Research and design of unicycle robot based on cascade PID control

Jiacheng Huang

doi:10.1117/12.3025507

28 February 2024 Research and design of unicycle robot based on cascade PID control

Jiacheng Huang

Proceedings Volume 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023); 130713D (2024) https://doi.org/10.1117/12.3025507
Event: International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 2023, Shenyang, China

Abstract

In robotics, achieving stable control of unicycles presents a significant challenge. However, standard balance control methods concentrate on regulating the position and static balance of the robot. Such techniques exhibit diminished performance in the presence of external disruptions or uncertain terrain. To enhance the stability and resilience of unicycles in dynamic settings, this research presents a double-flywheel unicycle robot that utilizes the conservation of angular momentum in a dual-gyroscope system to maintain its balance. Through the integration of mechanical design, electronic design, and controller design, a prototype of the unicycle robot is fabricated. For adaptive balance control, a cascaded PID controller based on MATLAB dynamic simulation is developed. The cascaded PID controller comprises angle, velocity, and angular velocity loops, enabling non-linear and coupled balance control. Moreover, using MECHANICS EXPLORERS, the disturbance rejection capacity of the designed cascaded PID controller is confirmed through pulse interference simulation. This study uses exercises that traverse ramps and maneuver corners to demonstrate the unicycle robot's dynamic balance. This exemplified the resilience of the entire balance system, demonstrating its capacity to recuperate from disruptions and uphold stability. The unicycle robot, in conjunction with the cascaded PID controller, can enhance response speed and achieve high-precision balance control performance, enabling stable motion in complex environments. This study significantly guides the development of newfound intelligent, flexible, and adaptable unicycle robots, providing novel ideas and approaches for future robot design and control.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jiacheng Huang "Research and design of unicycle robot based on cascade PID control", Proc. SPIE 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 130713D (28 February 2024); https://doi.org/10.1117/12.3025507

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KEYWORDS

Angular velocity

Control systems

Design

Device simulation

Robotic systems

Dynamical systems

MATLAB

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