---
_id: '8385'
abstract:
- lang: eng
  text: Currently, numerous single-track railway lines are disused due to economic
    reasons. However, they could be reactivated for a bidirectional on-demand service
    traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like
    vehicles, stabilized by a system of control moment gyroscopes and a moveable mass.
    They could make an important contribution to improve the mobility offer especially
    in rural areas. This paper focuses on the analytical modeling and vertical stabilization
    system of the MonoCab. A nonlinear dynamic model is obtained using the Lagrangian
    method and subsequently linearized about its equilibrium point. Which is used
    for the design of the cascade control system. The dynamic analysis of the system
    is accomplished by comparing between analytically derived model in simulink environment
    and same structured model in simscape multibody. This system is discussed based
    on a physical three body model which describes the rolling motion of the vehicle,
    the lateral motion of the mass and the precession motion of the gyroscope. The
    model is utilized for a cascaded control concept adjusting the vehicle’s roll
    angle and gyroscope’s precession angle. The proposed stabilization concept is
    capable of compensating both high dynamic disturbances and stationary disturbances
    (e. g. unbalanced loads and steady wind flows). The concept is analyzed by simulations
    and experimental investigations. Beside transient command responses also the frequency
    response of the system is experimentally evaluated and used for a validation of
    the model and theoretical findings. For the experimental validation, a small scaled
    test rig is used which consists of mechanical frames and flywheels, inverter-fed
    drives, rotary encoders, an inertial measurement unit (IMU) and a rapid control
    prototyping system.
author:
- first_name: Martin
  full_name: Griese, Martin
  id: '52308'
  last_name: Griese
- first_name: Seyed Davood
  full_name: Mousavi, Seyed Davood
  id: '79148'
  last_name: Mousavi
- first_name: Thomas
  full_name: Schulte, Thomas
  id: '46242'
  last_name: Schulte
citation:
  ama: Griese M, Mousavi SD, Schulte T. <i>Modeling the Vertical Dynamics of a Self-Stabilizing
    Monorail Vehicle</i>. IEEE; 2021:205-210. doi:<a href="https://doi.org/10.1109/ICCMA54375.2021.9646219">10.1109/ICCMA54375.2021.9646219</a>
  apa: 'Griese, M., Mousavi, S. D., &#38; Schulte, T. (2021). <i>Modeling the Vertical
    Dynamics of a Self-stabilizing Monorail Vehicle</i>. <i>2021 9th International
    Conference on Control, Mechatronics and Automation (ICCMA)</i> (pp. 205–210).
    Belval, Luxembourg : IEEE. <a href="https://doi.org/10.1109/ICCMA54375.2021.9646219">https://doi.org/10.1109/ICCMA54375.2021.9646219</a>'
  bjps: <b>Griese M, Mousavi SD and Schulte T</b> (2021) <i>Modeling the Vertical
    Dynamics of a Self-Stabilizing Monorail Vehicle</i>. IEEE.
  chicago: Griese, Martin, Seyed Davood Mousavi, and Thomas Schulte. <i>Modeling the
    Vertical Dynamics of a Self-Stabilizing Monorail Vehicle</i>. <i>2021 9th International
    Conference on Control, Mechatronics and Automation (ICCMA)</i>. IEEE, 2021. <a
    href="https://doi.org/10.1109/ICCMA54375.2021.9646219">https://doi.org/10.1109/ICCMA54375.2021.9646219</a>.
  chicago-de: Griese, Martin, Seyed Davood Mousavi und Thomas Schulte. 2021. <i>Modeling
    the Vertical Dynamics of a Self-stabilizing Monorail Vehicle</i>. <i>2021 9th
    International Conference on Control, Mechatronics and Automation (ICCMA)</i>.
    IEEE. doi:<a href="https://doi.org/10.1109/ICCMA54375.2021.9646219,">10.1109/ICCMA54375.2021.9646219,</a>
    .
  din1505-2-1: '<span style="font-variant:small-caps;">Griese, Martin</span> ; <span
    style="font-variant:small-caps;">Mousavi, Seyed Davood</span> ; <span style="font-variant:small-caps;">Schulte,
    Thomas</span>: <i>Modeling the Vertical Dynamics of a Self-stabilizing Monorail
    Vehicle</i> : IEEE, 2021'
  havard: M. Griese, S.D. Mousavi, T. Schulte, Modeling the Vertical Dynamics of a
    Self-stabilizing Monorail Vehicle, IEEE, 2021.
  ieee: M. Griese, S. D. Mousavi, and T. Schulte, <i>Modeling the Vertical Dynamics
    of a Self-stabilizing Monorail Vehicle</i>. IEEE, 2021, pp. 205–210.
  mla: Griese, Martin, et al. “Modeling the Vertical Dynamics of a Self-Stabilizing
    Monorail Vehicle.” <i>2021 9th International Conference on Control, Mechatronics
    and Automation (ICCMA)</i>, IEEE, 2021, pp. 205–10, doi:<a href="https://doi.org/10.1109/ICCMA54375.2021.9646219">10.1109/ICCMA54375.2021.9646219</a>.
  short: M. Griese, S.D. Mousavi, T. Schulte, Modeling the Vertical Dynamics of a
    Self-Stabilizing Monorail Vehicle, IEEE, 2021.
  ufg: '<b>Griese, Martin et. al. (2021)</b>: Modeling the Vertical Dynamics of a
    Self-stabilizing Monorail Vehicle.'
  van: Griese M, Mousavi SD, Schulte T. Modeling the Vertical Dynamics of a Self-stabilizing
    Monorail Vehicle. 2021 9th International Conference on Control, Mechatronics and
    Automation (ICCMA). IEEE; 2021.
conference:
  end_date: 2021-11-14
  location: 'Belval, Luxembourg '
  name: 2021 9th International Conference on Control, Mechatronics and Automation
    (ICCMA)
  start_date: 2021-11-11
date_created: 2022-06-22T14:22:07Z
date_updated: 2023-03-15T13:50:15Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1109/ICCMA54375.2021.9646219
keyword:
- Vehicle dynamics
- Control moment gyroscope
- Control system analysis
- Roll stabilization
- Monorail vehicles
language:
- iso: eng
page: 205-210
publication: 2021 9th International Conference on Control, Mechatronics and Automation
  (ICCMA)
publication_identifier:
  eisbn:
  - 978-1-6654-1073-1
publication_status: published
publisher: IEEE
status: public
title: Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle
type: conference_editor_article
user_id: '56955'
year: 2021
...