The problem in two-wheeled vehicles is the lack of vehicle stability when getting a sudden force disturbance, especially at low speed and stationery. In this study, stabilization of a two-wheeled self-balancing vehicle prototype is performed by using a control moment gyroscope and PID controller. The gyroscopic effects of two flywheels mounting on a gimbal are used to generate control torque to maintain the vehicle in the upright equilibrium position. First, a dynamic model is derived using the Euler Lagrange formulation for the controller design. The prototype using an Arduino microcontroller is developed, and an Inertia Measurement Unit is used to measure the orientation, which is used for feedback. The designed controller can maintain the prototype in the upright unstable equilibrium position.
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26 March 2024
2ND INTERNATIONAL CONFERENCE ON TECHNOLOGY, INFORMATICS, AND ENGINEERING
23–24 August 2022
Malang, Indonesia
Research Article|
March 26 2024
Design and construction of self-balancing prototype with control moment gyroscope using PID control
Nur Candra Dana Agusti;
Nur Candra Dana Agusti
Department of Mechanical Engineering, Sepuluh Nopember Institute of Technology
, Surabaya, Indonesia
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Unggul Wasiwitono
Unggul Wasiwitono
a)
Department of Mechanical Engineering, Sepuluh Nopember Institute of Technology
, Surabaya, Indonesia
a)Corresponding author: [email protected]
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a)Corresponding author: [email protected]
AIP Conf. Proc. 2927, 040006 (2024)
Citation
Nur Candra Dana Agusti, Unggul Wasiwitono; Design and construction of self-balancing prototype with control moment gyroscope using PID control. AIP Conf. Proc. 26 March 2024; 2927 (1): 040006. https://doi.org/10.1063/5.0192138
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