[ Special Issue : Seoul Tech Capstone Design ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp.228-234

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2018

Received 03 Apr 2018 Revised 21 May 2018 Accepted 31 May 2018

DOI: https://doi.org/10.7735/ksmte.2018.27.3.228

Control Moment Gyro 원리를 이용한 외륜 로봇의 균형제어

정지수^a ; 박희재^a^{, *}

Balancing Control of a Unicycle Robot using Control Moment Gyro

Ji-Soo Jung^a ; Hee Jae Park^a^{, *}

aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology, 232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Correspondence to: ^*Tel.: +82-2-970-6341, Fax: +82-2-974-8270, E-mail address: looki@seoultech.ac.kr (Hee Jae Park).

Abstract

This paper describes the design and realization methods of a unicycle robot using the CMG (Control Moment Gyro) method that is commonly used in altitude controls of satellites. To cause this robot to keep balancing upright, it is essential to control the roll and pitch angle of the robot simultaneously. Unlike the reaction wheel-based roll control of a unicycle robot, CMG method controls gimbals which constantly support a rotating rotor to produce the torque necessary to nullify the roll angle error of the robot. The dynamic model of the robot is derived using the Euler-Lagrange equation. By separating the equation into roll and pitch dynamics, LQR (Linear Quadratic Regulator) controllers and a state observer are designed. A series of simulations and experiments are conducted to validate the performance of the proposed control method. The results demonstrate the effectiveness of the proposed balancing control algorithm for the CMG-based unicycle robot.

Keywords:

Single wheel robot, Balancing robot, LQR controller , Control Moment Gyro

Acknowledgments

이 연구는 서울과학기술대학교 교내연구비의 지원으로 수행되었습니다.

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