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Development of control system for a two wheeled self-balancing transporter

Mohamed Suhami, N Md Hafizul Hasmie (2015) Development of control system for a two wheeled self-balancing transporter. Masters thesis, Universiti Tun Hussein Onn Malaysia.


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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.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Depositing User: Mrs Hasliza Hamdan
Date Deposited: 05 May 2016 09:22
Last Modified: 05 May 2016 09:22
URI: http://eprints.uthm.edu.my/id/eprint/7782
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