| Seznam |
| Téma: | Self-balancing stick |
|---|---|
| Vedoucí: | Martin Gurtner |
| Vypsáno jako: | Práce v týmu a její organizace |
| Popis: | The aim of this project is to build a reaction wheel-based self-balancing stick. One can think of it as stabilization of inverse pendulum where reaction wheels attached to the top of the pendulum are used for stabilization. You can take inspiration from several existing and more or less well-documented projects.
In this project, you will deal with * mechanical design - you will have to come up with a design of the stick, of how the motors will be attached to it, and of the flywheels attached to the motors * electronic design - you will need to find out how to control the motors and sense the orientation of the stick. Preferably, you will base your solution on already existing boards (Arduino+Arduino shields). * mathematical modeling and identification of the model - you will have to obtain an identified model of the system. Here, the existing projects will be of great help. * controller design - based on the identified model, you will design a controller stabilizing the stick and implement it on the microcontroller of your choice. |
| Literatura: | A similar project is discussed at https://redd.it/3n0g8p Reaction wheel-based stabilization is treated in * Cubli project (http://www.idsc.ethz.ch/research-dandrea/research-projects/cubli.html) and, for instance, in * Bachelor thesis "Cubic Structure Capable of Balancing", Elena Sorina Lupu (http://speed.pub.ro/speed3/wp-content/uploads/2015/07/2015-Proiect-Diploma-Lupu-Sorina.pdf) |
| Vypsáno dne: | 09.02.2017 |
| Max. počet studentů: | 5 |
| Přihlášení studenti: | |