This video is an introduction and use instruction to the simulator which was created within a seminar project by us at the University of Kaiserslautern (TUK).
The simulator model contains a planar vehicle model to which an inverted pendulum with a CMG is attached.
Use this simulator for :
1) Simulation and experimental validation of your balance control algorithms using the CMG by setting the vehicle velocity to zero.
2) Simulation and experimental validation of your vehicle motion control, by setting the pendulum angle to 180[deg] and the fly wheel speed to zero.
3) Simulation and experimental validation of your bicycle motion control algorithms.
Dinesh Thirumurugan, Bhavesh Kataria, Allauddin Shaikh
Dinesh Thirumurugan (2020). Multi-body Simulator for Bicycle Stability (https://www.mathworks.com/matlabcentral/fileexchange/69620-multi-body-simulator-for-bicycle-stability), MATLAB Central File Exchange. Retrieved .
Inspired by: Simscape Multibody Contact Forces Library