A self-balancing vehicle

The vehicle is the result of a master's thesis work by Björn Norell and Andreas Pettersson in association with Aros Electronics and Chalmers University of Technology

Category:

Autos & Vehicles

Tags:

• segway
• gyro
• diy
• mechatronics
• sensor-less
• control
• aros
• Do It Yourself
• Control Engineering
• Scooter (motorcycle)

[avlober]

Fantastic job. I´m try to do a similar vehicle.

Can you said me what kind of wheell you put it. It is a byke or a scooter wheell?. Where to get it.

Tanks

[bjonor82]

@avlober It is scooter wheels, from the local scooter vendor at Hisingen ($120 a piece)

[TroyOi]

Good work! But have you put it to the ultimate test yet? That is, can George Bush ride it?

[bjonor82]

Probably could if he was allowed

[getamac123]

i have 2 questions

1) did u model it after the original ginger (segway prototype)

2) is there a form of speed limiter like on the segway

[bjonor82]

Hi.

1) We did some nonlinear modelling and applied a bit of exact linearization algorithms that were suprisingly good. However all modeling is based on pure mechanichal laws.

2) There is an inherent speed limiter at 24km/h where a 16bit variable in the motor control software wraps around. (seen in the end of the moovie...) This in fact just about what happened with Ariane 5 for those that remember...

[roeebloch]

Hi,

Did you use Kalman filter? - if yes this is pure linear so where is the nonlinearity?

Thanks,

Roee.

see my at:

roeebloch (in youtube)

[TroyOi]

Oh, I see. Is this about his mother? The woman won't let her own son climb up on one of these things... but when her 85-year-old husband wants to jump out of an airplane, no problem! LOL.

[fatsanta05]

I would laugh if someone fell straight on there face if the battery died

[budsiskos]

that thing is loud!