Development of Two-Wheeled Balancing Scooter

Surachai Panich

doi:10.4028/www.scientific.net/AMM.339.16

Paper Titles

Neuro-Control Robustness Analysis of an Inverted Pendulum Using the Bee Algorithm
p.3

A Fault-Tolerant and Anti-Disturbance Control Based on Sliding Mode Iterative Learning Law for Attitude of Satellite
p.10

Development of Two-Wheeled Balancing Scooter
p.16

Design of Length Measurement System of Mobile Objects with Real-Time Voice Broadcast
p.22

A New Method to Plan a Singularity-Free Path of the Stewart Platform
p.27

Stability Analysis of Internal Model Based Gain Control System for Three-Level EDFA Model
p.33

A Road Grade Recognition Method Based on Longitudinal Acceleration
p.38

Two Degree of Freedom Model Driven PID Control for Unstable Process with Time Delays
p.45

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 339Development of Two-Wheeled Balancing Scooter

Development of Two-Wheeled Balancing Scooter

Abstract:

In this paper, the design and construction of two-wheeled balancing scooter based on principle of the inverted pendulum that it must keep an angle of zero degree due to vertical line in time. The mechanical structure, electronic circuit and algorithm are developed to control motors and gyroscope sensor is used as detector of angle error due to vertical line. The mathematical model to describe the dynamic behavior of balancing system is analyzed, which stabilizes the handle angle of scooter in stable position. A basic implementation of the PID controller is conducted to compensate nonlinear behavior.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 339)

Pages:

16-21

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.339.16

Citation:

Cite this paper

Online since:

July 2013

Authors:

Surachai Panich

Keywords:

Balancing System, Inverted Pendulum, Scooter, Segway, Transporter

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Ho-Won Lee and et al.: Optimal posture of Mobile Inverted Pendulum using a single gyroscope and tilt sensor, ICROS-SICE International Joint Conference (2009), August 18-21, Fukuoka International Congress Center, Japan.

Google Scholar

[2] Hiroki Igarashi and et al.: Development of an autonomous inverted pendulum mobile robot for outdoor environment, SICE Annual Conference (2008), August 20-22, 2008, The University Electro-Communications, Japan.

DOI: 10.1109/sice.2008.4655044

Google Scholar

[3] Cardozo G.S.S. and Vera L.M.S: Prototype for a self-balanced personal transporter, 2012 Workshop on Engineering Applications (WEA), Digital Object Identifier: 10.1109/ WEA.2012. 6220101, (2012) Page(s): 1 – 6.

DOI: 10.1109/wea.2012.6220101

Google Scholar

[4] Searock J, Browning B, Veloso M: Turning Segways into soccer robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2004). Volume: 1, Page(s): 1029 – 1034 Digital Object Identifier: 10.1109/IROS.2004.1389488, (2004).

DOI: 10.1109/iros.2004.1389488

Google Scholar

[5] Kumagai M., Ochiai T.: Development of a robot balancing on a ball, ICCAS 2008. International conference on control, automation and systems, 2008, Digital Object Identifier: 10.1109/ ICCAS.2008. 4694680, Publication Year: 2008, Page(s): 433 – 438.

DOI: 10.1109/iccas.2008.4694680

Google Scholar