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首页> 外文期刊>Mathematical Problems in Engineering >Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model
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Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

机译：基于动态模型的欠驱动单轮机器人转向控制方法

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摘要

This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.
机译：本文提出了一种基于双陀螺进动效应的横向平衡结构及其相关的控制不足的单轮机器人转向控制策略。双陀螺仪在独轮车机器人的顶部对称设计，用于调节系统的横向平衡。这样的设计可以抑制陀螺仪系统对俯仰角的干扰，并且在大的侧倾角波动的情况下有利于保持横向平衡。基于动力学模型的分析，陀螺仪的进动效果将由下轮的角速度和侧倾角速度引起，即，导致在偏航方向上的扭矩。然后，提出了一种快速响应控制策略，以使用转矩来控制转向。仿真结果证明了横向平衡结构的合理性和转向控制方法的可行性。

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