Desain Sistem Kendali Gyroscopic Inverted Pendulum dengan Dua Flywheel

Indonesia termasuk negara dengan pengguna kendaraan bermotor roda dua yang paling banyak jika dibandingkan dengan transportasi mobil, yang mengakibatkan kasus kecelakaan lalu lintas meningkat. Permasalahan tersebut disebabkan karena stabilisasi dinamis kendaraan roda dua sangat kurang. Salah satu solusi yang ditawarkan untuk mengatasi masalah ini adalah kendaraan roda dua yang memiliki penyeimbang berupa Control Moment Gyroscope. Motor yang dapat menjaga keadaan tegak dan melawan gaya lateral yang diakibatkan oleh gaya sentrifugal saat berbelok. Pada penelitian kali ini merancang sistem inverted pendulum sebagai permodelan sederhana dari kendaraan roda dua, dimana akan dievaluasi dinamikanya agar inverted pendulum dapat kembali ke posisi ekuilibrium dikarenakan adanya pengaruh putaran dari banda rigid lainnya. Prinsip ini dinamakan control moment gyroscope (CMG), dimana gyroscope sebagai aktuator kesetabilan pada inverted pendulum. Penelitian kali ini akan mengevaluasi sistem inverted pendulum dengan dua giroskop menggunakan sistem kendali LQR dan LQG . Hasil pengujian menunjukan bahwa sistem kendali LQR dan LQG mampu mempertahankan inverted pendulum dalam keadaan stabil yaitu tepat pada posisi ekuilibrium dengan rata - rata 3.71 detik. Simulasi dilakukan dengan disturbance berupa impuls sinyal torsi sebesar 2, 4 dan 6 Nm. ================================================================================================== Indonesia is one of the most users of two-wheeled vehicles compared with the users of car transportation, so the problem of traffic accident cases caused by vehicle users increased due to dynamic stabilization of two-wheeled vehicles is very less. One solution that can be offered to solve this problem is a motorcycle that has a control moment gyroscope stabilizer. The position of two-wheeled vehicles experienced a change that makes the existence of a corner deviation against the upright position caused by centrifugal force when turning. Control moment gyroscope is a way to produce a torque, the torque which counters static and dynamic force on motorcycle. The torque which produced by control moment gyroscope is caused by moving flywheel which given an external torque. In this research, the inverted pendulum system is designed to represent a simple model of motorcycle, the inverted pendulum system will be evaluated dynamically so that the inverted pendulum can return to the equilibrium point. This research will evaluate the inverted pendulum system with two gyroscopes using LQR and LQG control systems. The simulation result of inverted pendulum system with multi-body model using LQR and LQG control is able to maintain the inverted pendulum in stable condition, stability is precisely in the equilibrium position with an average of 3.71 seconds. The simulation was performed by disturbance in the form of impulse torque signal of 2, 4 and 6 Nm

Rancang Bangun Self-balancing Pada Inverted Pendulum Menggunakan Control Moment Gyroscope Dengan Double Gyroscope Dan Sistem Kendali PID

Perkembangan teknologi saat ini berjalan sangat pesat, salah satunya yaitu perkembangan teknologi giroskop. Giroskop merupakan teknologi yang lazim digunakan untuk kendali pesawat ruang angkasa dan satelit. Selain itu giroskop juga dikembangkan dan diterapkan pada kendaraan untuk meningkatkan kestabilan. Penelitian ini menggunakan prinsip control moment gyroscope untuk menstabilkan sebuah inverted pendulum. Oleh karena itu, diperlukan alat peraga untuk melakukan penelitian tersebut. Penelitian ini merancang dan membuat alat peraga berupa sistem inverted pendulum double gyroscope menggunakan prinsip control moment gyroscope untuk menyeimbangkan diri secara otomatis. Penelitian ini menggunakan analisa teoritis dengan membuat persamaan matematis dari alat peraga yang akan dikendalikan. Sedangkan sistem kendali yang digunakan adalah PID. Sistem kendali PID digunakan untuk memperbaiki respon sistem dan menghilangkan eror. Hasil yang didapatkan dari penelitian ini adalah harga parameter P=7,33, I=5,33, dan D=1,2 yang merupakan harga paling optimum untuk sistem inverted pendulum berdasarkan eksperimen. Alat penelitian hanya dapat mempertahankan keseimbangan selama delapan hingga sepuluh detik diakibatkan oleh pemodelan yang diterapkan linearisasi dan mekanik alat yang kurang presisi. ================================================================== The development of technology is currently running rapidly, including the development of gyroscope technology. Gyroscope is a technology commonly used for the control of spaceships and satellites. In addition, gyroscopes are also developed and applied to vehicles to improve stability. This study uses the principle of control moment gyroscope to stabilize an inverted pendulum. Therefore, the prototype needed to do this research. This research designs and makes prototype in the form of double gyroscope inverted pendulum using control moment gyroscope principle to automatic self-balancing the system. This study used theoretical analysis by modeling equation of motion from the prototype. The controller used by this project is PID controller. PID controller is used to improve transient response and steady state error. The result of this study gives us the control value of P=7.33, I=5.33, and D=1.2. This control parameter is pretty effective to balance the pendulum in this experiment. This controller could balance the system for eight to ten second. This limited time caused by linearization that making this controller has small workspace in small angle. The prototype also manufactured by manual machine which is not too good for precision result

Analisis Pengaruh Moment Gyroscope pada Keseimbangan Pendulum Cartessian

Crane is identical to the pendulum in term of its control mechanism. Based on modelling, these two devices are very similar and therefore, the pendulum can be used as a prototype for controlling a crane. This research aims to control the balance or to reduce the swing on the pendulum by utilizing the moment of gyroscope with a mass pendulum up to 1.5 kg. Gyroscope was designed and made in the form of a disc, in which dimensions and materials used were determined according to the desired moment force. The PID controller was used to control the speed of gyroscope based on the angle of the pendulum (θ). Based on the results of the experiment, it was obtained that the resulting settling time was 2.29 times faster than without control in average. The overshoot and rise time resulted by the system using gyroscope were very similar to the system which is without gyroscope. However, the steady state error was totally eliminated. It can be concluded that the moment of gyroscope is able to be used for controlling the pendulum or crane

Development and Validation of Control Moment Gyroscopic Stabilization

Two wheeled vehicles offer many advantages over other configurations such as greater maneuverability, smaller size, and greater efficiency. These advantages come at the sacrifice of stability and safety. The goal of this work is to improve the stability and safety of a two wheeled vehicle by the development of Control Moment Gyroscopic Stabilization. This technology integrated into a vehicle can deliver unparalleled maneuverability and stability for users compared to any vehicle in use today. The goal of my work was to develop and validate the system of gyroscopic stabilization to be implemented into a vehicle. To validate the concept, a MATLAB/Simulink program was created, modeling the behavior and response of an unstable body with gyroscopic stabilization applied. After completing multiple simulations on this model, a physical structure, similar to an inverted pendulum, was constructed and CMG stabilization has been tested on this setup. Gyroscopic stabilization has been validated in this configuration and has led to further study in multiple degree of freedom situations. The implementation of a vehicle which utilizes this technology can generate safer and more maneuverable vehicles for the public, military, and recreational users.Ohio State Center for Automotive ResearchAir Force Research LaboratorySpecial-Ops Transport ChallengeOhio State Control and Intelligent Transportation LaboratoryNo embargoAcademic Major: Mechanical Engineerin

Design and production of a prototype wheeled pendulum for the new 2.004 laboratory

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.Includes bibliographical references (leaf 32).The goal of this thesis was to create a piece of physical hardware that would be suited for a multi-week design project for the design component of the Dynamics and Control II (M.I.T. course number: 2.004) laboratory. The wheeled pendulum model was chosen as an appropriate system to use in the second half of the laboratory component of 2.004 because of its clearly defined and well understood system. The inverted (or wheeled) pendulum is a classic controls problem-in the absence of a controls component, the system is non-linear and unstable. This thesis analyzes the system dynamics by deriving the equations of motion for the wheeled pendulum, and uses mathematical modeling (MatlabTM) to further understand the instability of the system. Based on the Matlab models, several design iterations were developed, and a robust, functional prototype of the wheeled pendulum was created.by Jane Sujin Yoon.S.B

Discrete-time neural network based state observer with neural network based control formulation for a class of systems with unmatched uncertainties

An observer is a dynamic system that estimates the state variables of another system using noisy measurements, either to estimate unmeasurable states, or to improve the accuracy of the state measurements. The Modified State Observer (MSO) is a technique that uses a standard observer structure modified to include a neural network to estimate system states as well as system uncertainty. It has been used in orbit uncertainty estimation and atmospheric reentry uncertainty estimation problems to correctly estimate unmodeled system dynamics. A form of the MSO has been used to control a nonlinear electrohydraulic system with parameter uncertainty using a simplified linear model. In this paper an extension of the MSO into discrete-time is developed using Lyapunov stability theory. Discrete-time systems are found in all digital hardware implementations, such as that found in a Martian rover, a quadcopter UAV, or digital flight control systems, and have the added benefit of reduced computation time compared to continuous systems. The derived adaptive update law guarantees stability of the error dynamics and boundedness of the neural network weights. To prove the validity of the discrete-time MSO (DMSO) simulation studies are performed using a two wheeled inverted pendulum (TWIP) robot, an unstable nonlinear system with unmatched uncertainties. Using a linear model with parameter uncertainties, the DMSO is shown to correctly estimate the state of the system as well as the system uncertainty, providing state estimates orders of magnitude more accurate, and in periods of time up to 10 times faster than the Discrete Kalman Filter. The DMSO is implemented on an actual TWIP robot to further validate the performance and demonstrate the applicability to discrete-time systems found in many aerospace applications. Additionally, a new form of neural network control is developed to compensate for the unmatched uncertainties that exist in the TWIP system using a state variable as a virtual control input. It is shown that in all cases the neural network based control assists with the controller effectiveness, resulting in the most effective controller, performing on average 53.1% better than LQR control alone --Abstract, page iii

The characteristic comparison of the accelerometer and the gyroscope in the measurement of human body sway

This study investigated the human body sway measuring instruments. An accelerometer and a gyroscope were used to examine patients with postural control related diseases in many studies. Some studies used either an accelerometer or a gyroscope attached to the head, chest, or waist to obtain the balance assessment parameters of body sway such as area, direction, etc. The purpose of this study is to identify the reliability between both sensors in human body sway analysis by assuming the human body sway as a simple pendulum model, and suggest an optimal measurement method using the acceleration and the gyroscope. The characteristic differences between the accelerometer and the gyroscope were illustrated, focusing mainly on the differences with respect to the position of the sensors. We confirmed that the magnitude, instead of three axis vector information, may be more useful in the body sway analysis