The Development Of A Single-wheel Robot Stabilized By Double Gyroscope Rotor

The single-wheel robot contacts with the ground as a point.It belongs to a very special mobile robot.It has more degrees of freedom and is a static unstable system.There are many kinds of stable balancing modes for a single-wheel robot.Different balancing modes have great influence on the design of the robot body and control system.On the basis of previous studies,this paper chooses a new arrangement of twin gyroscopic rotors and uses the gyroscopic moment to realize the balanced control of the robot.Firstly,according to the principle of gyroscopic stability,the mechanical structure of single-wheel robot based on double gyroscopic rotors is designed.The structure adopts the form of inner frame of outer wheel ring,and the left-right balance and the front-back balance of the robot are considered separately.Simple calculation is carried out to select suitable driving motors.Secondly,the overall control system of the robot is designed according to the structural requirements and selected motors.Including the hardware design and construction of the control system,as well as the software control algorithm selection of the control system.Robot balancing control uses cascade PID algorithm and decouples the balancing control in different directions.Then,the dynamic model of the robot is established,and the left-right balance stability and convergence of the robot are analyzed by Lyapunov method.According to the dynamic equation,the appropriate PID control function is established,the transfer function model is established in Matlab,and the appropriate PID parameters are obtained by adjusting the PID value.Adams and Simulink are used to simulate the robot to verify its feasibility.Finally,an experimental platform is built and a prototype of the robot is developed.The balance of left and right directions of the robot is verified.The feasibility and validity of this new type of double gyro-rotor single-wheeled robot are proved by experiments.Analyse the shortcomings of robots,analyze the problems and improve them.