Modeling and control of unstable mechanical systems using control moment gyro (CMG)

Abstract

Abstract Stabilizing of statically unstable systems such as monorail trains and the Two-wheel bike is a wide area for research. In this work bike has been used as an unstable mechanical system. Control Moment Gyro (CMG) has been utilized as a control tool to a achieve stability of the proposed system. The proposed gyroscopic system consists of single degree of freedom gimbal and flywheel placed horizontally inside the bike frame. The gimbal angular velocity controlled by DC servo motor lay on a new control approach “Linear Quadratic Regulator Plus Integral Action (LQR+I) “. Matlab model was developed for the system using mathematical equations derived from nonlinear dynamics by using Lagrange’s method to obtain simulated system response and behaviour. Proportional Integral Derivative (PID) controller has been applied to simulated model and actual test rig to ensure the simulation validity, the study compares the three techniques of control (PID,LQR and LQR+I) in terms of settling time, overshoot and steady state error. “The simulation results are illustrated with the help of graphs and tables which significantly show superior performance and robustness of LQR + I over PID and LQR.