Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Balancing the Cubli Frame with LQR-controlled Reaction Wheel

반작용 휠의 LQR 제어를 통한 Cubli 프레임의 균형유지

  • Kim, Yonghun (School of Intelligent Mechatronic Engineering, Sejong University) ;
  • Park, Junmo (Department of Robotics and Automation Engineering, Hoseo University) ;
  • Han, Seungoh (Department of Robotics and Automation Engineering, Hoseo University)
  • 김용훈 (세종대학교 지능기전공학부) ;
  • 박준모 (호서대학교 로봇자동화공학과) ;
  • 한승오 (호서대학교 로봇자동화공학과)
  • Received : 2017.12.05
  • Accepted : 2018.05.03
  • Published : 2018.05.31
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Abstract

A single-axis Cubli frame realized simply with an IMU sensor and DC motor is presented herein. To maintain the balance on the Cubli frame, an LQR controller based on a Lagrangian derivation of the dynamics was designed, which utilized the state variables of the frame angle and its angular acceleration, as well as the wheel angle and its angular acceleration. The designed LQR controller showed a settling time balancing capability of approximately two seconds and 40% of the maximum overshoot in Matlab/Simulink simulations. Our experimental results of the fabricated Cubli frame matched with the simulation results. It maintained balancing at the reference position even though an initial offset as well as external disturbance during the balancing was applied.

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References

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