Control Unit for a Self-Balancing Prototype

D.P.V.J. Jayakody; K.P.G.C. Sucharitharathna

Control Unit for a Self-Balancing Prototype

D.P.V.J. Jayakody *

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K.P.G.C. Sucharitharathna

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Control Unit for a Self-Balancing Prototype

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Abstract

A self-balancing personal transporter which is based on the inverted pendulum concept has sufficient potential to provide solutions for the upcoming global issues in the transportation industry. However due to the expensive price range which the self-balancing scooters are introduced at and few safety issues, this concept has failed in reaching the hands and becoming popular among the majority of the society. Therefore this research paper consists of a comprehensive literature review on the existing models of the self-balancing transporter scooters, possible ways to reduce the initial cost of implementing a control unit for self-balancing transporter vehicles and methods to address the issues which generate along with the proposed cost-reduction methods. Real-time comparison of Kalman and Complementary filtering processes are performed to sort out the optimum algorithm to estimate the true angle of the inclination of the self-balancing prototype. Similarly several forms of control system implementation are compared through simulations and real-time experiments to obtain the ideal motor response for variations in the position of the prototype.

References

6 Cites in Article

Reference Format

J Fang (2015). A Posture Control System Design for a Two-wheeled and Self-balancing Robot.
(2018). Segway, n..
J Golson,J Golson,A Powell,W Staff,A Pardes (2018). Movie Stars Like Jazz, Too.
K Heong Ang,G Chong (2005). PID Control System Analysis, Design, and Technology.
J Walter T Higgins (1975). A Comparison of Complementary and Kalman Filtering.
A Visioli (2001). Tuning of PID controllers with fuzzy logic.

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

D.P.V.J. Jayakody, K.P.G.C. Sucharitharathna. 2019. "Control Unit for a Self-Balancing Prototype". Global Journal of Research in Engineering - J: General Engineering GJRE-J Volume 19 (GJRE Volume 19 Issue J1).

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GJRE Volume 19 Issue J1

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

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Classification

GJRE-J Classification FOR Code: 091599

Submission ReceivedDecember 13, 2018
Peer Review Double Blind
Handling Editor
Accepted January 5, 2019
Published January 15, 2019

Version of record

v1.2

Issue date

January 30, 2019

Language

English

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Article Matrices

Total Score: 102

Country: Sri Lanka

Subject: Global Journal of Research in Engineering

Authors: D.P.V.J. Jayakody, K.P.G.C. Sucharitharathna (PhD/Dr. count: 0)

View Count (all-time): 367

Total Views (Real + Logic): 1083

Total Downloads (simulated): 84

Publish Date: 2019 01, Tue

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Total Views: 1.1K

Total Downloads: 84

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