Gyro-stabilizer for a two-wheeled single-track vehicle

Abstract

A gyro-stabilizer for a two-wheeled single-track vehicle, preferably a motorcycle, applicable in several driving modes, is configured in the form of a gyroscope in a gimbal mount, an outer ring of which is connected by a two-way axial pivot joint to the vehicle frame, wherein the axis of said joint is oriented along the longitudinal axis of the vehicle; an inner ring of the gimbal mount is connected by a two-way axial pivot joint to the outer ring; and a spin axis of the gyroscope is connected by a two-way axial pivot joint to the inner ring, wherein the axes of all three pivot joints are mutually perpendicular, and wherein the gyro-stabilizer has a means for locking rotation of the outer ring about the axis of the pivot joint between said outer ring and the frame of the vehicle. The gyro-stabilizer is disposed on the rear wheel swingarm and has a means for locking rotation of the inner ring about the axis of the pivot joint between the inner ring and the outer ring.

Claims

1. A gyro-stabilizer for a two-wheeled single-track vehicle, comprising: a gyroscope in a gimbal; an outer ring of the gimbal having a first two-way axial swivel joint with a vehicle frame, and an axis of said first two-way axial swivel joint is directed along a longitudinal axis of the vehicle; an inner ring of the gimbal having a second two-way axial swivel joint with the outer ring; a gyroscope rotor shaft having a third two-way axial swivel with the inner ring of the gimbal; wherein a) axes of all three swivel joints are mutually perpendicular; b) the gyro-stabilizer has a lock for an outer ring rotation around the axis of the first swivel joint; c) the gyro-stabilizer is located on a rear wheel pendulum of the vehicle; d) the gyro-stabilizer has a lock for an inner ring rotation around the axis of the second swivel joint; e) each said lock is implemented as a servomotor configured to cause forced rotation of the corresponding ring based on a command from a microcontroller that controls at least speed of the vehicle and permissible tilt angles of the vehicle; and f) an additional load is attached to the inner ring on the axis of the third swivel joint.

2. The gyro-stabilizer according to the claim 1, wherein the two-wheeled single-track vehicle is a motorcycle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The claimed invention is explained by drawings.

(2) FIG. 1 presents a section view of the gyro-stabilizer device.

(3) FIG. 2 presents an assembled view of vehicle (motorcycle) pendulum with a gyro-stabilizer.

(4) FIG. 3 presents the schematic images of vehicle before (A) and after the gyro-stabilizer installation (B).

(5) FIG. 4 presents the comparative scheme of the claimed gyro-stabilizer (A) and the gyro-stabilizer prototype (B) operation during ascent.

(6) FIG. 5 presents the comparative scheme of the claimed gyro-stabilizer (A) and the gyro-stabilizer prototype (B) operation at cornering.

(7) Gyro-stabilizer 1 is represented by a gyroscope 2 in the gimbal, outer ring 3 of the gimbal has a two-way axial swivel connection with frame (pendulum) 4 of vehicle 5 and the axis of this joint is directed along the longitudinal axis of vehicle 5, inner ring 6 of the gimbal has a two-way axial swivel connection with outer ring 3, the gyroscope rotor shaft 2 has a two-way axial swivel connection with inner ring 6 of the gimbal and the axes of all three swivel joints are mutually perpendicular. Each of rings 3 and 6 are connected to servomotors 7 and 8, which in turn are connected to microcontroller 9, for example, with touch sensor control 10. Additional load 11 is attached to inner ring 6 on the axis of swivel connection with the rotor shaft. Gyroscope drive 2 incorporates electric motor 12.

DETAILED DESCRIPTION OF THE NON-LIMITING EMBODIMENTS

(8) The gyro-stabilizer operates as follows:

(9) Gyroscope 2 is started only after turning the ignition key. Flywheel (gyroscope) 2 spins for about 6-10 seconds depending on its diameter and weight, which in turn depends on the size and weight of a vehicle (motorcycle) 5. Gimbal rings 3 and 6 are not in any way locked at this stage. Then, the driver (pilot) removes motorcycle 5 from the footpeg and puts it in an upright position. At the same time, servomotor 7 sets ring 3 to horizontal position and fixes it (locks) in this position. Accordingly, gyro-stabilizer 1 goes into a non-free state (with two degrees of freedom) with one unstable coordinate (motorcycle position in longitudinal vertical plane). According to the first Thomson-Thet-Chetaev theorem the gyroscopic stabilization can be carried out only at an even number of unstable coordinates, thus, the second coordinate of the system (turning angle of ring 6) should also be unstable [See., for example: Merkin D. R. Introduction to road holding theory: Textbook for higher schools.3rd ed., revised and amendedM.: Science. Editor-in-charge of phys.-math. lit., 1987, pp. 180-182]. Accordingly, servomotor 8 turns ring 6 in such a way that load 11 is placed at the top and held in this position. The gyroscopic stabilization of vehicle 5 in vertical position occurs when gyroscope 2 is spinned to design values. The speed of vehicle 5 in this mode can vary from 0 to approximately 10 km/h. In other motion modes the full unlocking of ring 3 does not occur (unlike the prototype). There is a constant correction of rings 3 and 6 position by the signal from microcontroller 9 when driving uphill or downhill, on bumpy terrain or liquid dirt. For example, when moving uphill (FIG. 4 A) the servomotors maintain horizontal position of ring 3 and the corresponding position of ring 6. The gyroscopic effect is reduced in the prototype scheme operation (FIG. 4 B). The gyroscope rings may be set to prevent skidding (yaw) by means of gyrostabilization similar to analogue solution [Application DE No. 102013200020 A1], when necessary. Also by the command from microcontroller 9 (in accordance with data received from different sensors) gyro-stabilizer 1 can fix (limit) the maximum possible vehicle 5 tilt angle when cornering depending on vehicle performance, road and weather conditions, etc. The pre-setting of microcontroller 9 individual parameters, disabling and connection of additional functions is possible from touch sensor control unit 10.

(10) The placement of gyro-stabilizer on rear wheel pendulum 4 is primarily due to the fact that this is the only place where the stabilizer can be installed with no need to change the existing vehicle (motorcycle) 5 frame, the design geometry of which is approved by the chief designer and the manufacturer management. According to preliminary estimates, motorcycle 5 base will be elongated by 20 cm after gyro-stabilizer 1 installation on upgraded pendulum 4 (FIG. 3). Another factor that affects the steering is that gyro-stabilizer 1 is located not in the center but much closer to the rear axle of motorcycle 5. Gyro-stabilizer 1 affects pendulum 4, which is attached to the frame or engine, but turns and sets the direction of the front wheel so that the stabilizing effect would be applied to a lesser extent, and this is possible at the elongation from the interaxial center to the rear wheel thereby not interfering with gyro-stabilizer 1 vertical position or the specified deviation. Vehicle 5 becomes stable at low speeds and at the same time maneuverable as never before, if these factors are observed (FIG. 5).

INDUSTRIAL APPLICABILITY

(11) The practical implementation of the claimed invention is an obvious task for the average specialist in the field of industry under consideration.