Motor Bike Robot

This video is a brief presentation of a Motor-Bike balancing robot.
kami_ss@yahoo.com

• Category

  Science & Technology

[Nuno Sousa]

Hi! You did a very good job! Congratulations. :)

I've a question. The control would be simpler if instead of the inertia wheel you used a pendulum to shift de center of mass to the sides of the robot?

[kamigh]

Hi!Thanx. Infact using a pendulum isn't simpler nor enregy efficient. The reason is you need to have 1 more sensor to read the angle of the pendulum what you don't need in the case of a flywheel. Moreover, statically, using a pendulum seems 2 b better, but dynamically it's not i.e. the unbalancy of the pendulum not only doesn't help to stabilize the system but also in certain cases dictates more control force to compensate this unbalancy.

[kamigh]

Infact doing sensitivity analysis to get the best size of a  pendulum ends up with a pendulum with lever length of zero which is basically a disc.

K.G.

[ManhTien0055]

Is it a single or cascade PID, What are Input, Output?

How did you choose Kp,Ki,Kd? (method?)

[kamigh]

Input is the mechanical torque exerted on the flywheel, and output is of course the angle of the robot.

Gains can be found either by tunning, or calculations. Check some classical control engineering books.

[Ross Connelly]

Mate, how did you do this?

We have been trying and failing....

holler back

HERE WE

[chris fillion]

XD good job but i laughed when i seen 1 disslike cause its just one lol love the vid

[dnguyen121]

Congratulations

[manoi2010]

IS SUPER BEATIFULL!!!I WANT ONE!!!HOW MUTCH COST?COMPLIMENT!!!

[bluetorch13]

It's freaking beautiful!

[johanschag]

How did you manage to calibrate the accelerometer into the exact angle to the center of mass? My experience is that if these angles slightly differ, the wheel will eventually spin up to full speed and the bike will fall over.

[Payal Parate]

Hi! awesome work!

What is the simulation software that u have used?

[Handsx]

its things like this that make me wish i were studying mechatronics.

[inagod]

is this was to scale in a real world application,installed in a enclosed motorcycle like the Monotracer,by Peraves, which uses outrigger's to hold it up slowing,backing up and stopped,how much weight,size?

[Ahmad Alsaleh]

good job... i have question.. do you have a paper that explains your work so we can build on it and develop it??