Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Experimental Studies of Control of a One-wheel Robot by Modifying Design and Control Method

설계 및 제어 개선을 통한 외바퀴 로봇의 제어에 대한 실험적 연구

  • Park, June Hyung (Mechatronics Engineering Department, Chungnam National University) ;
  • Ha, Min Soo (Mechatronics Engineering Department, Chungnam National University) ;
  • Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
  • 박준형 (충남대학교 메카트로닉스공학과) ;
  • 하민수 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2013.10.14
  • Accepted : 2014.03.31
  • Published : 2014.04.25
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Abstract

This paper presents experimental studies on controlling one-wheel robot, GYROBO. The previous one has the problem of falling down because the inside gimbal leans against one direction to make it balancing. This structural problem has been solved by redesigning the system. Gains obtained through experimental tasks are used as a gain scheduling method so that GYROBO is more stabilized. A line trajectory following control task is performed to test the driving control as well.

본 논문에서는 한 바퀴 구동 이동로봇, GYROBO,에 대한 제어를 실험적으로 수행하였다. 이전 자이로보는 제자리에서 밸런싱을 할 경우, 내부의 짐벌이 한 쪽으로 계속 회전하는 현상이 발생하여 결국 넘어지게 되는 결과를 초래하였다. 이 구조적 문제를 보완하여 균형 제어에 대한 실험적 연구를 수행하였다. 실험을 통해 구한 게인값을 사용하는 게인 스케줄링 방법을 통해 쏠리는 현상에 대한 해결방법을 찾았고, 자세제어를 더 안정화 시켰다. 또한 주행이 가능한지를 확인하기 위해 직선 경로 주행실험을 하였다.

Keywords

References

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