How this Active Gyroscope Balances
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Published 2021-05-03
I've built many robots that use solid state gyros and accelerometers to make them balance - mainly two wheel balancing robot and ball balancing robots. But how can we use physical spinning gyroscopes to stabilise or make robots balance? I've built a Control Moment Gyro which uses a solid state IMU to measure the angle of roll of the whole device, and then tilts a physical spinning gyro powered by a brushless motor, so cause a perpendicular force.
CAD and code: github.com/XRobots/ControlMomentGyros
GyruBot: • Gyrubot: biped walking blindfolded
Reaction Wheels: youtube.com/user/ReM555
Gyro Car: • Gyrocar #1 (gyroscope stabilized 2-wh...
More about Control Moment Gyros: en.wikipedia.org/wiki/Control_moment_gyroscope
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Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
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All Comments (21)
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Thanks Morning Brew for my daily news perk - sign up for free here cen.yt/mbjamesbruton
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I know gyroscopic energy has been used for a while now, but it just seems like magic to see that semicircle just start tilting on it's own.
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Having the ball-bearings loose so they can roll around the track is decoupling them from the flywheel. The only thing that transfers their kinetic energy to the flywheel is friction.
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You can use a car brake disc as a flywheel, they're cheap, come in various sizes and are already balanced.
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Aw man, I finally understand the mechanics of using a gyroscope as an active stabilizing component, rather than just a measuring tool. This is some choice educational content! I wish I could send this over to my younger self as encouragement for looking into physics more.
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pid loop tuning tip: start with i and d set to zero. increase p slowly till it starts oscillating, then try to increase the d gain to dampen the oscillations. Go back to the p gain and resume increasing. do this until you are unable to dampen the oscillations, then lower back to the last controllable value. For this particular case, the i gain should be unimportant, since that just ramps up slowly in case the p gain gets too low to drive the motor to the exact setpoint, which shouldn't be a problem for a balancing robot of this type since it's reacting quickly.
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11:50 A gyroscopic roll amplifier for ships would be something new.
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I appreciate how interesting and informative these videos are, I have never seen the inside of a gimble before and now see how it responds to movement makes it much more intuitive
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Been watching for a couple months now and your uploads are always so well made! Great content, thank you.
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Really cool! Thanks for clearing up the difference between reaction wheels and control moment gyros too.
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I love this style of video of demonstrating specific concepts with robots. Its so cool and rlly inspiring.
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May the Forth be with you from Australia, James!
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Great! You've combined two of my favorite subjects, gyros and PID controllers. While in the Navy, came across a test hull system that used two huge gyros to force the hull to rock side to side at different rates in order to test some internal systems. The rate of roll was just a matter of how fast they would pitch the gyro's fore-aft. (of course, those gyros were about ten foot across and really massive)
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I have been waiting for this. Thank you James !
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Have really been loving your videos for learning more about these kind of engineered stabilisation systems
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Finetuning a PID control is an art! Nice job! :)
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Your projects always motivate me. Thanks for sharing.
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Good job with all the ideas. I'm enjoying them and its cool learning about new concepts! Keep it up!
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This is pretty cool! I didn’t know about that seakeeper, what a neat idea
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I watch and love all your videos. This one for some reason seemed really satisfying to watch.
