---
_id: '13022'
abstract:
- lang: eng
text: Numerous single-track railway lines are currently disused due to economic
factors. These lines could potentially be reactivated by small vehicles that utilise
only a single rail, enabling bidirectional operation simultaneously. The MONOCAB
is such a compact monorail vehicle, stabilised by a system of control moment gyroscopes
(CMGs) and a laterally movable, controllable trim mass. Despite their potential,
there is currently a lack of comparative references for MONOCABs in relation to
other vehicles. In the context of mechanical design and construction, interdependencies
with roll stabilisation occur. Of particular concern are torsional effects, which
can significantly impact stability. This study investigates the structural dynamics
of monorail vehicles with a focus on the influence of gyroscopes. Gyroscopic systems
play a significant role in the behaviour of such vehicles, affecting stability,
control and response to external disturbances. Through a comprehensive approach
encompassing analytical modelling, numerical simulations, and experimental validation,
the interactions between the vehicle's structure and gyroscopic components are
explored. The analytical considerations are validated via experimentally derived
frequency responses utilising a full-scale monorail vehicle. The results of this
study have implications for various fields, such as transportation, robotics and
aerospace engineering.
author:
- first_name: Martin
full_name: Griese, Martin
id: '52308'
last_name: Griese
- first_name: Thomas
full_name: Schulte, Thomas
id: '46242'
last_name: Schulte
citation:
ama: 'Griese M, Schulte T. Gyroscopic effects in the structural dynamics of monorail
vehicles. Vehicle system dynamics : international journal of vehicle mechanics
and mobility. 2025;63. doi:10.1080/00423114.2025.2480820'
apa: 'Griese, M., & Schulte, T. (2025). Gyroscopic effects in the structural
dynamics of monorail vehicles. Vehicle System Dynamics : International Journal
of Vehicle Mechanics and Mobility, 63. https://doi.org/10.1080/00423114.2025.2480820'
bjps: 'Griese M and Schulte T (2025) Gyroscopic Effects in the Structural
Dynamics of Monorail Vehicles. Vehicle system dynamics : international journal
of vehicle mechanics and mobility 63.'
chicago: 'Griese, Martin, and Thomas Schulte. “Gyroscopic Effects in the Structural
Dynamics of Monorail Vehicles.” Vehicle System Dynamics : International Journal
of Vehicle Mechanics and Mobility 63 (2025). https://doi.org/10.1080/00423114.2025.2480820.'
chicago-de: 'Griese, Martin und Thomas Schulte. 2025. Gyroscopic effects in the
structural dynamics of monorail vehicles. Vehicle system dynamics : international
journal of vehicle mechanics and mobility 63. doi:10.1080/00423114.2025.2480820,
.'
din1505-2-1: 'Griese, Martin ; Schulte, Thomas: Gyroscopic effects in
the structural dynamics of monorail vehicles. In: Vehicle system dynamics :
international journal of vehicle mechanics and mobility Bd. 63. London [u.a.],
Taylor & Francis (2025)'
havard: 'M. Griese, T. Schulte, Gyroscopic effects in the structural dynamics of
monorail vehicles, Vehicle System Dynamics : International Journal of Vehicle
Mechanics and Mobility. 63 (2025).'
ieee: 'M. Griese and T. Schulte, “Gyroscopic effects in the structural dynamics
of monorail vehicles,” Vehicle system dynamics : international journal of vehicle
mechanics and mobility, vol. 63, 2025, doi: 10.1080/00423114.2025.2480820.'
mla: 'Griese, Martin, and Thomas Schulte. “Gyroscopic Effects in the Structural
Dynamics of Monorail Vehicles.” Vehicle System Dynamics : International Journal
of Vehicle Mechanics and Mobility, vol. 63, 2025, https://doi.org/10.1080/00423114.2025.2480820.'
short: 'M. Griese, T. Schulte, Vehicle System Dynamics : International Journal of
Vehicle Mechanics and Mobility 63 (2025).'
ufg: 'Griese, Martin/Schulte, Thomas: Gyroscopic effects in the structural
dynamics of monorail vehicles, in: Vehicle system dynamics : international
journal of vehicle mechanics and mobility 63 (2025).'
van: 'Griese M, Schulte T. Gyroscopic effects in the structural dynamics of monorail
vehicles. Vehicle system dynamics : international journal of vehicle mechanics
and mobility. 2025;63.'
date_created: 2025-06-25T07:50:04Z
date_updated: 2025-06-25T08:14:58Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1080/00423114.2025.2480820
external_id:
isi:
- '001467951500001'
intvolume: ' 63'
isi: '1'
keyword:
- Vehicle dynamics
- rail vehicle
- control moment gyroscope
- stabilisation control
- motion control
- stability analysis
language:
- iso: eng
place: London [u.a.]
publication: 'Vehicle system dynamics : international journal of vehicle mechanics
and mobility'
publication_identifier:
eissn:
- 1744-5159
issn:
- 0042-3114
publication_status: published
publisher: Taylor & Francis
quality_controlled: '1'
status: public
title: Gyroscopic effects in the structural dynamics of monorail vehicles
type: scientific_journal_article
user_id: '83781'
volume: 63
year: '2025'
...
---
_id: '12851'
abstract:
- lang: eng
text: Currently, numerous single-track railway lines are disused due to economic
reasons. They could be reactivated by small vehicles that use only one rail and
thus can be operated in both directions at the same time. 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. In the context of mechanical design and construction,
interdependencies with vertical stabilization occur. Torsional effects in particular
can critically affect the stability. This paper investigates the influence of
mechanical eigenmodes on the vertical stabilization system. Specific characteristics
of the system (especially due to the gyroscopes) are highlighted by a model-based
analysis. Moreover, a FEM modal analysis is used to examine the supporting frame
of the vehicle. The results are compared to experimentally estimated frequency
responses of a full-scale monorail vehicle.
author:
- first_name: Martin
full_name: Griese, Martin
id: '52308'
last_name: Griese
- first_name: Patrick
full_name: Döding, Patrick
last_name: Döding
- first_name: Thomas
full_name: Schulte, Thomas
id: '46242'
last_name: Schulte
citation:
ama: Griese M, Döding P, Schulte T. Analysis of Mechanical Eigenmodes of a Self-Stabilizing
Monorail Vehicle. (Huang W, Ahmadian M, eds.). Springer Nature Switzerland;
2024:107-116. doi:10.1007/978-3-031-66971-2_12
apa: 'Griese, M., Döding, P., & Schulte, T. (2024). Analysis of Mechanical Eigenmodes
of a Self-stabilizing Monorail Vehicle. In W. Huang & M. Ahmadian (Eds.),
Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the
28th Symposium of the International Association of Vehicle System Dynamics, IAVSD
2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles (pp. 107–116).
Springer Nature Switzerland. https://doi.org/10.1007/978-3-031-66971-2_12'
bjps: 'Griese M, Döding P and Schulte T (2024) Analysis of Mechanical
Eigenmodes of a Self-Stabilizing Monorail Vehicle, Huang W and Ahmadian M
(eds). Cham: Springer Nature Switzerland.'
chicago: 'Griese, Martin, Patrick Döding, and Thomas Schulte. Analysis of Mechanical
Eigenmodes of a Self-Stabilizing Monorail Vehicle. Edited by Wei Huang and
Mehdi Ahmadian. Advances in Dynamics of Vehicles on Roads and Tracks III :
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles . Lecture Notes in Mechanical Engineering ((LNME)). Cham: Springer
Nature Switzerland, 2024. https://doi.org/10.1007/978-3-031-66971-2_12.'
chicago-de: 'Griese, Martin, Patrick Döding und Thomas Schulte. 2024. Analysis
of Mechanical Eigenmodes of a Self-stabilizing Monorail Vehicle. Hg. von Wei Huang
und Mehdi Ahmadian. Advances in Dynamics of Vehicles on Roads and Tracks III :
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles . Lecture Notes in Mechanical Engineering ((LNME)). Cham: Springer
Nature Switzerland. doi:10.1007/978-3-031-66971-2_12,
.'
din1505-2-1: 'Griese, Martin ; Döding, Patrick ; Schulte,
Thomas ; Huang, W. ; Ahmadian, M. (Hrsg.): Analysis of Mechanical
Eigenmodes of a Self-stabilizing Monorail Vehicle, Lecture Notes in Mechanical
Engineering ((LNME)). Cham : Springer Nature Switzerland, 2024'
havard: M. Griese, P. Döding, T. Schulte, Analysis of Mechanical Eigenmodes of a Self-stabilizing
Monorail Vehicle, Springer Nature Switzerland, Cham, 2024.
ieee: 'M. Griese, P. Döding, and T. Schulte, Analysis of Mechanical Eigenmodes
of a Self-stabilizing Monorail Vehicle. Cham: Springer Nature Switzerland,
2024, pp. 107–116. doi: 10.1007/978-3-031-66971-2_12.'
mla: 'Griese, Martin, et al. “Analysis of Mechanical Eigenmodes of a Self-Stabilizing
Monorail Vehicle.” Advances in Dynamics of Vehicles on Roads and Tracks III :
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles , edited by Wei Huang and Mehdi Ahmadian, Springer Nature Switzerland,
2024, pp. 107–16, https://doi.org/10.1007/978-3-031-66971-2_12.'
short: M. Griese, P. Döding, T. Schulte, Analysis of Mechanical Eigenmodes of a Self-Stabilizing
Monorail Vehicle, Springer Nature Switzerland, Cham, 2024.
ufg: 'Griese, Martin/Döding, Patrick/Schulte, Thomas: Analysis of Mechanical
Eigenmodes of a Self-stabilizing Monorail Vehicle, hg. von Huang, Wei/Ahmadian,
Mehdi, Cham 2024 (Lecture Notes in Mechanical Engineering ((LNME))).'
van: 'Griese M, Döding P, Schulte T. Analysis of Mechanical Eigenmodes of a Self-stabilizing
Monorail Vehicle. Huang W, Ahmadian M, editors. Advances in Dynamics of Vehicles
on Roads and Tracks III : Proceedings of the 28th Symposium of the International
Association of Vehicle System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa,
Canada - Volume 1: Rail Vehicles . Cham: Springer Nature Switzerland; 2024. (Lecture
Notes in Mechanical Engineering ((LNME))).'
conference:
end_date: 2023-08-25
location: Ottawa, CANADA
name: 28th Symposium of the International Association of Vehicle System Dynamics
start_date: 2023-08-21
date_created: 2025-04-24T06:12:35Z
date_updated: 2025-06-25T07:41:17Z
department:
- _id: DEP5023
doi: 10.1007/978-3-031-66971-2_12
editor:
- first_name: 'Wei '
full_name: 'Huang, Wei '
last_name: Huang
- first_name: 'Mehdi '
full_name: 'Ahmadian, Mehdi '
last_name: Ahmadian
keyword:
- vehicle dynamics
- roll stabilization
- modal analysis
language:
- iso: eng
page: 107-116
place: Cham
publication: 'Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings
of the 28th Symposium of the International Association of Vehicle System Dynamics,
IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles '
publication_identifier:
eisbn:
- 978-3-031-66971-2
eissn:
- 2195-4364
isbn:
- 978-3-031-66970-5
issn:
- 2195-4356
publication_status: published
publisher: Springer Nature Switzerland
series_title: Lecture Notes in Mechanical Engineering ((LNME))
status: public
title: Analysis of Mechanical Eigenmodes of a Self-stabilizing Monorail Vehicle
type: conference_editor_article
user_id: '83781'
year: '2024'
...
---
_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. Parameter Identification Related to Vertical
Dynamic of a Self-Stabilizing Monorail Vehicle. (Institute of Electrical and
Electronics Engineers, ed.). IEEE; 2023:1196-1201. doi:10.1109/aim46323.2023.10196189
apa: Griese, M., Mousavi, S. D., & Schulte, T. (2023). Parameter identification
related to vertical dynamic of a self-stabilizing monorail vehicle. In Institute
of Electrical and Electronics Engineers (Ed.), 2023 IEEE/ASME International
Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1196–1201). IEEE.
https://doi.org/10.1109/aim46323.2023.10196189
bjps: 'Griese M, Mousavi SD and Schulte T (2023) Parameter Identification
Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle, Institute
of Electrical and Electronics Engineers (ed.). Piscataway, NJ: IEEE.'
chicago: 'Griese, Martin, Seyed Davood Mousavi, and Thomas Schulte. Parameter
Identification Related to Vertical Dynamic of a Self-Stabilizing Monorail Vehicle.
Edited by Institute of Electrical and Electronics Engineers. 2023 IEEE/ASME
International Conference on Advanced Intelligent Mechatronics (AIM). Piscataway,
NJ: IEEE, 2023. https://doi.org/10.1109/aim46323.2023.10196189.'
chicago-de: 'Griese, Martin, Seyed Davood Mousavi und Thomas Schulte. 2023. Parameter
identification related to vertical dynamic of a self-stabilizing monorail vehicle.
Hg. von Institute of Electrical and Electronics Engineers. 2023 IEEE/ASME International
Conference on Advanced Intelligent Mechatronics (AIM). Piscataway, NJ: IEEE.
doi:10.1109/aim46323.2023.10196189,
.'
din1505-2-1: 'Griese, Martin ; Mousavi, Seyed Davood ; Schulte,
Thomas ; Institute of Electrical
and Electronics Engineers (Hrsg.): Parameter identification related
to vertical dynamic of a self-stabilizing monorail vehicle. 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, Parameter identification related
to vertical dynamic of a self-stabilizing monorail vehicle. Piscataway, NJ:
IEEE, 2023, pp. 1196–1201. doi: 10.1109/aim46323.2023.10196189.'
mla: Griese, Martin, et al. “Parameter Identification Related to Vertical Dynamic
of a Self-Stabilizing Monorail Vehicle.” 2023 IEEE/ASME International Conference
on Advanced Intelligent Mechatronics (AIM), edited by Institute of Electrical
and Electronics Engineers, IEEE, 2023, pp. 1196–201, https://doi.org/10.1109/aim46323.2023.10196189.
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: 'Griese, Martin/Mousavi, Seyed Davood/Schulte, Thomas: 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. Vertical Control of a Self-Stabilizing
Monorail Vehicle. IEEE; 2021:1-6. doi:10.1109/IECON48115.2021.9589726
apa: 'Griese, M., Kottmeier, F., & Schulte, T. (2021). Vertical control of
a self-stabilizing monorail vehicle. IECON 2021 – 47th Annual Conference
of the IEEE Industrial Electronics Society (pp. 1–6). Toronto, ON, Canada
: IEEE. https://doi.org/10.1109/IECON48115.2021.9589726'
bjps: Griese M, Kottmeier F and Schulte T (2021) Vertical Control of a
Self-Stabilizing Monorail Vehicle. IEEE.
chicago: Griese, Martin, Fabian Kottmeier, and Thomas Schulte. Vertical Control
of a Self-Stabilizing Monorail Vehicle. IECON 2021 – 47th Annual Conference
of the IEEE Industrial Electronics Society. IECON 2021 – 47th Annual Conference
of the IEEE Industrial Electronics Society. IEEE, 2021. https://doi.org/10.1109/IECON48115.2021.9589726.
chicago-de: Griese, Martin, Fabian Kottmeier und Thomas Schulte. 2021. Vertical
control of a self-stabilizing monorail vehicle. IECON 2021 – 47th Annual
Conference of the IEEE Industrial Electronics Society. IECON 2021 – 47th Annual
Conference of the IEEE Industrial Electronics Society. IEEE. doi:10.1109/IECON48115.2021.9589726,
.
din1505-2-1: 'Griese, Martin ; Kottmeier, Fabian ; Schulte,
Thomas: Vertical control of a self-stabilizing monorail vehicle,
IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society :
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, Vertical control of a self-stabilizing
monorail vehicle. IEEE, 2021, pp. 1–6.
mla: Griese, Martin, et al. “Vertical Control of a Self-Stabilizing Monorail Vehicle.”
IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society,
IEEE, 2021, pp. 1–6, doi:10.1109/IECON48115.2021.9589726.
short: M. Griese, F. Kottmeier, T. Schulte, Vertical Control of a Self-Stabilizing
Monorail Vehicle, IEEE, 2021.
ufg: 'Griese, Martin et. al. (2021): Vertical control of a self-stabilizing
monorail vehicle (=IECON 2021 – 47th Annual Conference of the IEEE Industrial
Electronics Society).'
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. Modeling the Vertical Dynamics of a Self-Stabilizing
Monorail Vehicle. IEEE; 2021:205-210. doi:10.1109/ICCMA54375.2021.9646219
apa: 'Griese, M., Mousavi, S. D., & Schulte, T. (2021). Modeling the Vertical
Dynamics of a Self-stabilizing Monorail Vehicle. 2021 9th International
Conference on Control, Mechatronics and Automation (ICCMA) (pp. 205–210).
Belval, Luxembourg : IEEE. https://doi.org/10.1109/ICCMA54375.2021.9646219'
bjps: Griese M, Mousavi SD and Schulte T (2021) Modeling the Vertical
Dynamics of a Self-Stabilizing Monorail Vehicle. IEEE.
chicago: Griese, Martin, Seyed Davood Mousavi, and Thomas Schulte. Modeling the
Vertical Dynamics of a Self-Stabilizing Monorail Vehicle. 2021 9th International
Conference on Control, Mechatronics and Automation (ICCMA). IEEE, 2021. https://doi.org/10.1109/ICCMA54375.2021.9646219.
chicago-de: Griese, Martin, Seyed Davood Mousavi und Thomas Schulte. 2021. Modeling
the Vertical Dynamics of a Self-stabilizing Monorail Vehicle. 2021 9th
International Conference on Control, Mechatronics and Automation (ICCMA).
IEEE. doi:10.1109/ICCMA54375.2021.9646219,
.
din1505-2-1: 'Griese, Martin ; Mousavi, Seyed Davood ; Schulte,
Thomas: Modeling the Vertical Dynamics of a Self-stabilizing Monorail
Vehicle : 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, Modeling the Vertical Dynamics
of a Self-stabilizing Monorail Vehicle. IEEE, 2021, pp. 205–210.
mla: Griese, Martin, et al. “Modeling the Vertical Dynamics of a Self-Stabilizing
Monorail Vehicle.” 2021 9th International Conference on Control, Mechatronics
and Automation (ICCMA), IEEE, 2021, pp. 205–10, doi:10.1109/ICCMA54375.2021.9646219.
short: M. Griese, S.D. Mousavi, T. Schulte, Modeling the Vertical Dynamics of a
Self-Stabilizing Monorail Vehicle, IEEE, 2021.
ufg: 'Griese, Martin et. al. (2021): 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
...