---
_id: '11306'
abstract:
- lang: eng
  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.
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>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>
  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>
  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.'
  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>.'
  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'
  havard: M. Griese, S.D. Mousavi, T. Schulte, Parameter identification related to
    vertical dynamic of a self-stabilizing monorail vehicle, IEEE, Piscataway, NJ,
    2023.
  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>.'
  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>.
  short: 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.'
conference:
  end_date: 2023-06-30
  location: Seattle, Wash.
  name: 26th International Conference on Advanced Intelligent Mechatronics
  start_date: 2023-06-28
corporate_editor:
- Institute of Electrical and Electronics Engineers
date_created: 2024-04-02T14:32:35Z
date_updated: 2025-06-26T07:47:48Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1109/aim46323.2023.10196189
keyword:
- Parameter identification
- Vehicle dynamics
- Control moment gyroscope
- Roll stabilization
- Monorail vehicles
language:
- iso: eng
page: 1196-1201
place: Piscataway, NJ
publication: 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  (AIM)
publication_identifier:
  eisbn:
  - 978-1-6654-7633-1
  isbn:
  - 978-1-6654-7634-8
  issn:
  - 2159-6255
publication_status: published
publisher: IEEE
status: public
title: Parameter identification related to vertical dynamic of a self-stabilizing
  monorail vehicle
type: conference_editor_article
user_id: '83781'
year: '2023'
...
---
_id: '8380'
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 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.
author:
- first_name: Martin
  full_name: Griese, Martin
  id: '52308'
  last_name: Griese
- first_name: Fabian
  full_name: Kottmeier, Fabian
  id: '55385'
  last_name: Kottmeier
- first_name: Thomas
  full_name: Schulte, Thomas
  id: '46242'
  last_name: Schulte
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>
  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>'
  bjps: <b>Griese M, Kottmeier F and Schulte T</b> (2021) <i>Vertical Control of a
    Self-Stabilizing Monorail Vehicle</i>. IEEE.
  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>.
  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'
  havard: M. Griese, F. Kottmeier, T. Schulte, Vertical control of a self-stabilizing
    monorail vehicle, IEEE, 2021.
  ieee: M. Griese, F. Kottmeier, and T. Schulte, <i>Vertical control of a self-stabilizing
    monorail vehicle</i>. IEEE, 2021, pp. 1–6.
  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>.
  short: M. Griese, F. Kottmeier, T. Schulte, Vertical Control of a Self-Stabilizing
    Monorail Vehicle, IEEE, 2021.
  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>).'
  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).
conference:
  end_date: 2021-10-16
  location: 'Toronto, ON, Canada '
  name: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society
  start_date: 2021-10-13
date_created: 2022-06-22T08:45:19Z
date_updated: 2023-03-15T13:50:15Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1109/IECON48115.2021.9589726
keyword:
- Vehicle dynamics
- Control moment gyroscope
- Control system analysis
- Roll stabilization
- Monorail vehicles
language:
- iso: eng
page: pp. 1-6
publication: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics
  Society
publication_identifier:
  isbn:
  - 978-1-6654-3554-3
  issn:
  - '2577-1647 '
publication_status: published
publisher: IEEE
series_title: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics
  Society
status: public
title: Vertical control of a self-stabilizing monorail vehicle
type: conference_editor_article
user_id: '56955'
year: 2021
...
---
_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
...