Balancing control of a double-gyroscope bicyrobo | |
| Author | Rewat Bunchan |
| Call Number | AIT Thesis no.ISE-12-31 |
| Subject(s) | Robots Mobile robots Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-31 |
| Abstract | A bicycle robot is one kind of mobile robots that can balance itself in upright position automatically. At present, there are several researches present the different balancing control techniques of bicycle robot. In this research, a double-gyroscope is proposed to control the balancing of the bicycle robot due to this technique can balance the bicycle robot at the stationary point and carry load. This research consists of main sections as follows; design concept, dynamic model, control algorithm and simulation and experiment result. To implement this research, PID and LQR controller are applied to control the balancing of the bicycle robot since they are simple control algorithm and easy to understand. Simulation and experiment result are shown in the last section. They show that the system can achieve follow the target or not. In addition, the last section also presents the performance of each controller. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-31 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L.J. |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |