Barata, Yuvens Putra and Boediardjo, Kirina and Rusyadi, Rusman (2015) Developing an Autonomous Self-balancing (AUSB) Bicycle Miniature Model. Bachelor thesis, Swiss German University.
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Abstract
The purpose of this thesis is to create a self-balancing bicycle. The basic principal of the self-balancing bicycle is the same as inertia wheel inverted pendulum. Whenever the bicycle tilts, the flywheel will rotate to generate reactionary force in order to balance itself in the vertical axis. This thesis uses an IMU as the main sensor to detect tilting angle, a permanent magnet DC Motor as the actuator, an Arduino as the microcontroller. For the controller, a PID control system is used to control the PWM of the DC motor. In order to control the PWM accurately, a tuning need to be done with the PID. The tuning itself is done by using manual tuning method, where the P, I, and D parameter is tuned separately while observing the behavior of the system when the parameter is changed.
| Item Type: | Thesis (Bachelor) |
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| Uncontrolled Keywords: | Self-balancing; Inverted Pendulum; Inertia Wheel; PID Controller; Inertia Measurement Unit. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics |
| Divisions: | Faculty of Engineering and Information Technology > Department of Mechatronics Engineering |
| Depositing User: | Atroridho Rizky |
| Date Deposited: | 04 Nov 2020 06:07 |
| Last Modified: | 04 Nov 2020 06:07 |
| URI: | http://repository.sgu.ac.id/id/eprint/1546 |
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