Control Moment Gyroscope Transfer Function

C

Thread Starter

cyberlord64

Greetings.

I am new to control theory. I am developing a personal project of a model two wheel vehicle that balances with the use of a gyroscope. So far the balance is far too unstable. In an electronics forum i was advised to make a mathematical model to achieve the best possible stabilization. However wherever i look the examples are either too simple (mass attached to damper attached to spring) or far too complicated. Anyone can point me to the right direction? How can i describe a gyroscope using the mass, the dumper and the spring elements?

where can i find examples of such systems?
Thank you in advance for your time.
 
Do you use a gyroscope as feedback for both control loops of two wheels?

Do you have separate control loops for each wheel?

Do you have take into account mechanical crossing between wheels?
 
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