Realization of mini segway robot using NI MyRIO

Mak, Y.X. (2015) Realization of mini segway robot using NI MyRIO.

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Abstract:This bachelor assignment report presents a realization of a two-wheeled segway robot, controlled using velocity reference inputs via a joystick. The realization involves making a mathematical model and simulation of the system, designing the feedback control loop, designing the physical system mechanically and electrically, and finally implementing the controller to a National Instruments myRIO hardware platform. The controller used in this realization is based on full state-feedback controller, and the Linear Quadratic Regulator (LQR) is used to tune to control gains. An algorithm is created to calculate tilt angle with respect to gravity vector using the accelerometer sensor outputs from the myRIO. The controller is implemented using LabView myRIO 2013 SP1 development environment. The realization of the two-wheeled robot is successful, however further testing and dynamics analysis are needed in order to control the robot optimally.
Item Type:Essay (Bachelor)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering BSc (56966)
Link to this item:http://purl.utwente.nl/essays/67004
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