A method for controlling a balancing device of a multi-parallel control moment gyroscope
A technology for controlling torque gyroscopes and balancing devices, applied in the field of robotics, can solve problems such as gimbal lock, unstable system operation, uncontrollable oscillation of control torque gyroscopes, etc., and achieve the effect of eliminating geometric singularities and high dynamic response
Active Publication Date: 2021-09-17
深圳市行者机器人技术有限公司
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[0003] However, when the gyro driver is applied to the field of robotics, its limitations are exposed. Because the control torque gyro is prone to uncontrollable oscillation, universal joint lock and other phenomena, resulting in unstable operation of the system
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[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0038] See Figure 5-7 , the present invention provides a method for controlling a balance device of a multi-parallel control moment gyroscope, the balance device includes a body 3 and a controller and at least one power module arranged on the body 3, each of the power The module includes two control moment gyroscopes, and the flywheels 1 of the two control moment gyroscopes of the power module are on the same level; the body 3 is also provided with a drive module ...
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The invention discloses a method for controlling a balance device of a multi-parallel control moment gyroscope. The balance device includes a body and at least two control moment gyroscopes, and the body is also provided with a motor for driving the control moment gyroscopes and an attitude sensor; the method steps include: when the balance device is in operation, drive each flywheel of the control moment gyroscope to rotate at a constant speed through the motor; collect tilting angle data and angular velocity data in various directions of the body through the attitude sensor , and calculate the minimum moment for the body to restore balance according to the tilting angle data and angular velocity data; according to the minimum moment for the body to restore balance, control the motor to drive the universal wheel deflection outer frame of the control torque gyro to drive the corresponding The flywheel deflects to bring the body back into balance. By optimizing the control method, the balance device of the multi-parallel control moment gyroscope operates in a stable state, thereby improving the stability of the system.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a method for controlling a balance device of a multi-parallel control moment gyroscope. Background technique [0002] In recent years, experts and scholars in the field of exoskeleton research and humanoid robot research have borrowed from aerospace to use momentum exchange devices (MEDs) to solve the balance problem of biped robots. The so-called momentum exchange device includes a momentum wheel, a control moment gyro, and a reaction wheel; as a kind of momentum exchange device, a control moment gyro (CMG), that is, a gyro driver, is used as an actuator by using the precession force generated by a rotating gyroscope, rather than sensors. The gyro drive produces a gyroscopic precession when torque is applied to an axis perpendicular to the spin axis, and a gyromoment around a third axis that is perpendicular to the spin axis. Gyro drives are widely used in ships, aerospace, veh...
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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 王成刚
Owner 深圳市行者机器人技术有限公司