Research on Self-balancing of Two-wheel Single Rut Vehicle Under Gyroscopic Angular Velocity Control
Aiming at the unstable system of the two-wheel single rut vehicle,a study on the self-balancing problem of a two-wheel single rut vehicle is proposed by controlling two single-gimbal control moment gyro(SGCMG).The two-wheel dynamics model is built.A gyro angular velocity controller based on sliding mode con-trol(SMC)is designed to control the rotation of SGCMG to generate precession torque.A singularity avoidance algorithm is employed to prevent the occurrence of gryocscopic singularities,enabling the self-balancing of the ve-hicle in both stationary and dynamic states.The self-balancing capability is validated through simulation,particu-larly in obstacle and cross-ditch road conditions.The simulation results show that the adopted control method can make vehicle quickly return to upright position with a small frame angle.Furthermore,it exhibits robust resist-ance to external disturbances,allowing the vehicle drive at a roll angle within 2°of the balance angle.The simula-tion results hold significant implications for the balanced locomotion of the two-wheel single rut vehicle.
Two-wheel single rut vehicleControl moment gyroscopeAngular velocity controllerSliding mode controlSingularity avoidance algorithm
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