Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer

Abstract

Two-wheeled robots are popular in transportation applications because of their high maneuverability. In this research, the oscillation attenuation performance of the control moment gyroscope (CMG) for the two-wheeled robot was studied. The stored kinetic energy of a CMG can offer a weight and volume saving compared to conventional vibration absorbers. This CMG is also more reactionless than other conventional absorbers by transforming the impact of angular momentum to unidirectional thrust along the center of gravity. The gimbals can precess while providing the angular momentum under the gravitational force. This study indicated that the CMG can operate in a wide range of excitation frequencies to balance the robot in a stable period. Because the flywheel speed is much easier changed to thrust against the unwanted oscillations disturbing the robot stability. There is a relation between the gimbal amplitude and the flywheel speed of CMG, in which the required flywheel speed can be reduced if the higher gimbal amplitude is chosen. It can be also concluded from the study that the oscillation amplitudes at the target frequency can decrease as much as flywheel speed increases. There was also a mathematical model using ANSYS software. The simulation results using ANSYS matched well with the theoretical results of the Lagrangian model.

Keywords

• Absorber
• damping
• dynamic absorbers
• control moment gyroscope
• gyroscope
• gyrostabilizer
• inverted pendulum

Kaynakça

1. [1] Ünker, F., Proportional control moment gyroscope for two-wheeled self-balancing robot, Journal of Vibration and Control, 0(0) (2021) 1–9.
2. [2] Grasser, F., Arrigo, A.D., Colombi, S., JOE: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics, 49(1) (2002) 107–114.
3. [3] Takei, T., Imamura, R., Yuta, S., Baggage transportation and navigation by a wheeled inverted pendulum mobile robot, IEEE Transactions on Industrial Electronic, 56(10) (2009) 3985-3994.
4. [4] Larimi, S.R., Zarafshan, P., Moosavian, S.A.A., A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel, Journal of Dynamic Systems, Measurement, and Control, 137(1) (2015) 011009 (8 pages).
5. [5] Ünker, F., Çuvalcı, O., Optimum Tuning of a Gyroscopic Vibration Absorber for Vibration Control of a Vertical Cantilever Beam with Tip Mass, International Journal of Acoustics and Vibration, 24(2) (2019) 210–216.
6. [6] Ünker, F., Tuned gyro pendulum stabilizer for control of vibrations in structures, International Journal of Acoustics and Vibration, 25(3) (2020) 355–362.