Proportional control moment gyroscope for two-wheeled self-balancing robot

Abstract

A two-wheeled self-balancing robot is considered for investigating the responses of a control moment gyroscope powered by a proportional controller to prevent the robot rollover against the constant inertia forces because of accelerations of the wheels of the robot. The amplitudes of the frequency equations related to the required angular momentum of flywheels with an optimum controller gain were also found. A simulation model of the robot using computer-aided engineering software (RecurDyn) is built to verify the equations of a Lagrangian model. The results of both obtained from the Lagrangian and that from RecurDyn simulations are analyzed comparatively, in which the proportional control loop reduces the required flywheel speeds Ω of gyros and keeps the robot in a very small amplitude of a stable sinusoidal motion in the upright position.

Angular Momentum Control for Preventing Rollover of a Heavy Vehicle

“…Let's assume that the following harmonic movements must occur to prevent the rollover caused by the gravitational force acting on the center of gravity of the trailer (5).…”

“…However, this geometric roll design might not be adequate in height of the center of gravity (CG) vehicles such as trucks. Therefore, angular momentum of a flywheel can be used as a a direct roll control technique for stabilization of roll motion instead of increasing of the vehicle's geometric roll resistance [4,5]. Therefore, consisting of CMG can perfectly provide the stability of an inverted pendulum-like high CG vehicles [5].…”

“…Flywheels can provide motion control at broadband excitation frequencies because the flywheel speed can exert counter-thrust on any vehicle that can overcome destabi-lizing forces [6,7]. Recently, various studies based on the gyroscopic moment of inertia of a rotating flywheel have eliminated unwanted movements on structures by various methods [5][6][7]. The kinetic energy of a flywheel stabilizer offers weight and volume savings and an unresponsive ride compared to conventional antiroll controllers [5,7].…”

“…Recently, various studies based on the gyroscopic moment of inertia of a rotating flywheel have eliminated unwanted movements on structures by various methods [5][6][7]. The kinetic energy of a flywheel stabilizer offers weight and volume savings and an unresponsive ride compared to conventional antiroll controllers [5,7]. The oscillating motion of the gimbal keeps the mass of the vehicle in stable constant periodic motion in the upright position [5].…”

“…The kinetic energy of a flywheel stabilizer offers weight and volume savings and an unresponsive ride compared to conventional antiroll controllers [5,7]. The oscillating motion of the gimbal keeps the mass of the vehicle in stable constant periodic motion in the upright position [5]. Therefore, the angular momentum of a flywheel can stabilize vehicles against constant forces.…”