State Key Laboratory and System, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel). 2023 Jan 17;23(3):1064. doi: 10.3390/s23031064.
This paper presents a doublegyroscope unicycle robot, which is dynamically balanced by sliding mode controller and PD controller based on its dynamics. This double-gyroscope robot uses the precession effect of the double gyro system to achieve its lateral balance. The two gyroscopes are at the same speed and in reverse direction so as to ensure that the precession torque of the gyroscopes does not interfere with the longitudinal direction of the unicycle robot. The lateral controller of the unicycle robot is a sliding mode controller. It not only maintains the balance ability of the unicycle robot, but also improves its robustness. The longitudinal controller of the unicycle robot is a PD controller, and its input variables are pitch angle and pitch angular velocity. In order to track the set speed, the speed of the unicycle robot is brought into the longitudinal controller to facilitate the speed control. The dynamic balance of the designed double gyro unicycle robot is verified by simulation and experiment results. At the same time, the anti-interference ability of the designed controller is verified by interference simulation and experiment.
本文提出了一种双陀螺独轮机器人，它通过基于其动力学的滑模控制器和 PD 控制器实现动态平衡。该双陀螺机器人利用双陀螺系统的进动效应实现其横向平衡。两个陀螺仪以相同的速度和相反的方向旋转，以确保陀螺仪的进动力矩不会干扰独轮机器人的纵向方向。独轮机器人的横向控制器是一个滑模控制器。它不仅保持了独轮机器人的平衡能力，而且提高了其鲁棒性。独轮机器人的纵向控制器是一个 PD 控制器，其输入变量是俯仰角和俯仰角速度。为了跟踪设定速度，将独轮机器人的速度引入纵向控制器，以方便速度控制。通过仿真和实验结果验证了所设计的双陀螺独轮机器人的动态平衡。同时，通过干扰仿真和实验验证了所设计控制器的抗干扰能力。
