Unicycle Robot Stabilized by the Effect of Gyroscopic Precession and Its Control Realization Based on Centrifugal Force Compensation

摘要

This study presents a new control algorithm based on centrifugal force compensation for balancing unicycle robots, as well as for improving the system's robustness. First, the mechanical structure of the unicycle robot based on gyroscopic precession is built. Second, a new control algorithm based on centrifugal force compensation is developed, whose basic method is to adopt centrifugal force to compensate gyroscopic torque for lateral balance. Third, the effectiveness of the proposed algorithm is further simulated in the automatic dynamic analysis of mechanical systems environment. Finally, balancing and interference experiments are performed on the prototype machine to demonstrate the high effectiveness of the structure and the new control algorithm. Compared with the traditional control algorithm, the simulation and experimental results have shown that the overshoot of the system and the recovery time after interference are reduced, thereby presenting the validity of the proposed structure and control algorithm based on centrifugal force compensation.