I am going to start posting some results of my experiments with self balancing gyroscopes (mechanical) here.
Currently I have a working self stabilized two wheeler that uses a free precessing mechanical gyroscope which is very smooth with very little oscillating back and forth like you see on some self stabilized vehicles. The gyroscope is kept actively balanced by a servo that swings a counterweight back and forth. The downside is that a large force on the vehicle or sharp turn to left or right will cause the gyroscope to tumble (fall over). So I have been experimenting some with actively controlling the gyroscope gimble which is much more forceful in correcting the attitude of the gyroscope but also difficult to control. I have seen other efforts and the computer controls the gimbal but the vehicle always exhibits a bit of jumping back and forth – not too smooth.
I am thinking about working on some sort of hybrid gimbal control that allows free precessing but with gimbal correction.
Experiment 1: From studying some patents on the subject I saw one idea where they have tilted the entire gyroscope forward or backward rather than use a gimbal. That might be less abrupt in correcting the gyro than directly controlling the gimbal so I will try that.
Experiment 2: Also, I noticed that a gyroscope can be somewhat self correcting when it “loses it’s balance” by allowing the motor/gyro rotor to slide back and forth on the gimbal axis and allowing the natural precessing of the gyro to correct it’s out of balance state. I accidently observed this happening with my first self balancing gyroscope.
So these are two experiments I want to conduct in the near future.