Gyroscopic Stabilization of a Self-Balancing Robot Bicycle

2011 ◽  
Vol 5 (6) ◽  
pp. 916-923 ◽  
Author(s):  
Pom Yuan Lam ◽  
◽  
Tan Kian Sin
Keyword(s):  
Nonlinear System ◽  
Inverted Pendulum ◽  
Experimental Results ◽  
Design And Development ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Gyroscopic Stabilization ◽  
Balancing Robot

This paper reports the design and development of a self-balancing bicycle using off-the-shelf electronics. A self-balancing bicycle is an unstable nonlinear system similar to an inverted pendulum. Experimental results show the robustness and efficiency of the proportional plus derivative controller balancing the bicycle. The system uses a control moment gyroscope as an actuator for balancing.

Classical Control Design for a Gyroscopically Stabilized Inverted Pendulum

2016 ◽  
Author(s):  
Greg R. Luecke ◽  
Chris Walck
Keyword(s):  
Inverted Pendulum ◽  
Control Design ◽  
Experimental Results ◽  
Design And Development ◽  
Control Approach ◽  
Interesting Effect ◽  
Control Moment ◽  
Classical Control ◽  
Control Moment Gyro

This work reports on the design and development of an inverted pendulum using a control moment gyro as a stabilizing mechanism. A common educational demonstration calls for a person to stand on a pivoting platform, and hold a spinning bicycle tire with one hand on each side of the axle. As the person rotates their arms, they begin to spin on the platform. This is due to the interesting effect of the control moment gyro. Similarly, this paper suggests the use of control moment gyros as a compact way of dynamically controlling objects. This paper will first discuss some of the current applications of control moment gyro systems, and how they could be used to improve existing technologies. This paper derives the dynamics of a particular gyroscope influenced pendulum, and shows a simple way to design a controller that stabilizes the pendulum. With the theory and background in place, experimental results are presented to verify the predicted response and validate the control approach. Finally, this paper will evaluate some of the strengths and weakness of this control approach, compared to other balancing techniques.

Oscillating Control Moment Gyroscope Experimental Results

2019 ◽  
Author(s):  
Burak Akbulut ◽  
Ozan Tekinalp ◽  
Ferhat Arberkli ◽  
Kivanc Azgin
Keyword(s):  
Experimental Results ◽  
Control Moment Gyroscope ◽  
Control Moment

scholarly journals Gyroscopic Stabilization of Two Wheeled Electric Vehicle

2021 ◽  
Vol 9 (VIII) ◽  
pp. 327-330
Author(s):  
Nuthan Kumar S V
Keyword(s):  
Electric Vehicle ◽  
Internal Combustion Engines ◽  
Combustion Engines ◽  
Paper Report ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Gyroscopic Stabilization ◽  
Human Effort ◽  
Electric Traction ◽  
Traction System

This paper report on research and fabrication of an electric vehicle prototype that will be capable of balancing itself without human effort. This vehicle will be implementing a control moment gyroscope for balancing purpose. The project also concerned about the environmental effects of conventional internal combustion Engines and to effectively use the alternative propulsion system which is electric traction system, where using Electric motors the vehicle is propelled. The system uses a control moment gyroscope to static balancing of the vehicle and using its angular momentum and precessional moment. Along with the fact that it uses a electric traction motor he implementation of new optimizations for power and mileage the efficiency is improved.

Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum

2020 ◽  
pp. 107754632092914
Author(s):  
Unggul Wasiwitono ◽  
Arif Wahjudi ◽  
Ari K Saputra ◽  
Yohanes
Keyword(s):  
Control Strategy ◽  
State Feedback ◽  
Inverted Pendulum ◽  
State Feedback Control ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Unstable Equilibrium Point ◽  
Feedback Control Strategy

In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H∞ disturbance attenuation problem and then transformed into solving linear matrix inequalities. The performance of the proposed controller is evaluated through simulation for linear and nonlinear cases. It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum.

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

2021 ◽  
pp. 107754632110099
Author(s):  
Faruk Ünker
Keyword(s):  
Lagrangian Model ◽  
Proportional Control ◽  
Control Moment Gyroscope ◽  
Engineering Software ◽  
Control Moment ◽  
Sinusoidal Motion ◽  
Controller Gain ◽  
Balancing Robot ◽  
Proportional Controller ◽  
Inertia Forces

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.

Variable Speed Control Moment Gyroscope in an Inverted Pendulum

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
João F. S. Trentin ◽  
Samuel da Silva ◽  
Hanspeter Schaub
Keyword(s):  
Angular Momentum ◽  
Inverted Pendulum ◽  
Speed Control ◽  
Rate Of Change ◽  
Lyapunov Theory ◽  
Variable Speed ◽  
Inverted Position ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Variable Speed Control

Abstract The use of variable speed control moment gyroscope (VSCMG) is an effective way for attitude stabilization of aerospace devices. It is possible to control the oscillation and direction rate of change in rigid bodies in space due to the controlled change of angular momentum rate. Thus, this paper proposes an atypical pendulum configuration controlled by a VSCMG actuator. The idea of the VSCMG pendulum (VSCMGP) is to use both the angular momentum variation in amplitude and direction to implement the control. The controller is designed using Lyapunov theory to stabilize the pendulum in the inverted position. The results illustrate the control using a VSCMG in an inverted pendulum showing how the stabilization of an inverted pendulum is performed using two control actions. Also, the comparison of the proposed pendulum with a classical configuration is presented.

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