[{"corporate_editor":["Institute of Electrical and Electronics Engineers"],"date_updated":"2025-06-26T07:47:48Z","date_created":"2024-04-02T14:32:35Z","publication_identifier":{"eisbn":["978-1-6654-7633-1"],"issn":["2159-6255"],"isbn":["978-1-6654-7634-8"]},"publication":"2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","language":[{"iso":"eng"}],"keyword":["Parameter identification","Vehicle dynamics","Control moment gyroscope","Roll stabilization","Monorail vehicles"],"citation":{"bjps":"<b>Griese M, Mousavi SD and Schulte T</b> (2023) <i>Parameter Identification Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle</i>, Institute of Electrical and Electronics Engineers (ed.). Piscataway, NJ: IEEE.","mla":"Griese, Martin, et al. “Parameter Identification Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle.” <i>2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)</i>, edited by Institute of Electrical and Electronics Engineers, IEEE, 2023, pp. 1196–201, <a href=\"https://doi.org/10.1109/aim46323.2023.10196189\">https://doi.org/10.1109/aim46323.2023.10196189</a>.","havard":"M. Griese, S.D. Mousavi, T. Schulte, Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle, IEEE, Piscataway, NJ, 2023.","ufg":"<b>Griese, Martin/Mousavi, Seyed Davood/Schulte, Thomas</b>: Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle, hg. von Institute of Electrical and Electronics Engineers, Piscataway, NJ 2023.","van":"Griese M, Mousavi SD, Schulte T. Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle. Institute of Electrical and Electronics Engineers, editor. 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). Piscataway, NJ: IEEE; 2023.","chicago":"Griese, Martin, Seyed Davood Mousavi, and Thomas Schulte. <i>Parameter Identification Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle</i>. Edited by Institute of Electrical and Electronics Engineers. <i>2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)</i>. Piscataway, NJ: IEEE, 2023. <a href=\"https://doi.org/10.1109/aim46323.2023.10196189\">https://doi.org/10.1109/aim46323.2023.10196189</a>.","apa":"Griese, M., Mousavi, S. D., &#38; Schulte, T. (2023). Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle. In Institute of Electrical and Electronics Engineers (Ed.), <i>2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)</i> (pp. 1196–1201). IEEE. <a href=\"https://doi.org/10.1109/aim46323.2023.10196189\">https://doi.org/10.1109/aim46323.2023.10196189</a>","chicago-de":"Griese, Martin, Seyed Davood Mousavi und Thomas Schulte. 2023. <i>Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle</i>. Hg. von Institute of Electrical and Electronics Engineers. <i>2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)</i>. Piscataway, NJ: IEEE. doi:<a href=\"https://doi.org/10.1109/aim46323.2023.10196189\">10.1109/aim46323.2023.10196189</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> ; <span style=\"font-variant:small-caps;\">Institute of Electrical and Electronics Engineers</span> (Hrsg.): <i>Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle</i>. Piscataway, NJ : IEEE, 2023","short":"M. Griese, S.D. Mousavi, T. Schulte, Parameter Identification Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle, IEEE, Piscataway, NJ, 2023.","ama":"Griese M, Mousavi SD, Schulte T. <i>Parameter Identification Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle</i>. (Institute of Electrical and Electronics Engineers, ed.). IEEE; 2023:1196-1201. doi:<a href=\"https://doi.org/10.1109/aim46323.2023.10196189\">10.1109/aim46323.2023.10196189</a>","ieee":"M. Griese, S. D. Mousavi, and T. Schulte, <i>Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle</i>. Piscataway, NJ: IEEE, 2023, pp. 1196–1201. doi: <a href=\"https://doi.org/10.1109/aim46323.2023.10196189\">10.1109/aim46323.2023.10196189</a>."},"title":"Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle","page":"1196-1201","status":"public","author":[{"first_name":"Martin","id":"52308","last_name":"Griese","full_name":"Griese, Martin"},{"id":"79148","full_name":"Mousavi, Seyed Davood","last_name":"Mousavi","first_name":"Seyed Davood"},{"id":"46242","first_name":"Thomas","last_name":"Schulte","full_name":"Schulte, Thomas"}],"year":"2023","user_id":"83781","type":"conference_editor_article","doi":"10.1109/aim46323.2023.10196189","_id":"11306","place":"Piscataway, NJ","publication_status":"published","publisher":"IEEE","abstract":[{"text":"Currently, numerous single-track railway lines are disused due to economic reasons. However, one way 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 trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MONOCAB, there is currently no reference in comparison with other vehicles. It is mandatory to gain experience before transferring such a new vehicle concept into commercial operation. Especially the safe and robust commissioning of the stabilization control system is crucial and therefore requires an elaborated procedure. At this step, parameters related to the vertical dynamics have to be determined beforehand. This paper presents a comparative investigation of methods to estimate the moment of inertia and gravitational torque constant. Multiple methods in time-domain and frequency-domain are experimentally evaluated and compared with each other. Experimental tests are carried out with a full-scale monorail vehicle.","lang":"eng"}],"department":[{"_id":"DEP6020"},{"_id":"DEP5022"}],"conference":{"start_date":"2023-06-28","end_date":"2023-06-30","location":"Seattle, Wash.","name":"26th International Conference on Advanced Intelligent Mechatronics"}},{"publisher":"IEEE","page":"pp. 1-6","status":"public","abstract":[{"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 is focused on the vertical stabilization system of the MonoCab. 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 gimbal 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 utilizing a small scaled test rig and a rapid control prototyping system. 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.","lang":"eng"}],"department":[{"_id":"DEP6020"},{"_id":"DEP5022"}],"conference":{"start_date":"2021-10-13","end_date":"2021-10-16","name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","location":"Toronto, ON, Canada "},"year":2021,"author":[{"full_name":"Griese, Martin","id":"52308","first_name":"Martin","last_name":"Griese"},{"id":"55385","first_name":"Fabian","full_name":"Kottmeier, Fabian","last_name":"Kottmeier"},{"first_name":"Thomas","full_name":"Schulte, Thomas","last_name":"Schulte","id":"46242"}],"publication_status":"published","citation":{"ama":"Griese M, Kottmeier F, Schulte T. <i>Vertical Control of a Self-Stabilizing Monorail Vehicle</i>. IEEE; 2021:1-6. doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">10.1109/IECON48115.2021.9589726</a>","ieee":"M. Griese, F. Kottmeier, and T. Schulte, <i>Vertical control of a self-stabilizing monorail vehicle</i>. IEEE, 2021, pp. 1–6.","short":"M. Griese, F. Kottmeier, T. Schulte, Vertical Control of a Self-Stabilizing Monorail Vehicle, IEEE, 2021.","chicago-de":"Griese, Martin, Fabian Kottmeier und Thomas Schulte. 2021. <i>Vertical control of a self-stabilizing monorail vehicle</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE. doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589726,\">10.1109/IECON48115.2021.9589726,</a> .","din1505-2-1":"<span style=\"font-variant:small-caps;\">Griese, Martin</span> ; <span style=\"font-variant:small-caps;\">Kottmeier, Fabian</span> ; <span style=\"font-variant:small-caps;\">Schulte, Thomas</span>: <i>Vertical control of a self-stabilizing monorail vehicle</i>, <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i> : IEEE, 2021","van":"Griese M, Kottmeier F, Schulte T. Vertical control of a self-stabilizing monorail vehicle. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE; 2021. (IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society).","mla":"Griese, Martin, et al. “Vertical Control of a Self-Stabilizing Monorail Vehicle.” <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>, IEEE, 2021, pp. 1–6, doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">10.1109/IECON48115.2021.9589726</a>.","havard":"M. Griese, F. Kottmeier, T. Schulte, Vertical control of a self-stabilizing monorail vehicle, IEEE, 2021.","bjps":"<b>Griese M, Kottmeier F and Schulte T</b> (2021) <i>Vertical Control of a Self-Stabilizing Monorail Vehicle</i>. IEEE.","ufg":"<b>Griese, Martin et. al. (2021)</b>: Vertical control of a self-stabilizing monorail vehicle (=<i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>).","apa":"Griese, M., Kottmeier, F., &#38; Schulte, T. (2021). <i>Vertical control of a self-stabilizing monorail vehicle</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i> (pp. 1–6). Toronto, ON, Canada : IEEE. <a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">https://doi.org/10.1109/IECON48115.2021.9589726</a>","chicago":"Griese, Martin, Fabian Kottmeier, and Thomas Schulte. <i>Vertical Control of a Self-Stabilizing Monorail Vehicle</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2021. <a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">https://doi.org/10.1109/IECON48115.2021.9589726</a>."},"title":"Vertical control of a self-stabilizing monorail vehicle","series_title":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","doi":"10.1109/IECON48115.2021.9589726","_id":"8380","language":[{"iso":"eng"}],"keyword":["Vehicle dynamics","Control moment gyroscope","Control system analysis","Roll stabilization","Monorail vehicles"],"date_updated":"2023-03-15T13:50:15Z","user_id":"56955","type":"conference_editor_article","date_created":"2022-06-22T08:45:19Z","publication":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","publication_identifier":{"isbn":["978-1-6654-3554-3"],"issn":["2577-1647 "]}},{"date_created":"2022-06-22T14:22:07Z","type":"conference_editor_article","publication":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","publication_identifier":{"eisbn":["978-1-6654-1073-1"]},"date_updated":"2023-03-15T13:50:15Z","user_id":"56955","doi":"10.1109/ICCMA54375.2021.9646219","_id":"8385","language":[{"iso":"eng"}],"keyword":["Vehicle dynamics","Control moment gyroscope","Control system analysis","Roll stabilization","Monorail vehicles"],"title":"Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle","publication_status":"published","citation":{"short":"M. Griese, S.D. Mousavi, T. Schulte, Modeling the Vertical Dynamics of a Self-Stabilizing Monorail Vehicle, IEEE, 2021.","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","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.","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>","ufg":"<b>Griese, Martin et. al. (2021)</b>: Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle.","havard":"M. Griese, S.D. Mousavi, T. Schulte, Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle, IEEE, 2021.","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>.","bjps":"<b>Griese M, Mousavi SD and Schulte T</b> (2021) <i>Modeling the Vertical Dynamics of a Self-Stabilizing Monorail Vehicle</i>. IEEE.","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>","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.","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>."},"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."}],"department":[{"_id":"DEP6020"},{"_id":"DEP5022"}],"conference":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","location":"Belval, Luxembourg ","start_date":"2021-11-11","end_date":"2021-11-14"},"year":2021,"author":[{"id":"52308","first_name":"Martin","full_name":"Griese, Martin","last_name":"Griese"},{"id":"79148","first_name":"Seyed Davood","full_name":"Mousavi, Seyed Davood","last_name":"Mousavi"},{"full_name":"Schulte, Thomas","first_name":"Thomas","id":"46242","last_name":"Schulte"}],"publisher":"IEEE","page":"205-210","status":"public"}]