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dc.contributor.authorUnker, Faruk
dc.date.accessioned2021-11-09T19:41:56Z
dc.date.available2021-11-09T19:41:56Z
dc.date.issued2021
dc.identifier.issn1077-5463
dc.identifier.issn1741-2986
dc.identifier.urihttps://doi.org/10.1177/10775463211009988
dc.identifier.urihttps://hdl.handle.net/20.500.12440/3170
dc.description.abstractA two-wheeled self-balancing robot is considered for investigating the responses of a control moment gyroscope powered by a proportional controller to prevent the robot rollover against the constant inertia forces because of accelerations of the wheels of the robot. The amplitudes of the frequency equations related to the required angular momentum of flywheels with an optimum controller gain were also found. A simulation model of the robot using computer-aided engineering software (RecurDyn) is built to verify the equations of a Lagrangian model. The results of both obtained from the Lagrangian and that from RecurDyn simulations are analyzed comparatively, in which the proportional control loop reduces the required flywheel speeds omega of gyros and keeps the robot in a very small amplitude of a stable sinusoidal motion in the upright position.en_US
dc.language.isoengen_US
dc.publisherSage Publications Ltden_US
dc.relation.ispartofJournal of Vibration and Controlen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectInverted pendulumen_US
dc.subjectgyroscopeen_US
dc.subjectgyrostabilizeren_US
dc.subjectcontrol moment gyroscopeen_US
dc.subjectproportional controlleren_US
dc.subjecttwo-wheeled self-balancing roboten_US
dc.titleProportional control moment gyroscope for two-wheeled self-balancing roboten_US
dc.typearticleen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.description.wospublicationidWOS:000682746300001en_US
dc.description.scopuspublicationid2-s2.0-85104493339en_US
dc.departmentGümüşhane Üniversitesien_US
dc.authoridUnker, Faruk / 0000-0002-9709-321X
dc.identifier.doi10.1177/10775463211009988
dc.authorscopusid57148472700


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