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Automobike: en cykel med aktiv balans
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
Show others and affiliations
2012 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Automobike: a bike with active balance (English)
Abstract [en]

During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out a

group project in the field of mechatronics as part of the thesis for the bachelor degree. The result

was a robot with active balancing and the purpose of this report is to describe the development,

manufacturing and problems that arose during the project. The finished robot has two wheels

mounted in line with each other, like a bicycle. Measurement data from an accelerometer and a

gyroscope are used together in a complementary filter for determining the angle from the vertical

plane. For balancing, a PID controller was used to control the rotation of a reaction wheel, when

accelerating causes a straightening torque. The operator controls the robot by selecting

commands on a touchscreen which is mounted on a remote that sends them wireless with

Bluetooth-communication. The robot reached the desired balancing capabilities and shows good

stability during operation.

Abstract [sv]

Under vårterminen 2012 har sex studenter på Kungliga Tekniska Högskolan i Stockholm

bedrivit ett grupprojekt inom området mekatronik som en del av examensarbetet för

kandidatexamen. Resultatet blev en robot med aktiv balansering och syftet med denna rapport är

att beskriva utveckling, tillverkning och problem som uppstod under projektets gång. Den

färdiga roboten har två hjul som är monterade i linje med varandra, likt en cykel. Mätdata från en

accelerometer och ett gyro används tillsammans i ett komplementärfilter för att bestämma

vinkeln från robotens jämviktsläge. För att balansera användes en PID-regulator som styr

rotationen av ett svänghjul som vid acceleration ger upphov till ett upprätande moment.

Operatören styr roboten genom att välja olika kommandon via en pekskärm på en fjärrkontroll

som skickar kommandon trådlöst via Bluetooth. Roboten uppnådde önskad balansering och

påvisar god stabilitet vid drift.

Place, publisher, year, edition, pages
2012.
Series
MMKB 2012:26 MDAB 029
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-102060OAI: oai:DiVA.org:kth-102060DiVA: diva2:550558
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-09-07 Created: 2012-09-07 Last updated: 2012-09-07Bibliographically approved

Open Access in DiVA

MMKB 2012:26 MDAB 029(21577 kB)550 downloads
File information
File name FULLTEXT01.pdfFile size 21577 kBChecksum SHA-512
7808a2a6125507cc42b3cc024f0d4d3f208aab45b1908ab8d5e93a2c45816ab581d1b5c5ed87726fa4ada7070e3176f0cc848e21fd7df8bd0142bbcf9fb42da1
Type fulltextMimetype application/pdf

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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