Gyroscopic stabilized vehicle
Embodiments of the invention describe receiving, via a plurality of sensors, data indicating vehicle information. Said information may indicate at least orientation of a frame of a vehicle, orientation of a front wheel of the vehicle with respect to the frame, orientation and rotational speed of a first and second flywheel, and speed of the vehicle. In one embodiment, each flywheel is included in a first and second gyroscope coupled to the vehicle frame. Based, at least in part, on the data received from the plurality of sensors, at least one of the orientation and rotational speed of at least one of the flywheels may be adjusted. Said adjustment may further be based on an input to change at least one of speed and direction of the vehicle.
1. A vehicle comprising:
a frame;
a front wheel and a rear wheel coupled to the frame;
a first gyroscope and a second gyroscope each coupled to the frame and in-line with the front wheel and the rear wheel, each gyroscope to include a flywheel, wherein the second gyroscope is placed behind the first gyroscope;
a plurality of sensors to detect an orientation of the frame, an orientation of the front wheel with respect to the frame, an orientation and a rotational speed of each of the flywheels of the first gyroscope and the second gyroscope, and a speed of the apparatus vehicle; and
an electronic control system to
determine a vehicle lean based, at least in part, on a data from the plurality of sensors and an input to change at least one of the speed or a direction of the vehicle, and adjust a precession of at least one of the flywheels of the first gyroscope and the second gyroscope so that the flywheels of the first gyroscope and the second gyroscope are counter-precessed to produce an attitude control moment during the vehicle lean; and
adjust an output torque of the first gyroscope and the second gyroscope by adjusting a precession rate of at least one of the flywheels of the first gyroscope and the second gyroscope from an axis of rotation normal to an axis of rotation of the front wheel of the vehicle based, at least in part, on the data from the plurality of sensors, wherein adjusting the precession rate includes minimizing the precession rate in response to determining the vehicle lean to use the output torque of the first gyroscope and the second gyroscope for a prolonged period of time during the vehicle lean.
2. The vehicle of claim 1 , wherein the input to change the direction of the vehicle comprises an input to change the orientation of the front wheel with respect to the frame, and the electronic control system to further adjust at least one of the orientation or the rotational speed of at least one of the flywheels of the first gyroscope and the second gyroscope to maintain stability during a turn.
3. The vehicle of claim 1 , the electronic control system to further decrease the speeds of the flywheels of the first gyroscope and the second gyroscope when the input to change the vehicle speed comprises an input to increase the speed of the vehicle.
4. The vehicle of claim 1 , further comprising a braking system to decrease a speed of at least one of the front wheel or the rear wheel, wherein the input to change the speed of the vehicle comprises an input to engage the braking system, and the electronic control system to further increase the speeds of the flywheels of the first gyroscope and the second gyroscope to increase stability influence.
5. The vehicle of claim 4 , wherein the input to change the speed of the vehicle comprises an input to decrease the speed of the vehicle, wherein a first stabilizing torque is generated from rotational velocities of the front wheel and the rear wheel of the vehicle at a decreased vehicle speed, and wherein adjusting the output torque of the first gyroscope and the second gyroscope further includes:
increasing the rotational speeds of the flywheels of the first gyroscope and the second gyroscope to low speeds such that the output torque of the first gyroscope and the second gyroscope is less than the first vehicle stabilizing torque.
6. The vehicle of claim 1 , wherein the flywheels of the first gyroscope and the second gyroscope spin in opposite directions with respect to each other.
7. The vehicle of claim 1 , wherein the first gyroscope and the second gyroscope are further aligned heightwise.
8. The vehicle of claim 1 , wherein the flywheels of the first gyroscope and the second gyroscope each comprise at least one of carbon fiber, steel, brass, bronze, lead or depleted uranium.
9. The vehicle of claim 1 , wherein the first gyroscope and the second gyroscope are coupled to the frame via a first and a second set of gimbal mountings, respectively.
10. The vehicle of claim 1 , wherein adjusting the precession rate of at least one of the flywheels of the first gyroscope and the second gyroscope further includes:
increasing the precession rate of at least one of the flywheels of the first gyroscope and the second gyroscope to increase the output torque of the the first gyroscope and the second gyroscope.
11. A method comprising:
receiving, via a plurality of sensors, data to indicate an orientation of a frame of a vehicle, an orientation of a front wheel of the vehicle with respect to the frame, an orientation and a rotational speed of each of a first flywheel and a second flywheel, and a speed of the vehicle, wherein the first flywheel and the second flywheel are included in a first gyroscope and a second gyroscope, respectively, coupled to the frame and in-line with the front wheel of the vehicle and a rear wheel of the vehicle, and wherein the second gyroscope is placed behind the first gyroscope;
determining a vehicle lean based, at least in part, on the data received from the plurality of sensors and an input to change at least one of the speed or a direction of the vehicle;
adjusting a precession of at least one of the flywheels of the first gyroscope and the second gyroscope so that the flywheels of the first gyroscope and the second gyroscope are counter-precessed to produce an attitude control moment during the vehicle lean; and
adjusting an output torque of the first gyroscope and the second gyroscope by adjusting a precession rate of at least one of the flywheels of the first gyroscope and the second gyroscope from an axis of rotation normal to an axis of rotation of the front wheel of the vehicle based, at least in part, on the data received from the plurality of sensors, wherein adjusting the precession rate includes minimizing the precession rate in response to determining the vehicle lean to use the output torque of the first gyroscope and the second gyroscope for a prolonged period of time during the vehicle lean.
12. The method of claim 11 , wherein the input to change the direction of the vehicle comprises an input to change the orientation of the front wheel with respect to the frame, and the method further comprises:
adjusting at least one of the orientation or the rotational speed of at least one of the flywheels of the first gyroscope and the second gyroscope to maintain stability during a turn.
13. The method of claim 11 , further comprising:
decreasing the speed of the first flywheel and the second flywheel when the input to change the speed of the vehicle comprises an input to increase the speed of the vehicle.
14. The method of claim 11 , the vehicle to further include a braking system to decrease a speed of at least one of the front wheel or the rear wheel, wherein the input to change the speed of the vehicle comprises an input to engage the braking system, and the method further comprises:
increasing the speed of the first flywheel and the second flywheel to increase stability influence.
15. The method of claim 14 , wherein the input to change the speed of the vehicle comprises an input to decrease the speed of the vehicle, wherein a first stabilizing torque is generated from rotational velocities of the front wheel and the rear wheel of the vehicle at a decreased vehicle speed, and wherein adjusting the output torque of the first gyroscope and the second gyroscope further includes:
increasing the rotational speed of the first flywheel and the second flywheel to low speeds such that the output torque of the first gyroscope and the second gyroscope is less than the first vehicle stabilizing torque.
16. The method of claim 11 , wherein the first flywheel and the second flywheel spin in opposite directions with respect to each other.
17. The method of claim 11 , wherein the first flywheel and the second flywheel each comprise at least one of carbon fiber, steel, brass, bronze, lead or depleted uranium.
18. The method of claim 11 , wherein the first gyroscope and the second gyroscope are coupled to the frame via a first and a second set of gimbal mountings, respectively.
19. The method of claim 11 , wherein adjusting the output torque of the first gyroscope and the second gyroscope by adjusting the precession rate of at least one of the flywheels of the first gyroscope and the second gyroscope further includes:
increasing the precession rate of at least one of the flywheels of the first gyroscope and the second gyroscope to increase the output torque of the first gyroscope and the second gyroscope.