| Author | Kittipong Pramotago |
| Note | A thesis submitted in partial fulfillment of the requirements for the
degree of Master of Engineering in
Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | The difficult challenge in a Segway type wheelchair is to control the robot which can balance two wheels in roll or pitch direction. There are many techniques to balance a Segway type wheelchair. In about thesis, the inverse pendulum technique is applied to balancing in the longitudinal direction. Many section in this thesis used balance such as the fusion sensor (Gyroscope & accelerometer), the dynamic model and the control algorithm. This thesis concerns about the control algorithm to control the robot. The PID controller is applied to the simulation model and the real plant in order to observe the response of the robot. Finally all thesis, the simulation and experiment result are presented and discussion. The simulation result uses the Simulink in the Matlab program to simulate form dynamic model. |
| Year | 2017 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun ; |
| Examination Committee(s) | Bohez, Erik L. J.;Mongkol Ekpanyapong; |
| Scholarship Donor(s) | Royal Thai Government Fellowship;AIT Fellowship; |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2017 |