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- MakaleYayıncıda açık erişim2024Gyroscopic precession control for maneuvering two-wheeled robot recoil stabilization
Çetin, Gökhan; Ünker, Faruk
A two-wheeled robot has high maneuverability and can spin around with a high velocity but is prone to roll over under a recoil force. Because the wheels are only used to control the maneuver speed of the robot. However, a two-wheeled robot using a gyroscope does not need the control of the wheels and can maintain the stability of the robot under a recoil force during maneuvers even if the gimbal of the gyroscope is not controlled by a torque. In this study, the equations of motion of the gyroscopic robot are derived via Lagrangian equations, and the balancing performance of the uncontrolled gyroscope is simulated via Matlab to determine a desired configuration for mechatronics system design. Then, a linear-quadratic regulator (LQR) is implemented to the chosen control moment gyroscope (CMG) configuration and compared in simulations of RecurDyn. LQR controller was used to prevent oscillating motions of double CMGs under the recoil force of a weapon. The simulation results showed that the gyroscopic two-wheeled robot is improved using an LQR controller and powerfully balanced in static with excellent performance.
- MakaleYayıncıda açık erişim2024Control moment gyroscope recoil stabiliser including LQR controller for two-wheeled robot
Çetin, Gökhan; Ünker, Faruk
The control moment gyroscope’s (CMG) success in emerging damping control under impact load is of great interest for new technical applications. This paper explores the potential use of a two-wheeled robot with an independent weapon, such as an automatic cannon robot, and considers employing CMG with LQR control as a weapon recoil stabiliser for the robot. Cannon turret firing accuracy is crucial for optimising LQR control parameters and enhancing weapon-robot performance. CMG with LQR control effectively reduces the recoil impact loads of the overhead weapon while compensating angular momentum to ensure safety for robot in firing. The precession motion of the gimbal from several milliradians to tens of milliradians is one of some contradictions for describing the effect of the recoil force on robot–gyroscope performance. This paper uses computational methods, combined with CAE software, to study the impact of increasing angular momentum on recoil-induced weapon vibrations.
- 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.