Self Balancing Gyroscopic Inline Two Wheeler

Here is a free pdf ebook on how to make a self balancing vehicle. Contains details on my models, problems, resolutions, suggestions, etc.

https://demej00.wordpress.com/2020/0...e-two-wheeler/

What I have discovered with my current vehicle model:

1. Vehicle makes right turns very sharply without falling over (gyroscope rotor is spinning to the left at about 10000 rpm) but falls on sharp turns to the left. It also falls making backward right-hand turns but not backward left turns.
2. Programming requires taking into account the natural precession of the rotor and corrections must take into account which of four sectors the rotor axis is in. This is forced precession as you cannot just place the gyroscope rotor at the balance point - that will not work. It is like you have to coax the rotor into a balanced position.
3. Corrections to the gyroscope gimbal must be programmatically made in short (approximately 50 millisecond) spurts with a slight delay following to allow the gyroscope to naturally precess to a balanced point.
4. Balancing requires a gyroscope rotor of mass/total vehicle weight of anywhere from 15 to 20%. Some seem to have been successful at 8% but I think that must be because it is a full-sized vehicle and probably more efficient than at the model level. Not sure.

THE BIG PROBLEM:
How can we make sharp left turns (gyro spinning to the left) without falling over and only using a single gyroscope (two gyroscopes solves this problem but has other issues). One possible solution that I have yet to try is to put the gyroscope on a 2nd gimbal and turn it when the vehicle turns (like the Gyro-X car).

Update Aug 21: I have since mounted the rotor on a horizontal axis and this allows right and left turns - just not fast ones, yet. Working now on a stronger gimbal motor to allow faster, tighter turns.