Automobike
en cykel med aktiv balans
During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out agroup project in the field of mechatronics as part of the thesis for the bachelor degree. The resultwas 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 wheelsmounted in line with each other, like a bicycle. Measurement data from an accelerometer and agyroscope are used together in a complementary filter for determining the angle from the verticalplane. For balancing, a PID controller was used to control the rotation of a reaction wheel, whenaccelerating causes a straightening torque. The operator controls the robot by selectingcommands on a touchscreen which is mounted on a remote that sends them wireless withBluetooth-communication. The robot reached the desired balancing capabilities and shows goodstability during operation.