Design of a self-balancing unicycle | |
| Author | Silwal, Abhisesh |
| Call Number | AIT Thesis no.ISE-12-35 |
| Subject(s) | Unicycles Flywheels |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-35 |
| Abstract | Self -balancing unicycle is a system that dynamically stabilizes the unstable unicycle in upright position. To balance it vertically by itself and support a ride on it are the primary objectives. It utilizes control algorithms to achieve the appropriate control actions. Out of many possible mechanisms this research uses DC motor to actuate wheel to stabilize longitudinal and a single flywheel for lateral direction. Mathematical modeling for each direction was solved individually using Euler -Lagrange equation and state space was used t o represent the simplified linear equations. Simulation of the dynamics was used as guideline to predict system behavior. Experiments were separately conducted for each direction with other side stabilized and later combined together to make the system bal ance by itself. These experiments resulted in success and PID proved to have robustness but suffered from osci llation whereas LQR had robustness along with smooth operation. Because of interdependencies of roll pitch and yaw angles, overweight and slow res ponse of motor the combined controller was partially successfully. Despite of these limitations the full scale unicycle was able to balance with a rider on it after few practices. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-35 |
| 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;Bohez, Erik L.J. |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |