system, wherein the
control unit is to:
receive vehicle state from a sensor installed in the twowheeled vehicle, wherein the vehicle state comprises one of a tilt, a
speed, a rate of change of speed of the two-wheeled vehicle, and
25 combinations thereof;
compare tilt of the two-wheeled vehicle corresponding to the
vehicle state with respect to a target position; and
on detecting that the two-wheeled vehicle is at an offset with
respect to the target position, trigger the control moment gyroscope
30 assembly to cause generation of a counter torque for affecting
24
balancing of the two-wheeled vehicle about a roll axis of the twowheeled vehicle to balance the two-wheeled vehicle towards the
target position,
wherein the flywheel is spinnable in a first direction around a
5 flywheel shaft for affecting balancing of the two-wheeled vehicle, and
wherein the target position refers to an equilibrium position wherein
the two-wheeled vehicle is to remain balanced.