FORM 2
THE PATENTS ACT, 1970
(39 of 1970
&
THE PATENT RULES, 2003
COMPLETE SPECIFICATION (See section 10 and rule 13)
TITLE OF THE INVENTION SYSTEM TO CONTROL TWO OR MORE CONTROL MOMENT GYROSCOPES
Name and Address of the Applicant:
Applicant Name: Liger Mobility Private Limited.
Address: A9 PEARL HEAVEN, CHAPEL ROAD, BANDRA WEST, MUMBAI 400050,
MAHARASHTRA, INDIA
Nationality: India
PREAMBLE OF THE DESCRIPTION
The following specification describes the invention and the manner in which it is to be performed:

FIELD OF INVENTION
[001] The present invention relates to the field of gyroscopes controlling techniques and methods, and is more specifically related to controlling of the gyroscope/s.
BACKGROUND OF INVENTION
[002] Gyroscopes are devices usually mounted on a frame of a vehicle and able to sense an angular velocity if the frame is rotating. Many classes of gyroscopes exist, depending upon the operating physical principle and the involved technology. Gyroscopes can be used alone or included in more complex systems, such as Gyrocompass, Inertial Measurement Unit, Inertial Navigation System and Attitude Heading Reference System. A mechanical gyroscope essentially consists of a spinning mass that rotates around its axis. In particular, when the mass is rotating on its axis, it tends to remain parallel to itself and to oppose any attempt to change its orientation. The basic effect upon which a gyroscope relies is that an isolated spinning mass tends to keep its angular position with respect to an inertial reference frame, and, when a constant external torque is applied to the mass, its rotation axis undergoes a precession motion at a constant angular speed, in a direction that is normal to the direction of the applied torque.
[003] U.S. Pat. No. 9,718,504 provides a method for driving stabilization of a motorized two-wheeled vehicle, in which two gyroscopes situated side-by-side are present having axes of rotation in parallel to each other, the gyroscopes each being tiltable about a tilting axis perpendicular to the axis of rotation, and the tilting axes of the two gyroscopes also

being parallel to each other, the gyroscopes rotating about their axes of rotation in directions of rotation opposite to each other, and in the case of a detected unstable driving behavior of the two-wheeled vehicle, the two rotating gyroscopes are tilted about their respective tilting axis at a first angular velocity, the tilting directions being counter to each other; and the two gyroscopes are subsequently tilted back again at a second angular velocity about their respective tilting axis into their original orientation.
[004] US8214107B2 discloses vehicle behavior control apparatus having a rotary body formed as a part of a power plant installed in a vehicle, and a shaft deflection unit that sets a vehicle behavior target value for obtaining a target vehicle behavior, and deflects a direction of a rotary shaft of the rotary body relative to a vehicle body in accordance with the vehicle behavior target value. Thus, the vehicle behavior can be controlled appropriately by using a pre-existing vehicle constitutional component such as an engine or a motor as the rotary body, and using a gyro moment generated by deflecting the direction of the rotary shaft of the rotary body.
[005] US20200331543A1 discloses a system and a method for balancing a vehicle is provided. In one embodiment the system comprises a control moment gyroscope. Further, in an embodiment a mechanism to provide stopping of a precession shaft that links the control moment gyroscope to the vehicle is provided. Furthermore, a user operable switch may be provided in an embodiment to stop the precession shaft of the control moment gyroscope.
[006] JP2020515469A discloses motorcycle augmented tire traction system with an

augmented traction system for a two-wheeled vehicle provides a plurality of CMGs (Control Moment Gyroscopes) that provide a first torque vector that reduces the roll angle of the vehicle's turn and increases the force on the road surface of one or more tires of the vehicle. And a second torque vector for reducing the roll angle of the vehicle, which determines the steering control of the turning of the vehicle at a specific vehicle speed and roll angle based on the sensor data. An aerodynamic control system for actuating one or more aerodynamic elements of the vehicle.
[007] U.S. Pat. No. 8,930,128B2 proposes using modules/logic/circuitry to receive image data identifying terrain, environment, and/or one or more objects near a vehicle, determine a projection of the one or more objects with respect to the vehicle, determine whether the one or more objects will collide with the vehicle, and in response to determining the one or more objects will collide, altering the vehicle state. As per the document, in some embodiments, altering the vehicle state is based, at least in part, on a driver position with respect to the one or more objects determined to collide with the vehicle (e.g., moving the vehicle to protect the drive). As per the document, in some embodiments, altering the vehicle state comprises at least one of adjusting brakes of the vehicle to alter its trajectory, adjusting a steering wheel of the vehicle to alter its trajectory and adjusting an orientation or rotational speed of a flywheel.
[008] For all classes of gyroscopes, having their rotation to be controlled as a major requirement, the major issues are related to the synchronization between applied torque due to motion of the vehicle, that experienced by the user, and torque generated by the gyroscopes. Many systems have been developed in the past to achieve this. One such

example is a system which determines a control moment value for one or more gyroscopes coupled to a vehicle frame to exert for stabilization of the vehicle frame. But the drawback in this system is that the control moment gyroscope/(s) produces roll and yaw torque components. When the control moment gyroscope is used for roll correction, the yaw moment becomes an unwanted torque component. Even if an option of controlling the two control moment gyroscopes with separate actuators is used, in that case, the control moment gyroscopes need to work in synchronization and for that additional sensors and fail-safe mechanism are required. This makes the system complex and less reliable. Further, in the existing systems, each CMG is controlled via a separate Precession Motors. Multiple encoders are required to track the precession angle and velocity of each CMG and an additional Control loop is also required to synchronize CMG’s electronically (Fig. 5, 501-504).
[009] Therefore, there is a need for an improved system to control more than one control moment gyroscopes such that controls of the control moment gyroscopes can be greatly simplified and uncertainty around the synchronization can be eradicated. In order to solve this problem, two control moment gyroscopes spinning in opposite directions are used, positioned in front of each other to cancel out the yaw moment.
OBJECTIVE OF THE INVENTION
[0010] The principal object of the embodiments herein is to provide a system for controlling at least two control moment gyroscopes. The system comprises a first control moment gyroscope, a second control moment gyroscope, a plurality of gears and a motor. The

motor acts like an actuator in order to control the functions of the first control moment gyroscope and the second control moment gyroscope. Due to this the controls of the first and the second control moment gyroscopes can be easily synchronized in connection with each other, thereby reducing the uncertainty around the synchronization. The first control moment gyroscope and the second control moment gyroscope spinning in opposite directions are used in tandem to cancel out the yaw moment. Thus, the use of the motor as an actuator between these two-control moment gyroscopes helps in facilitating the cancellation of yaw moment. As a result of the yaw moment getting cancelled between the two gyroscopes, the first and the second control moment gyroscopes are not required to be controlled with separate actuators that need to work in synchronization because additional sensors and fail-safe mechanism are required for separate actuators to work in synchronization. This makes the system of the present invention less complex and more reliable.
SUMMARY OF THE INVENTION
[0011] Accordingly, the present invention provides a system for controlling at least two control moment gyroscopes comprising:
a. at least two control moment gyroscopes;
b. an actuator;
c. a belt connecting the actuator with the at least two control moment gyroscopes,
and
d. a plurality of gears.

[0012] In an embodiment, the present invention provides that at least one of the gyroscopes is upright and at least one of the gyroscopes is inverted. In another embodiment, the present invention provides that the gyroscopes are spinning in opposite directions, in tandem to cancel out the yaw moment. Further, in another embodiment, the present invention provides that the actuator is a motor attached between the gyroscopes to control the functions of the gyroscopes. A combustion engine may alternatively be used, in place of or in conjunction with the motor.
[0013] In an embodiment, the present invention provides that the belt is a double-sided timing belt. In yet another embodiment, the present invention provides that the roll torques from gyroscopes are in the same directions and yaw torques from the gyroscopes are in opposite directions. In another embodiment, a single encoder on one of the gyroscopes tracks the position of all the gyroscopes of the system.
[0014] In another embodiment, a cylindrical shape selected from a rod-shape is attached to both sides of the gyroscopes. Further, the present invention provides a method of controlling at least two control moment gyroscopes, wherein the method comprises the steps of:
a. connecting the at least two gyroscopes with an actuator;
b. actuating an actuator for producing required roll torque; and
c. connecting the two gyroscopes to cancel the yaw components of each gyroscope.
[0015] In an embodiment, the present invention provides that the step (c) is performed before step (a) or step (b). In another embodiment, the present invention provides that at least

two gyroscopes and the actuator are connected with a two-sided belt. In yet another embodiment, the present invention provides that the gyroscopes are connected to precess in opposite directions.
[0016] In one another embodiment, the present invention provides that the gyroscopes are spinning in opposite directions in tandem to cancel out the yaw moment. In still another embodiment, the present invention provides that the actuator is a motor connected with the gyroscopes to control the functions of the gyroscopes and to precess the gyroscopes in opposite directions. In yet another embodiment, the resultant roll torque is in same directions and yaw torque is in opposite directions. Further in an embodiment, autonomous and remote operation capabilities may be provided to the system.
BRIEF DESCRIPTION OF FIGURES
[0017] Reference will be made to embodiments of the invention, examples of which may be illustrated in the accompanying figures. These figures are intended to be illustrative, not limiting. Although the invention is generally described in the context of these embodiments, it should be understood that it is not intended to limit the scope of the invention to these particular embodiments. The embodiments herein will be better understood from the following detailed description with reference to the drawings, in which:
[0018] FIG. 1 illustrates a perspective view of a system for control of at least two control moment gyroscopes, according to embodiments as disclosed herein;

[0019] FIG. 2A illustrates a system to control direction of the two control moment gyroscopes, according to an embodiment as disclosed herein; and
[0020] FIG. 2B illustrates a system to control direction of the two control moment gyroscopes, according to an embodiment as disclosed herein;
[0021] FIG. 3 illustrates a perspective view of a system for controlling the at least two control moment gyroscopes, according to an embodiment as disclosed herein; and.
[0022] FIG. 4 illustrates a method for control of at least two control moment gyroscopes, according to an embodiment as disclosed herein.
[0023] Fig. 5 illustrates a comparison of the Control of CMGs in the prior systems and the present invention as per an embodiment herein.
[0024] Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.

DETAILED DESCRIPTION OF INVENTION
[0025] In the present invention, system to control more than one control moment gyroscopes in a vehicle is provided. In one embodiment the present invention provides a method of controlling at least two control moment gyroscopes with a single motor. In another embodiment two or more control moment gyroscope may be provided to be controlled with a single motor or an engine/ actuator providing rotational energy.
[0026] Further, in an embodiment a mechanism for spinning of two gyroscopes in opposite directions, in tandem to cancel out the yaw moment is provided. Furthermore, a single motor is connected to precess them in opposite directions. The at least two control moment gyroscopes. In an embodiment, the rotational axis of the two gyroscopes are in parallel to each other, or coinciding with each other when both the gyroscopes are at rest.
[0027] Further, in another embodiment, a belt is provided to connect the motor with the control moment gyroscopes. The placement use of the motor interconnected with the two-control moment gyroscopes helps in facilitating the cancellation of yaw moments by precessing them equally in opposite directions. In an embodiment, the belt is a double sided belt which has teeth on both sides such that each side can engage one gyroscope, each. This gives opposite rotation to the two gyroscopes by using a compact single belt drive train. As a result the yaw moment gets canceled between the two gyroscopes. The present invention makes the system less complex and more reliable and cost effective. Effectively, the flywheel spin of two gyroscopes at rest are opposite to each other.

[0028] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and precessing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0029] To promote an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates.
[0030] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the invention and are not intended to be restrictive thereof.
[0031] Reference throughout this specification to “an aspect”, “another aspect” or similar language means that a particular feature, structure, or characteristic described in

connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrase “in an embodiment”, “in another embodiment”, and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.
[0032] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such process or method. Similarly, one or more devices or sub-systems or elements or structures or components proceeded by "comprises...a'' does not, without more constraints, preclude the existence of other devices or other sub-systems or other elements or other structures or other components or additional devices or additional sub-systems or additional elements or additional structures or additional components.
[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The system, methods, and examples provided herein are illustrative only and not intended to be limiting. Embodiments of the present invention will be described below in detail concerning the accompanying drawings.
[0034] Referring to FIG. 1 illustrating a system 100 for control of at least two control moment gyroscopes 102a & 102b, the system 100 comprises a motor 104 which acts like an actuator in order to control the functions of the first control moment gyroscope 102a and the second control moment gyroscope 102b. Both the control moment gyroscope

102a, 102b are facing towards opposite directions. The first control moment gyroscope 102a is straight while the second control moment gyroscope 102b is inverted. Effectively, the flywheel spin of two gyroscopes at rest are opposite to each other. In one embodiment, this may be affected by placing one gyroscope straight with respect to the ground while keeping the other inverted as shown in figure 1. In this arrangement, even though the flywheel directions of both gyroscopes are in same direction (clockwise or anticlockwise) with respect to each of their body respectively, the effective direction when viewed from the top is opposite of each other, since one gyroscope is inverted with respect to the other.
[0035] This system 100 as shown in FIG. 1 comprises a double-sided timing belt 106 which is connecting the motor 104 with a plurality of gears 108. The gears are selected from spur gears or helical gears. The system 100 can be used in all applications of control moment gyroscopes involving automobiles, ships, spaceships, aircrafts and others. The arrangement ensures equal but opposite rotation of the two gyroscopes through the placement of the belt in one embodiment.
[0036] In an embodiment, both the first control moment gyroscope 102a and the second control moment gyroscope 102b produce roll and yaw torque components. In applications, where the control moment gyroscope is used for roll correction, the yaw torque component becomes an unwanted byproduct. The system 100 solves this drawback by implementing a motor 104 attached between the first control moment gyroscope 102a and the second control moment gyroscope 102b in order to cancel out the yaw torque, which is the unwanted byproduct.

[0037] FIG. 2A illustrates a system 200A to control direction of two control moment gyroscopes according to the embodiments as disclosed herein. The first control moment gyroscope 202a produces roll and yaw torque. The roll torque produced by the first control moment gyroscope 202a is the left or right movement of the first control moment gyroscope 202a. Similarly, for the second control moment gyroscope, the roll torque is calculated in terms of left and right movements. The yaw torque produced by the first control moment gyroscope 202a and the second control moment gyroscope 202b is the upward or downward movement of the respective first control moment gyroscope and the second control moment gyroscope 202a & 202b. This figure particularly represents a resultant roll torque tending to the right hand side as shown by the arrows 204a and 204b.
[0038] In an embodiment, the roll torque components 204a & 204b and yaw torque components 206a & 206b are represented, for the first control moment gyroscope 202a and the second control moment gyroscope 202b, respectively. The yaw torque components 206a & 206b act as an unwanted byproduct trying to oppose the roll movement correction. This rotation of the two control moment gyroscopes 202a & 202b is controlled by controlling the torque directions of the two control moment gyroscopes 202a & 202b which is different from the torque direction of the flywheel to be controlled.
[0039] Referring to Figure 2B. illustrating a system 200B to control direction of two control moment gyroscopes 202A & 202B, according to one embodiment as disclosed herein. The system 200B represents roll torque components 204A & 204B and yaw torque components 206A & 206B. This figure particularly represents a resultant roll torque tending to the left hand side as shown by the arrows 204a and 204b. While the two

control moment gyroscopes 202A & 202B rotate, torque acts in roll and yaw directions in both these gyroscopes 202A & 202B. Roll torques from both Gyros are in the same directions and hence get added. Yaw torques from both Gyros are in opposite directions and hence get cancelled. Two different scenarios have been shown in two figures. One, when a vehicle falls to one side (say right)and another, when the vehicle falls to the other side (Say left).
[0040] The torque direction of the flywheel is different from the torque direction of two control moment gyroscopes 202A & 202B. For enhancing controls and bring synchronization between the two control moment gyroscopes 202A & 202B, the motor is attached between the first control moment gyroscope 202A and the second control moment gyroscope 202B in order to cancel out the yaw torque, which is the unwanted byproduct. The motor comprises a belt facilitating control of rotation between the two control moment gyroscopes 202A & 202B as shown in FIG. 2B. The gears control the precision of each of the two gyroscopes. In one embodiment, the gear attached to the gyroscopes is wound over by the belt in a direction, such that the effect of precession is to cause swinging of the hypothetical flywheel axis in equal but opposite direction with respect to each other.
[0041] Referring to Figure 3 illustrating a perspective view of a system 300 for controlling the at least two control moment gyroscopes, the at least two control moment gyroscopes 308a & 308b are shown whose movements need to be balanced. This may be achieved by installing an actuator in the form of a motor 320 for controlling rotation of the control moment gyroscopes 308a & 308b. In this embodiment, the gyroscopes are not inverted

with respect to each other. However, the flywheel spin of one is opposite of the other. A plurality of gears 309a & 309b are attached to one end of the second control moment gyroscope 308b.
[0042] In an embodiment, the system 300 of FIG. 3 enables great simplification of the controls of the first control moment gyroscope 308a and the second control moment gyroscope 308b as well as uncertainty around the synchronization of both the control moment gyroscopes 308a & 308b. Thus, the actuator 320, i.e. motor is a mechanism linkage of the at least two control moment gyroscopes 308a & 308b for producing the desired related rotation. The actuator 320 in this case eliminates the need for use of two different actuators in order to control related rotation of the two control moment gyroscopes 308a & 308b.
[0043] Referring to Figure 4, illustrating a method to control of at least two control moment gyroscopes, according to embodiments as disclosed herein, the method (400) comprises connecting the at least two gyroscopes with an actuator at step (402). Actuating (404) the motor for producing required roll torque. Another step comprises connecting (406) the two gyroscopes in such a way that the yaw components of each cancel out. The step 406 may happen before step 404 and even before step 402 in an embodiment.
[0044] In the present invention, all the control moment gyroscopes are controlled by a single precession Motor. Cost reductions as compared to the combined cost of all motors used in the multiple motor solutions, maybe achieved. Further, a single encoder on the master CMG is used to track position of all the control moment gyroscopes as the relative

positions of all the control moment gyroscopes is fixed with respect to the master the control moment gyroscopes (Fig. 5, 501’ and 502’).
[0045] The various actions, acts, blocks, or the like in the diagrams may be performed in the order presented, in a different order or simultaneously. Further, in some embodiments, some of the actions, acts, blocks, or the like may be omitted, added, modified, skipped, or the like without departing from the scope of the invention.
[0046] The embodiments disclosed herein can be implemented using at least one software program running on at least one hardware device and performing network management functions to control the mechanical components.
[0047] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the entire disclosure herein.

We Claim:
1. A system for controlling at least two control moment gyroscopes comprising:
a. at least two control moment gyroscopes, having the rotational axis of each
parallel or coinciding with each other when at rest, and effective flywheel rotation
of each in opposite direction with respect to each other;
b. an actuator for precession;
c. a belt connecting the actuator with the at least two control moment gyroscopes,
and
d. a plurality of gears.
2. The system as claimed in claim 1, wherein at least one of the gyroscope is upright and at least one of the gyroscope is inverted, while their flywheel rotation is in the same direction with respect to their respective bodies.
3. The system as claimed in claim 1, wherein the gyroscopes precess in opposite directions, in tandem to cancel out the yaw moment.
4. The system as claimed in claim 1, wherein the actuator is a motor attached between the gyroscopes to control the precession of the gyroscopes.
5. The system as claimed in claim 1, wherein the belt is a double-sided timing belt.
6. The system as claimed in claim 1, wherein the resultant roll torques from gyroscopes are in same directions and the resultant yaw torques from the gyroscopes are in opposite directions.

7. The system as claimed in claim 1, wherein a single encoder on one of the gyroscopes tracks the position of all the gyroscopes of the system.
8. A method of controlling at least two control moment gyroscopes, wherein the method comprises the steps of:
a. connecting the at least two gyroscopes with an actuator;
b. actuating an actuator for producing required roll torque; and
c. connecting the two gyroscopes to cancel the yaw components of each gyroscope.
9. The method as claimed in claim 8, wherein the step (c) is performed before the step (a) or the step (b).
10. The method as claimed in claim 8, wherein the at least two gyroscopes and the actuator are connected with a two-sided belt.
11. The method as claimed in claim 8, wherein the gyroscopes are connected to precess in opposite directions of precession.
12. The method as claimed in claim 8, wherein the gyroscopes are precessing in opposite directions in tandem to cancel out the yaw moment.
13. The method as claimed in claim 8, wherein the actuator is a motor connected with the gyroscopes to control the functions of the gyroscopes.

14. The method as claimed in claim 8, wherein the resultant roll torque is in same directions and the resultant yaw torque is in opposite directions.
15. The method as claimed in claim 8, placing the two gyroscopes having the rotational axis of each parallel or coinciding with each other when at rest, and effective flywheel rotation of each in opposite direction with respect to each other.