Active Attitude Stabilization and Power-Constrained Control of Bicycles Based on VSCMG System

The inherent static instability of bicycles poses significant safety risks, driving research into active stabilization systems within the broader field of autonomous vehicle control. This study proposes a Variable-Speed Control Moment Gyroscope (VSCMG) system for bicycle attitude stabilization, aiming to enhance rider safety and system endurance by addressing the high power consumption of traditional Single-Gimbal CMG (SGCMG) systems. A single-axis balance model was developed, employing a proportional–derivative (PD) controller to compute the total torque demand, combined with least-squares-based power-constrained optimization and a center-of-mass alignment algorithm to achieve stable control. Experimental validation was conducted on a simplified single-axis balancing setup, designed as an abstracted bicycle model for verification purposes, equipped with two VSCMG units. This setup demonstrated the rapid stabilization of a 15.5° tilt to near 0°, with significantly reduced steady-state power consumption compared to SGCMG systems, and an effective mitigation of external disturbances at 4000 RPM, though oscillations increased at 1500 RPM. The VSCMG system achieves a balance between stability and energy efficiency through dynamic flywheel speed adjustment, and future research can enhance disturbance rejection capabilities by varying the speed, offering a viable approach for long-endurance autonomous bicycles.