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Two-Wheeled Self-Balancing Robot: Design and control based on the concept of an inverted pendulum
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2015 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Framtagning av en tvåhjulig självbalanserande robot (Swedish)
Abstract [en]

In the last decade, the open source community has expanded to make it possible for people to build complex products at home. [13] In this thesis a two-wheeled self-balancing robot has been designed. These types of robots can be based on the physical problem of an inverted pendulum [12]. The system in itself requires active control in order to be stable. Using open source microcontroller Arduino Uno and reliable angular and positional data the system can be made stable by implementing a controller. A modern and efficient controller is the LQR - Linear Quadratic Regulator [12]. Being a state space feedback controller the model has to be a good representation of reality since the output signal depends on the model. In this thesis, the validation process was performed using a PID-regulator. The results showed that the model is not yet reliable. The reasons for this are discussed and recommendations for future development are listed.

Abstract [sv]

Öppen källkod har under senaste årtiondet möjliggjort för intresserade att bygga avancerade produkter hemma [13]. I denna rapport avhandlas konstruktion och reglering av en tvåhjulig självbalanserande robot. Denna kategori av robotar kan baseras på problemet för en inverterad pendel[12]. Systemet är i sig självt instabilt och kräver reglering för att balansera. Genom mikrokontrollern Arduino Uno och pålitlig vinkel- och positionsdata kan systemet regleras för att uppnå stabilitet. En modern och effektiv kontroller är LQR - Linear Quadratic Regulator [12]. Eftersom denna bygger på tillståndsåterkoppling måste modellen av systemet vara pålitlig då utsignalen baserar sig på modellen. I denna rapport har valideringsprocessen genomförts genom implementation av en PID-kontroller. Resultaten visade att modellen ännu inte är pålitliig. Anledningen till detta diskuteras och rekommendationer för fortsatt utveckling listas.

Place, publisher, year, edition, pages
2015.
Series
MMKB 2015:08 MDAB 061
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-184490OAI: oai:DiVA.org:kth-184490DiVA: diva2:916184
Supervisors
Examiners
Available from: 2016-04-07 Created: 2016-04-01 Last updated: 2016-04-07Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • vancouver
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  • de-DE
  • en-GB
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  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • text
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