Self-balancing bicycle using hybrid of reaction wheel and steering control | |
| Author | Pornchanok Vanich |
| Call Number | AIT Thesis no.ISE-22-15 |
| Subject(s) | Mechatronics Robots--Wheels |
| 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 | According to the study, the self-balancing bike has a new design and is now available in adult sizes. Additionally, the self-balancing bike must be in the upright position without the rider. To combine the two balancers together can get the better performance. By combining a 250-Watt DC speed motor to rotate the reaction for producing torque and a 100-Watt DC motor to control the steering handle, a system can be balanced. IMU sensor MPU 6050 will be used to gauge the bicycle's tilt angle. The microcontroller of the self balancing bicycle is Arduino Due and Arduino Mega 2560. Since the lithium-ion battery's discharge rate is higher than that of a lead-acid battery, it is used in the system. Additionally, the battery's current does not drop, and it can function as the system's power source. Linear quadratic regulation (LQR) is used as a controller in the self-balancing bicycle that uses a hybrid reaction wheel and steering control. The LQR is then used in conjunction with state space to determine the gain G. The dynamic model's calculated gain G will be used to stabilize the system. Additionally, this controller may choose the Q and R matrices to match the system. Finally, the system can reach zero on its own. |
| Year | 2022 |
| 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;Bora, Tanujjal |
| Scholarship Donor(s) | Royal Thai Government Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2022 |