Influence Of Quality Parameters On The Balance Of Two-wheeled Vehicle Robot With Control Moment Gyro

Based on the four mechanisms of moment gyro,Segway,Litmotor,and ordinary bicycle,a variable structure two-wheeled vehicle robot based on the control moment gyro is designed.The robot has two handlebar drive joints,two wheel drive joints and a pair of control moments.Spinning top.Compared with the existing two-wheeled vehicle robot,it not only can flexibly adapt to different road conditions;at the same time,its balance performance is relatively improved.If a breakthrough can be made in the study of the quality characteristics of a two-wheeled vehicle robot with a control moment gyro,it will provide an important theoretical basis for the subsequent balance control of the physical prototype under the condition of changing the mass and the position of the center of mass.Therefore,this article will study the influence of quality parameters on the balance of two-wheeled vehicle robots with control moment gyros.The main research contents are as follows:(1)Perform kinematics and dynamics analysis on the system,and establish a second-order dynamic response model of the system based on the Chaprekin equation,and finally rely on inverse dynamics simulation and virtual prototype simulation to verify the correctness of the mathematical model built.(2)Based on the obtained mathematical model,perform small-angle linearization and convert it into a standard state equation,and expand the controllability and observability analysis.Combine the partial feedback linearization control method to design the balance controller of the system and complete its stability analysis.(3)Study the influence of changing the frame mass and the position of the center of mass on the balance characteristics of the system from the perspective of the controller.(4)From the perspective of partial feedback linearization control,carry out simulation work under the conditions of gyro static and gyro motion,and analyze the graphs of various state variables obtained from the simulation,and explore the effect of changing the quality parameters on the dynamic balance characteristics of the system from this level In addition,keep the quality parameters unchanged,analyze the simulation curves of gyro motion and gyro static,and explore the influence of introducing gyro torque on system balance.(5)Carry out the design and construction of the hardware resource control system of the two-wheeled vehicle robot,and debug the lower computer and various sensors through the program written by the upper computer,and preliminarily verify the feasibility of the built hardware resource control system;and develop a physical prototype with variable quality parameters Balance experiment,study and analyze the influence law of quality parameter change on balance,further verify the reliability of the hardware resource control system of the prototype,and the effectiveness of the partial feedback linearization controller.