Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Balancing control of one-wheeled mobile robot using control moment gyroscope

제어 모멘트 자이로스코프를 이용한 외바퀴 이동로봇의 균형 자세 제어

  • Park, Sang-Hyung (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yi, Soo-Yeong (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 박상형 (서울과학기술대학교 전기정보공학과) ;
  • 이수영 (서울과학기술대학교 전기정보공학과)
  • Received : 2017.01.09
  • Accepted : 2017.03.30
  • Published : 2017.04.25
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Abstract

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

외바퀴 로봇 제어에 있어 필수적인 균형 안정화 제어를 위해 제어 모멘트 자이로스코프(CMG)를 이용할 수 있다. 단일 짐벌 CMG는 단순한 구조를 가지면서 외란에 대해 강력한 복원 토크를 로봇에게 전달할 수 있다. 그러나 CMG는 복원 토크 외에 원치 않는 방향의 토크도 발생시킨다. 원치 않는 방향 토크는 회전 자유도가 높은 외바퀴 로봇 시스템에서 불안정성 문제를 야기한다. 본 논문에서는 원치 않는 방향 토크를 제거하기 위해 CMG 가위쌍을 이용한 외바퀴 이동 로봇 제어 시스템을 제시한다. 외바퀴 로봇 동역학식에 있어서의 모델 오차에 강인한 특성을 갖는 LQR 제어 알고리즘을 설계하였다. 3D 비선형 동역학 컴퓨터 시뮬레이션을 통해 CMG 가위쌍과 LQR 제어 알고리즘을 갖는 외바퀴 로봇 제어 시스템을 검증하였다.

Keywords

References

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