Design of Self-balancing Model-size Electrical Motorbike Robot Using Control Moment Gyroscope

摘要

In recent years, a significant amount of study has been conducted on how to control the equilibrium of an electrical motorbike robot (EMBot).This is essential because a stable EMBot must be controlled by a reliable system.In this study, we explored a number of approaches for stabilizing an EMBot by using a control moment gyroscope (CMG).The momentum from a flywheel's rotation at a set speed is employed to counteract gravity and keep the EMBot balanced.To measure the roll angle of the EMBot, an inertial sensor is used.From generalized coordinate systems, a nonlinear mathematical model of the EMBot is derived using Lagrange's equation.Pole placement (PP) and linear-quadratic regulator (LQR) controllers are utilized to test and observe the system's stability.By determining the appropriate locations of the closedloop poles in the PP controller and finding the optimal K-matrix value by selecting closed-loop characteristics in the LQR method, the performance of the system in maintaining stability can be identified.