Balancing a two-wheeled Segway robot
Name
775672333-MIT.pdf
Description
Full printable version
Size
2.32 MB
Format
Adobe PDF
Checksum (MD5)
1c97423f98750bd5c4067f391779f1cf
Author(s)
Bageant, Maia R. (Maia Reynolds)
Advisor(s)
Harry Asada.
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, I designed and constructed hardware for a two-wheeled balancing Segway robot. Because the robot could not be balanced based on a control system derived from the original analytical model, additional system dynamics in the form of frictional losses in the motors were incorporated. A SISO PID compensator and a SISO lead-lag compensator were designed to balance the robot based on the new model; both showed acceptable system responses but were subject to high-frequency oscillation. A SISO state feedback controller was also designed, and it was successful in creating stability in simulation and removing the high-frequency oscillation effects. The robot was rebuilt using new parts that better represented its ideal model, and software was created using National Instruments LabVIEW to control the robot.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 57).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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reproduction or distribution in any format is prohibited without written
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