The Self-balancing E-bike - Construction and Control
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Abstract
Tato práce se primárně soustředí na řešení samovyvažování se modelu jízdního kola. Nejprve jsou představeny různé možnosti řešení problému samovyvažování. Jeden z mechanismů je vybrán a následně detailně popsán a implementován na reálném modelu jízdního kola se setrvačníkem. Dále je namodelován, navrhnut a vytvořen mechanický model prototypu včetně elektroniky. Nakonec je provedena kalibrace a prostudováno několik způsobů filtrace signálů.
This project is mainly about a self-balancing bicycle. Firstly, the various possibilities of balancing a bicycle are discussed. Secondly, one mechanism of these possibilities is chosen to be further stud- ied and applied in a real robot which is balancing a bicycle with a reaction wheel. Thirdly, a proposed prototype of a mechanical model and electrical components is modeled, designed, and inves- tigated. Fourthly, calibration and different kinds of filtering like, complementary filters, and Kalman filters are deeply studied.
This project is mainly about a self-balancing bicycle. Firstly, the various possibilities of balancing a bicycle are discussed. Secondly, one mechanism of these possibilities is chosen to be further stud- ied and applied in a real robot which is balancing a bicycle with a reaction wheel. Thirdly, a proposed prototype of a mechanical model and electrical components is modeled, designed, and inves- tigated. Fourthly, calibration and different kinds of filtering like, complementary filters, and Kalman filters are deeply studied.
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samovyvažovací model jízdního kola, reakční kolo, gyroskop, obrácené kyvadlo, Kalmanův filtr; odhad postoje; IMU; AHRS; Kvaternion; stat-spcae model; PID regulátor; komplementární filtr; kalibrace gyroskop; kalibrace akcelerometru.