Abstract
A CMG(Control Moment Gyroscope) can be used for balancing control of an unmanned bike. Beside the torque for the balancing control, A single CMG generates unwanted directional torque that may cause instability of the unmanned bike. In addition, the single CMG makes unwanted torque while the unmanned bike is in turning motion. The CMG scissored pair improves the performance of the balancing control by canceling out the unwanted torque. This paper presents the dynamics model and the balancing control algorithm using the CMG scissored pair for a miniaturized unmanned bike. A dynamic solid simulation program was used to obtain the parameters of the dynamics model of the bike. Performances of the proposed balancing control algorithm are verified by computer simulations.
| Translated title of the contribution | Balancing Control for Unmanned Bike Using Control Moment Gyroscope |
|---|---|
| Original language | Korean |
| Pages (from-to) | 450-456 |
| Number of pages | 7 |
| Journal | 한국지능시스템학회 논문지 |
| Volume | 28 |
| Issue number | 5 |
| DOIs | |
| State | Published - Aug 2018 |