SoPC Implementation to the Balance Control of an Electric Skateboard System

• Main Authors: Chao-Heng Chiu, 邱昭恆
• Other Authors: Yuan-Pao Hsu
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/mp7zc3

碩士 === 國立虎尾科技大學 === 資訊工程研究所 === 102 === This thesis studies how to design and implement a manned electric skateboard and its balance control. The whole system is implemented on a SoPC. The Euler-Lagrange equation is applied to derive the mathematical dynamic model of the skateboard, and the derived model is controlled by the PID method by simulation. The system uses two measure methods, through image processing or IMU, to detect the skateboard body tilt angle and then uses a PID controller to balance the skateboard. Additionally, the electric skateboard can move forward and backward, make a turn, and stop motions by using an Android smart phone APP that communicates with the skateboard through Bluetooth.