Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer
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...
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| Format: | Article |
| Language: | English |
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Gazi University
2022-09-01
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| Series: | Gazi Üniversitesi Fen Bilimleri Dergisi |
| Subjects: | |
| Online Access: | https://dergipark.org.tr/tr/pub/gujsc/issue/72673/1062497 |
| _version_ | 1827397908219035648 |
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| author | Faruk ÜNKER |
| author_facet | Faruk ÜNKER |
| author_sort | Faruk ÜNKER |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T19:19:42Z |
| format | Article |
| id | doaj.art-a992c6ccf5f44c7aa1fefa0d34f95554 |
| institution | Directory Open Access Journal |
| issn | 2147-9526 |
| language | English |
| last_indexed | 2024-03-08T19:19:42Z |
| publishDate | 2022-09-01 |
| publisher | Gazi University |
| record_format | Article |
| series | Gazi Üniversitesi Fen Bilimleri Dergisi |
| spelling | doaj.art-a992c6ccf5f44c7aa1fefa0d34f955542023-12-26T21:26:27ZengGazi UniversityGazi Üniversitesi Fen Bilimleri Dergisi2147-95262022-09-0110354755710.29109/gujsc.1062497Oscillation Control of Two-Wheeled Robot using a GyrostabilizerFaruk ÜNKER0https://orcid.org/0000-0002-9709-321XGUMUSHANE UNIVERSITY, GUMUSHANE FACULTY OF ENGINEERINGTwo-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.https://dergipark.org.tr/tr/pub/gujsc/issue/72673/1062497absorberdampingdynamic absorberscontrol moment gyroscopegyroscopegyrostabilizerinverted pendulum |
| spellingShingle | Faruk ÜNKER Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer Gazi Üniversitesi Fen Bilimleri Dergisi absorber damping dynamic absorbers control moment gyroscope gyroscope gyrostabilizer inverted pendulum |
| title | Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer |
| title_full | Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer |
| title_fullStr | Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer |
| title_full_unstemmed | Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer |
| title_short | Oscillation Control of Two-Wheeled Robot using a Gyrostabilizer |
| title_sort | oscillation control of two wheeled robot using a gyrostabilizer |
| topic | absorber damping dynamic absorbers control moment gyroscope gyroscope gyrostabilizer inverted pendulum |
| url | https://dergipark.org.tr/tr/pub/gujsc/issue/72673/1062497 |
| work_keys_str_mv | AT farukunker oscillationcontroloftwowheeledrobotusingagyrostabilizer |