Research and design of unicycle robot based on cascade PID control

摘要

In robotics, achieving stable control of unicycles presents a significant challenge. However, standard balance control methods concentrate on regulating the position and static balance of the robot. Such techniques exhibit diminished performance in the presence of external disruptions or uncertain terrain. To enhance the stability and resilience of unicycles in dynamic settings, this research presents a double-flywheel unicycle robot that utilizes the conservation of angular momentum in a dual-gyroscope system to maintain its balance. Through the integration of mechanical design, electronic design, and controller design, a prototype of the unicycle robot is fabricated. For adaptive balance control, a cascaded PID controller based on MATLAB dynamic simulation is developed. The cascaded PID controller comprises angle, velocity, and angular velocity loops, enabling non-linear and coupled balance control. Moreover, using MECHANICS EXPLORERS, the disturbance rejection capacity of the designed cascaded PID controller is confirmed through pulse interference simulation. This study uses exercises that traverse ramps and maneuver corners to demonstrate the unicycle robot's dynamic balance. This exemplified the resilience of the entire balance system, demonstrating its capacity to recuperate from disruptions and uphold stability. The unicycle robot, in conjunction with the cascaded PID controller, can enhance response speed and achieve high-precision balance control performance, enabling stable motion in complex environments. This study significantly guides the development of newfound intelligent, flexible, and adaptable unicycle robots, providing novel ideas and approaches for future robot design and control.