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- MakaleYayıncıda açık erişim2024Scopus SJRQ1Gyroscopic 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.
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İncele - 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.
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