Control Moment Gyro 원리를 이용한 외륜 로봇의 균형제어

This paper describes the design and realization methods of a unicycle robot using the CMG (Control Moment Gyro) method that is commonly used in altitude controls of satellites. To cause this robot to keep balancing upright, it is essential to control the roll and pitch angle of the robot simultaneously. Unlike the reaction wheel-based roll control of a unicycle robot, CMG method controls gimbals which constantly support a rotating rotor to produce the torque necessary to nullify the roll angle error of the robot. The dynamic model of the robot is derived using the Euler-Lagrange equation. By separating the equation into roll and pitch dynamics, LQR (Linear Quadratic Regulator) controllers and a state observer are designed. A series of simulations and experiments are conducted to validate the performance of the proposed control method. The results demonstrate the effectiveness of the proposed balancing control algorithm for the CMG-based unicycle robot.