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Taking advantage of the angular momentum of
the rotating gyroscope, gyrostabilizer systems are expected to
become more widely actualized as they provide an effective
means of motion control with several significant advantages for
various structures. In this paper, a system of the gyroscope
coupled via the massless torsional spring and the massless...
Context in source publication
Context 1
... Gyroscopic Absorber Fig. 1 shows the beam as a vertical cantilever of length L with an end mass Mt to which an additional gyro system is attached at the free end and subjected to a harmonic base excitation at the other end of the beam. The horizontal displacement of base is z. The beam is assumed to be initially straight, of length L, with moment of inertia It, ...
Similar publications
In this paper, a symmetric gyro with coupling to the tip mass of a beam mounted on a vibrating base is considered.
Taking advantage of the angular momentum of the rotating gyroscope, gyrostabilizer systems are expected to
become more widely actualized as they provide an effective means of motion control with several significant
advantages for vario...
Citations
... So, CMG can be used as an indirect robot actuator for balancing two-wheel mobile robots (Amin et al., 2023;Çetin & Ünker, 2023;Ünker, 2022a, 2022b, 2023a. Moreover, CMG gives this two-wheeled robot advantage over conventional robots due to the effect of gyroscopic precession (Amin et al., 2023;Çetin & Ünker, 2023;Song et al., 2023;Ünker, 2020, 2022a, 2022b, 2022c, 2023a, 2023bÜnker & Çuvalcı, 2016a, 2016b, 2019, 2015a, 2015b, 2021. Ünker (2022a, 2023a) proposed this technique for the roll-angle balancing of a two-wheeled robot. ...
A two-wheeled robot has high maneuverability and can spin around with a high velocity but is prone to roll over under a recoil force. Because the wheels are only used to control the maneuver speed of the robot. However, a two-wheeled robot using a gyroscope does not need the control of the wheels and can maintain the stability of the robot under a recoil force during maneuvers even if the gimbal of the gyroscope is not controlled by a torque. In this study, the equations of motion of the gyroscopic robot are derived via Lagrangian equations, and the balancing performance of the uncontrolled gyroscope is simulated via Matlab to determine a desired configuration for mechatronics system design. Then, a linear-quadratic regulator (LQR) is implemented to the chosen control moment gyroscope (CMG) configuration and compared in simulations of RecurDyn. LQR controller was used to prevent oscillating motions of double CMGs under the recoil force of a weapon. The simulation results showed that the gyroscopic two-wheeled robot is improved using an LQR controller and powerfully balanced in static with excellent performance.
... The remaining energy provided to the apparatus comes from the momentive motion of gyrostabilizer and is therefore classified as a passive control apparatus under several engineering studies and applications. The gyrostabilizer is effective for bending moments rather than shear forces due to the utilization of gyroscopic moment to reduce or eliminate undesirable motion [22][23][24]. Therefore, compared to conventional active mass dampers for vibration suppression, the gyrostabilizers are much effective in a larger frequency range and represent a weight and volume saving due to the angular momentum of the gyroscope [11]. ...
In this paper, an experimental model of a horizontal cantilever beam with a rotating/oscillating attached to the shaker for harmonic excitation at the one end and a gyrostabilizer at the other end is built to verify the equations of the Lagrangian model. The primary focus of the study was to investigate the parameters of excitation amplitude , natural frequency, rotating mass (disk mass), and disk speed of gyro that would minimize the amplitude of the beam to identify these effects. Numerical and experimental results indicate that the angular momentum of the gyrostabilizer is the most effective parameter in the reduction of beam displacement.
