Development of control system for a two wheeled self-balancing transporter
Personal balancing transporter now be operating widely in every country and closely interacting with human environments. There were a lot of challenges in the development of personal balancing transporter especially on their operation, navigation and interaction. In other words the development of ba...
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| Format: | Thesis |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7782/ http://eprints.uthm.edu.my/7782/1/N__MD_HAFIZUL_HASMIE_B_MOHAMED_SUHAMI_24.pdf |
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| Summary: | Personal balancing transporter now be operating widely in every country and closely
interacting with human environments. There were a lot of challenges in the
development of personal balancing transporter especially on their operation,
navigation and interaction. In other words the development of balancing transporter
had two commitments that is to increasing efficiency of urban transportation for short
distance travel and helping conserving the environment. The system architecture
comprises an Arduino microcontroller board, a single-axis gyroscope and a single-axis
accelerometer was employed for attitude determination. In addition, a complementary
filter was implemented to compensate the gyro drifts and eliminate accelerometer
distortion signal cause by disturbance. The PID controller was used in sensor fusion to
reduce an error reading and stabilize the final angle measurement. The 350 Watt DC
motor drive by 2x60 Amp Roboclaw motor driver with Serial Protocol to define the
proportional speed control. There were many research had been done on balancing
transporter development. However the robustness of the system is not fully tested and
more experiment needs to be performed to evaluate the robustness of the system by
transferred the signal conditioning to Matlab GUI and fine tuning of the control
algorithm for better performance. |
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