Development and control of a self balancing unicycle using two fly wheels | |
| Author | Niresh, Pathmarajah Krishanth |
| Call Number | AIT Caps. Proj. no.ME-18-34 |
| Subject(s) | Balancing of machinery Robots--Control systems PID controllers |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-18-34 |
| Abstract | When developing a self balancing unicycle The main advantage of a unicycle robot compared to a multi wheeled robot is the higher degree of mobility and depends on the design lower space requirement. When controlling the unicycle's stability there are two stabilities must be taken into consideration one lateral and the second is longitudinal stability. A typical flywheel robot balances itself in the lateral axis using the effect of the synchronous spinning of flywheels on either side of the robot and the balance in the longitudinal axis using the inverse pendulum effect. Stabilizing the lateral motion together with the longitudinal motion is able to prevent the robot from falling. However in this project the stability in the lateral axis and the longitudinal axis will be shown separately. A series of PID control loops are implemented in both the lateral and longitudinal axis motions. |
| Year | 2018 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-18-34 |
| Type | Capstone Project |
| 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 Lucas Julien ;Song, Weon Keun; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2018 |