An Attitude Control of an Unstructured Object with Gyro Actuator

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In this paper, we control attitude of an unstructured object with gyro actuator. It is well known that the attitude control of an object hanging with wire is not easy using usual actuators. Even though an actuator such as a fan can be used for control of the object, it is difficult to meet a desired control objectives. We, because of these reasons, make a gyro actuator with two motors. The first motor is responsible for spinning the wheel at high speed and the second motor is used to turn the inner gimbal. Applying the torque to the second motor, which results in the turn of the outer gimbal, torque about the vertical axis will be obtained while the wheel of the gyro is spinning constantly. This torque is used to control the attitude of the object attached. Gyro actuator utilize control unstructured object such as I-beam carrying by tower crane, and isolate construction workers from the dangerous environments. We derive a relationship of wheel and its motor, find a proper capacity of wheel motor in order to rotate a wheel. Through experiments of attitude control, we show to obtain desired control objectives.