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- BildiriYalnız künye2023Recoil Stabilization of Two-Wheeled Robot Through Control Moment Gyroscope (CMG)
Unker, Faruk
In this study, the weapon and gyroscopes mounted on the armored two-wheeled robot have been studied for controlling recoil dynamics. To date, the interaction between recoil energy and control moment gyroscope (CMG) has not been investigated for a two-wheeled robot. Therefore, this study will be interesting academic research in the dynamic response and control strategy of a CMG subjected to recoil impulsive loads resulting from firing the weapon. The first aim of this study is to maintain the stabilization of the robot within the CMG limits when subjected to impulsive loads without needing the allowable stroke as being for a hydraulic damper. Equations of motion and the correlation between the shot recoil and angular momentum are derived by the Lagrangian method and simulated by Matlab. Then RecurDyn model of the two-wheeled robot is used to control and analyze dynamic parameters under applied recoil energy. As a result, the comparison of RecurDyn simulation and Matlab data are extremely exact and the Lagrangian equations can be used to obtain optimal parameters of the two-wheeled robot concerning the correlation between gyroscopes and weapon.
- MakaleYalnız künye2022Angular Momentum Control for Preventing Rollover of a Heavy Vehicle
Ünker, Faruk
In this article, gyroscopes and flywheels are used to prevent the rollover of a vehicle due to external forces. The rollover preventing performance of the flywheels for a heavy trailer (an inverted pendulum problem) is investigated at a high road bank angle risk. Two control moment gyroscopes (CMG) and a reaction wheel are controlled by proportional torques to keep the vehicle in a stable motion in the vertical position. The reaction wheel was used only to eliminate the dissipation energy of damper. By using the energy stored in the flywheels of gyroscopes, the sprung mass of a vehicle can make a stable oscillating motion of small amplitude, standing upright without tipping over. The optimum flywheel speed was derived from the frequency equations with the appropriate controller gain. Most importantly, the required angular momentum to keep the vehicle upright without tipping over depends on the amplitude of the gimbal oscillation and the frequency. It has also been observed that Matlab simulations of Lagrangian equations and simulations modeled in RecurDyn software are in perfect harmony.
- MakaleYalnız künye2022Proportional control moment gyroscope for two-wheeled self-balancing robot
Ünker, Faruk
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.
- MakaleAçık Erişim2021Modal control of cantilever beam using a gyrostabilizer
Çuvalci, Olkan; Ünker, Faruk; Baturalp, Turgut Batuhan; Gülbulak, Utku; Ertas, Atila
In this paper, an experimental model of a horizontal cantilever beam with a rotating/oscillating attached to the shaker for harmonic excitation at the one end and a gyrostabilizer at the other end is built to verify the equations of the Lagrangian model. The primary focus of the study was to investigate the parameters of excitation amplitude, natural frequency, rotating mass (disk mass), and disk speed of gyro that would minimize the amplitude of the beam to identify these effects. Numerical and experimental results indicate that the angular momentum of the gyrostabilizer is the most effective parameter in the reduction of beam displacement.
- BildiriAçık Erişim2015Nonlinear Motion Control of a Column Using a Coupled Gyroscope
Ünker, F.; Çuvalci, O.; Sener, S; Saridogan, E; Staub, S
In this paper, a system of the gyroscopes coupled via the massless torsional springs and the massless torsional dampers mounted on the tip mass of a column subjected to a vibrating base is considered. The coupled gyroscopes are assumed to have reverse angular speeds, and the rotations to eliminate the torques due to the springs and the dampers. Taking advantage of the angular momentum of the rotating gyroscope, gyrostabilizer systems are expected to become more widely actualized as they provide an effective means of motion control with several significant advantages for various structures. The non-linear motions of the gyro-column system and the equations of motion for the system are derived following energy (Lagrange) based approaches and examples provided. On the other hand, the effect of the angular velocities of the gyroscopes are studied, and it is shown that the angular velocity (spin velocity) of a gyroscope has a significant effect on the behavior of the dynamic motion. It is also shown how the dampers and springs due to the motion between the suporting gimbals influence the dynamic behavior of the column. (C) 2015 The Authors. Published by Elsevier Ltd.
- BildiriAçık Erişim2015Seismic Motion Control of a Column Using a Gyroscope
Ünker, F.; Çuvalci, O.; Sener, S; Saridogan, E; Staub, S
Taking advantage of the angular momentum of the rotating gyroscope, gyrostabilizer systems are expected to become more widely actualized as they provide an effective means of motion control with several significant advantages for various structures. In this paper, a symmetric gyro with coupling to the tip mass of a column mounted on a vibrating base is considered. The non-linear motions of the gyro-column system and the equations of motion for the system are derived following energy (Lagrange) based approaches and examples provided. On the other hand, the effect of the angular velocity of the gyroscope is studied, and it is shown that the angular velocity (spin velocity) Omega of gyroscope has a significant effect on the behavior of the dynamic motion. It is also shown how the damper and spring due to the motion between the suporting gimbal and tip mass influence the dynamic behavior of the gyroscope. It was concluded that the numerical investigations of this combined system has not been investigated up to the present time. (C) 2015 The Authors. Published by Elsevier Ltd.
- BildiriAçık Erişim2015Vibration Control of a Column Using a Gyroscope
Ünker, F.; Çuvalci, O.; Sener, S; Saridogan, E; Staub, S
In this paper, the characteristics of a vibration control system utilizing a gyro and its effectiveness in the control of the motion subjected to a seismic ground motion acceleration were studied. Lambda gyro design was presented as a vibration absorber for reduction of the column vibration, which has a potential for application to towers, high-rise buildings and other structures. The non-linear motions of the gyro-column system and the equations of motion for the system are derived following energy (Lagrange) based approaches and examples provided. On the other hand, the effect of the angular velocity of the gyroscope is studied, and it is shown that the angular velocity (spin velocity) Omega of gyroscope has a significant effect on the behavior of the dynamic motion. It is also shown how the damper and spring due to the motion between the suporting gimbal and tip mass influence the dynamic behavior of the gyroscope. (C) 2015 The Authors. Published by Elsevier Ltd.