A Study on the Balancing Control of Bicycle Robot

• Main Authors: Ting-Hung Ho, 何庭宏
• Other Authors: Jau-Liang Chen
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/68824340335675676650

碩士 === 國立中興大學 === 機械工程學系所 === 100 === The purpose of this research is trying to develop a control algorithm to keep the bicycle robot in balance. While Bluetooth is used for commands transfer, such as start, stop, turning right side or left side. In this robot, a NXT ARM7 micro-control unit is used. A gyro is used to detect the angular velocity change and calculate the angle for balancing control of the robot. This system is activated by DC servo motor. In this research, a PID control is use to achieve balance of robot. Bluetooth can transmit the information of the controls to the NXT. LabVIEW is used to Write programs and MATLAB/SIMULINK is used to simulate. Finally, experiment is conduct to verify the result.