Automobike: en cykel med aktiv balans

Sammanfattning: During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out a group project in the field of mechatronics as part of the thesis for the bachelor degree. The result was a robot with active balancing and the purpose of this report is to describe the development, manufacturing and problems that arose during the project. The finished robot has two wheels mounted in line with each other, like a bicycle. Measurement data from an accelerometer and a gyroscope are used together in a complementary filter for determining the angle from the vertical plane. For balancing, a PID controller was used to control the rotation of a reaction wheel, when accelerating causes a straightening torque. The operator controls the robot by selecting commands on a touchscreen which is mounted on a remote that sends them wireless with Bluetooth-communication. The robot reached the desired balancing capabilities and shows good stability during operation.