Effect of Coulomb Friction on Feedback Posture Control of Bicycle Using Gyroscopic Moment Effect

A mechanism has been proposed that utilizes the gyroscopic moment generated by tilting rotation axis of a flywheel for stabilization control unstable system. In this study, we investigate effectiveness feedback which drives gimbal to maintain standing posture an structure such as two-wheel vehicle. Although simple angle enables keep standing, both and continue shaking little little. This is because temporarily stays at constant due action Coulomb friction, system becomes in interim. We propose method estimate length time when motion stops amplitudes vibration gimbal. Here, assume first-order mode poles obtained from linearized model are complex numbers second-order response converges immediately. From experimental results, it found if long time, tends fall over. show state necessary realize shorten reduce oscillations same time.