반작용 휠의 LQR 제어를 통한 Cubli 프레임의 균형유지
Balancing the Cubli Frame with LQR-controlled Reaction Wheel
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A single-axis Cubli frame realized simply with an IMU sensor and DC motor is presented herein. To maintain the balance on the Cubli frame, an LQR controller based on a Lagrangian derivation of the dynamics was designed, which utilized the state variables of the frame angle and its angular acceleration, as well as the wheel angle and its angular acceleration. The designed LQR controllershowed a settling time balancing capability of approximately two seconds and 40% of the maximum overshoot in Matlab/Simulink sim-ulations. Our experimental results of the fabricated Cubli frame matched with the simulation results. It maintained balancing at the ref- erence position even though an initial offset as well as external disturbance during the balancing was applied.
Abstract
A single-axis Cubli frame realized simply with an IMU sensor and DC motor is presented herein. To maintain the balance on the Cubli frame, an LQR controller based on a Lagrangian derivation of the dynamics was designed, which utilized the state variables of the frame angle and its angular acceleration, as well as the wheel angle and its angular acceleration. The designed LQR controllershowed a settling time balancing capability of approximately two seconds and 40% of the maximum overshoot in Matlab/Simulink sim-ulations. Our experimental results of the fabricated Cubli frame matched with the simulation results. It maintained balancing at the ref- erence position even though an initial offset as well as external disturbance during the balancing was applied.
참고문헌 (7)
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