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Feedforward Tilt Control on Curves for Gyroscopically Stabilised Monorail Vehicles Using Machine Vision

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VIII International Scientific Siberian Transport Forum (TransSiberia 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1115))

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Abstract

Dynamic stabilisation of gyroscopically stabilised single track (monorail) vehicles necessitates accurate tilt angle control on transitions between track sections with different curvature to eliminate or to effectively damp unwanted sideways swaying of the vehicle caused by flywheel nutation and by the control lag arising from feedback control loop. In this paper, a feedforward tilt control method is proposed, which utilises on-the-go running rail image analysis to predict an oncoming rail curvature change and to generate an input for the flywheel gimbal servo drive to get the vehicle cant adjusted to the rail curvature beforehand. This approach will allow such vehicles to be used in high-speed transportation, where their advantages could be manifested in full.

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Author information

Authors and Affiliations

  1. Far Eastern State Transport University, Seryshev st., 47, Khabarovsk, 680021, Russia

    Yaroslav Zisser & Irina Zisser

Authors
  1. Yaroslav Zisser
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  2. Irina Zisser
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Corresponding author

Correspondence to Yaroslav Zisser .

Editor information

Editors and Affiliations

  1. Department of Roads, Airports and Railways, University of Belgrade, Belgrade, Serbia

    Zdenka Popovic

  2. Siberian Transport University, Novosibirsk, Russia

    Aleksey Manakov

  3. Peter the Great St. Petersburg Polytechnic University, St. Petersburg, Russia

    Vera Breskich

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Zisser, Y., Zisser, I. (2020). Feedforward Tilt Control on Curves for Gyroscopically Stabilised Monorail Vehicles Using Machine Vision. In: Popovic, Z., Manakov, A., Breskich, V. (eds) VIII International Scientific Siberian Transport Forum. TransSiberia 2019. Advances in Intelligent Systems and Computing, vol 1115. Springer, Cham. https://doi.org/10.1007/978-3-030-37916-2_37

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  • DOI: https://doi.org/10.1007/978-3-030-37916-2_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-37915-5

  • Online ISBN: 978-3-030-37916-2

  • eBook Packages: EngineeringEngineering (R0)

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